diff --git a/inputs/human_hand/README.md b/inputs/human_hand/README.md
deleted file mode 100644
index 4388f866916df6f9efdc1023547074726493d161..0000000000000000000000000000000000000000
--- a/inputs/human_hand/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Ego-human ACWMBench inference dataset
-
-Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation.
diff --git a/inputs/human_hand/hangtowel/ep000002/calibration.json b/inputs/human_hand/hangtowel/ep000002/calibration.json
deleted file mode 100644
index 3796ceb07558fe267db75fbc9d0c0832110a8990..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 2,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json
deleted file mode 100644
index 975609d14434c1fbe9ea1549872cd43559687d0e..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 2,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
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-        "k1": 0.06008125841617584,
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diff --git a/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
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-        18
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
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-        33
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-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz
deleted file mode 100644
index 41e2d5dc7bc9ae1218ec68a093b0b0d190fe1715..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:25731c289a792e01bbfe47c880c549ad45c814d50d3ce77d7c346cd444fd58b9
-size 1744798
diff --git a/inputs/human_hand/hangtowel/ep000002/metadata.json b/inputs/human_hand/hangtowel/ep000002/metadata.json
deleted file mode 100644
index 93569ac1cde3700a203aea551851cf18d63ea829..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "hangtowel",
-  "episode_index": 2,
-  "episode_name": "ep000002",
-  "fps": 15.0,
-  "num_frames": 1821,
-  "num_transitions": 1820,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png
deleted file mode 100644
index 8d0bb06a8b61e63a273478852eede93519aca2cf..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db6c8cbddb6a6fd6369ecc9571da15e9066fa001dfb50a4cb347ebca2302165d
-size 729559
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png
deleted file mode 100644
index 977fae1ae79a0f64e98571eeecde70115d0e0242..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7ee91fe14004fb7b8618ccaf4cfe267263dedebaa55b78d8574ed428ddcf476c
-size 811993
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png
deleted file mode 100644
index 2849da21d252909b45bed50e93a97dbcbbc307a8..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:070958b133a17ae2846e4bd0f5afa92fe704ddf4e256c20ee8829c81208b99a7
-size 712283
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png b/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png
deleted file mode 100644
index 2350dbf272e84ea11dd91cc36c0362483c1b68bf..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0a904f46644d9ae7154bd48e8d4d31fd02c430fed5749afca163d3bbe4633220
-size 330849
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png b/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png
deleted file mode 100644
index a2e27439307faf26847889d6787cee654032fb61..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e97f36ed04217c63560434881b9cbb80045750434502b48ea93d0c7cf01f2bf4
-size 381199
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png
deleted file mode 100644
index 99c53f3bbf833829ca12e6407038bd2c02b98145..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a72c062a4f3048e0bf38ee746f6111f54ea95a00666d5148ccca25f1d28c8f02
-size 842218
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png
deleted file mode 100644
index cfd99dbf6fbb19938c785eac7c6fa1b3e7046a71..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6b208e210bd49777f6234b293ec242c375f6d6f3fed375aec56761f55fb897c
-size 858118
diff --git a/inputs/human_hand/hangtowel/ep000002/observations/top_head.png b/inputs/human_hand/hangtowel/ep000002/observations/top_head.png
deleted file mode 100644
index 6dc690e21372e90108b27fe9e4d48a8d884b41e2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/observations/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d1a66abc4eb91685c7a07dd1da906e6f94fd2f347114fb9254aa1827a6db6463
-size 369784
diff --git a/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json b/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json
deleted file mode 100644
index 55e812457c7626c0d002639dbdd7b252d634ec15..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000002",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 19583525.0,
-      "pinhole_nonzero": 38748699.0,
-      "area_ratio": 1.9786376048234422
-    },
-    "multiview_masks/top_head": {
-      "source_nonzero": 17702439.0,
-      "pinhole_nonzero": 37720892.0,
-      "area_ratio": 2.1308302206266605
-    },
-    "multiview_masks/hand_left": {
-      "source_nonzero": 10657424.0,
-      "pinhole_nonzero": 20049070.0,
-      "area_ratio": 1.881230398640422
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-      "source_nonzero": 13605179.0,
-      "pinhole_nonzero": 22646071.0,
-      "area_ratio": 1.6645184161119821
-    }
-  },
-  "created_unix": 1789875927.8057
-}
diff --git a/inputs/human_hand/hangtowel/ep000002/source_map.json b/inputs/human_hand/hangtowel/ep000002/source_map.json
deleted file mode 100644
index 4bf60d5043c0de22d09ae9badba1c4fb27617bc4..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/source_map.json
+++ /dev/null
@@ -1,1878 +0,0 @@
-{
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diff --git a/inputs/human_hand/hangtowel/ep000002/trajectory.parquet b/inputs/human_hand/hangtowel/ep000002/trajectory.parquet
deleted file mode 100644
index 0c5b933ef6e5e4cf699ba14579b23064e46ae8e6..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000002/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cd41aaa11cfb88542b7e846eada8ab64e39b4e48ba0c71cbc06455819dada371
-size 7583555
diff --git a/inputs/human_hand/hangtowel/ep000007/calibration.json b/inputs/human_hand/hangtowel/ep000007/calibration.json
deleted file mode 100644
index 1e9ee12c33f37036595aaef34aaa537226711d47..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 7,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
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-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
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-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
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-    }
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-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
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-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
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-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
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-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json
deleted file mode 100644
index de0a758a66bcde0fa173d856235f49a08b77a10b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 7,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
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-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
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-    "hand_left": {
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-      "projection_model": "opencv_fisheye",
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-    "hand_right": {
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-    "head_stereo_left": {
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-      },
-      "resolution": {
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-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
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diff --git a/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-        9
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
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-      "joint_indices": [
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz
deleted file mode 100644
index 7913cd3fbe6406b620142f21a44a969ba533e836..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 1774742
diff --git a/inputs/human_hand/hangtowel/ep000007/metadata.json b/inputs/human_hand/hangtowel/ep000007/metadata.json
deleted file mode 100644
index 5dfa0f6c13a94290756e71566dd3d18bf378c9a7..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "hangtowel",
-  "episode_index": 7,
-  "episode_name": "ep000007",
-  "fps": 15.0,
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-  "num_transitions": 1844,
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-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
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-    "fisheye_calibration": "calibration_fisheye.json",
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
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-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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-size 814973
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--- a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/top_head.png
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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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--- a/inputs/human_hand/hangtowel/ep000007/observations/head_stereo_left.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/hangtowel/ep000007/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/hangtowel/ep000007/observations/top_head.png b/inputs/human_hand/hangtowel/ep000007/observations/top_head.png
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index a3315ab12b04d09992223964b8b5bbcb54714a80..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/observations/top_head.png
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/hangtowel/ep000007/pinhole_migration.json b/inputs/human_hand/hangtowel/ep000007/pinhole_migration.json
deleted file mode 100644
index 8579cfb7f8041c6e0ea03e5412e00ecb0681adb0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000007",
-  "views": [
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-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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diff --git a/inputs/human_hand/hangtowel/ep000007/source_map.json b/inputs/human_hand/hangtowel/ep000007/source_map.json
deleted file mode 100644
index b4be3d36cb71d6cbc9bf3a602090cf1915fe7f25..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/source_map.json
+++ /dev/null
@@ -1,1904 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/hangtowel/ep000007/trajectory.parquet b/inputs/human_hand/hangtowel/ep000007/trajectory.parquet
deleted file mode 100644
index 1218137a3a007be2ff404061fb3bb742bb65fc86..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000007/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d90ce26f0fea6ee370ecf60b5ac24f2204f9d3f375440f75892cf27d67ba0458
-size 7699015
diff --git a/inputs/human_hand/hangtowel/ep000008/calibration.json b/inputs/human_hand/hangtowel/ep000008/calibration.json
deleted file mode 100644
index 3d56464c13a0e31f93437fff6c751aac2426aaa5..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 8,
-  "view_aliases": {
-    "top_head": "head_fisheye",
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
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-    "hand_left": {
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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-      "extrinsics_reference_frame": "source_fisheye_camera"
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
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-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json
deleted file mode 100644
index 7cee50840d98f1f79afee72b584c227b33767b94..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 8,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
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-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
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-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
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-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
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-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
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-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
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-        "width": 960
-      },
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-            "y": -0.0059275519736941866,
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-          },
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
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-      },
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-      }
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-      },
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-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
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-      }
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-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
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-      "Cx": 481.39990234375,
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-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
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-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz
deleted file mode 100644
index 2fe1a100d4f079173d2a31d26f6e83a425f0ab41..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:403f6ee39ad2e6a4e197fa00b112d621f8cec35d5454cad6eff1984aaa30ba9d
-size 1804373
diff --git a/inputs/human_hand/hangtowel/ep000008/metadata.json b/inputs/human_hand/hangtowel/ep000008/metadata.json
deleted file mode 100644
index b4f3e271111a5fc88d9f2cc341f3248b6f3bae02..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "hangtowel",
-  "episode_index": 8,
-  "episode_name": "ep000008",
-  "fps": 15.0,
-  "num_frames": 1872,
-  "num_transitions": 1871,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png
deleted file mode 100644
index c682357c2e26262ae8b64f386e4eacbf225c4d01..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6a48ac5712c82922b5289c190ca41540cfd6711a1b95d34b2e61aa94d7e8d79e
-size 739604
diff --git a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png
deleted file mode 100644
index 7cf6458e46f2bbb3eaece61ee68824ce71023c6a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:814afd58de9a4a5ae95ad1078a6788a2c471dc9602c87a8f9f18663b71a73a8d
-size 809975
diff --git a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/top_head.png b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/top_head.png
deleted file mode 100644
index d9bb65180e2d7f54799e077d2e40a9e33b851019..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c7fd6481a23ed4ba6f7988739a326cfadc00cabcb01cee8275bf103ac0ad1b3c
-size 694305
diff --git a/inputs/human_hand/hangtowel/ep000008/observations/hand_left.png b/inputs/human_hand/hangtowel/ep000008/observations/hand_left.png
deleted file mode 100644
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--- a/inputs/human_hand/hangtowel/ep000008/observations/hand_left.png
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diff --git a/inputs/human_hand/hangtowel/ep000008/observations/hand_right.png b/inputs/human_hand/hangtowel/ep000008/observations/hand_right.png
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index d1ecaa487b99cfa3ce0e06d697c1c8f34a726a5c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/observations/hand_right.png
+++ /dev/null
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diff --git a/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_left.png b/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_left.png
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--- a/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_left.png
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diff --git a/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_right.png b/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_right.png
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--- a/inputs/human_hand/hangtowel/ep000008/observations/head_stereo_right.png
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diff --git a/inputs/human_hand/hangtowel/ep000008/observations/top_head.png b/inputs/human_hand/hangtowel/ep000008/observations/top_head.png
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--- a/inputs/human_hand/hangtowel/ep000008/observations/top_head.png
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diff --git a/inputs/human_hand/hangtowel/ep000008/pinhole_migration.json b/inputs/human_hand/hangtowel/ep000008/pinhole_migration.json
deleted file mode 100644
index 6b55a16cfda58362e71f2170b4ebb3175eae58fc..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000008",
-  "views": [
-    "top_head",
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-  "height": 480,
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-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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-}
diff --git a/inputs/human_hand/hangtowel/ep000008/source_map.json b/inputs/human_hand/hangtowel/ep000008/source_map.json
deleted file mode 100644
index fcc40eb60d6ede518ef60adc8872c7a5e610668e..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/source_map.json
+++ /dev/null
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-{
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-}
diff --git a/inputs/human_hand/hangtowel/ep000008/trajectory.parquet b/inputs/human_hand/hangtowel/ep000008/trajectory.parquet
deleted file mode 100644
index f706b7fa64c469a897c972b7ff2a91d29208b5ba..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000008/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:19f9fb70c9350e5a6693e0684988e2f60f5d801b8e8708c5abbf85f58de3afcc
-size 7822217
diff --git a/inputs/human_hand/hangtowel/ep000011/calibration.json b/inputs/human_hand/hangtowel/ep000011/calibration.json
deleted file mode 100644
index d52994ad690301cca9b1027e2ed05b5217bad16a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 11,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
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-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
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-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json
deleted file mode 100644
index 25a01991e1c7795ce54e58a77d5a69920b58fed0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 11,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
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diff --git a/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-      "name": "left_wrist_world_delta",
-      "indices": [
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-        42
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
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-        57
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-        12,
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz
deleted file mode 100644
index 2e1e2c829339d838611e811bcdfb3cf5299fc71b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f1beb654a4048c56c41300c0bb778a9fccb457eea9ededd2f514ada909d98862
-size 1783579
diff --git a/inputs/human_hand/hangtowel/ep000011/metadata.json b/inputs/human_hand/hangtowel/ep000011/metadata.json
deleted file mode 100644
index 00653961fe4cd50fe06b23d2a76afc3ba3f3056b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "hangtowel",
-  "episode_index": 11,
-  "episode_name": "ep000011",
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-  "num_frames": 1854,
-  "num_transitions": 1853,
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-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
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-      "top_head",
-      "hand_left",
-      "hand_right"
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
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-}
diff --git a/inputs/human_hand/hangtowel/ep000011/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000011/observations/fisheye/hand_left.png
deleted file mode 100644
index a9e2a7889199ed04ad4778f18f862944fc3fdf42..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/observations/fisheye/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index 6e888971bbc24190c7f84cbe1930f7841571b52f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/observations/fisheye/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/hangtowel/ep000011/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/hangtowel/ep000011/observations/hand_left.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/hangtowel/ep000011/observations/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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index 67b826d44c51bd7513e7614b7b1aa4fe1f05c029..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/observations/head_stereo_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index a380d8c52b7bf6bc3f7e3183dc502f0ba2b4c259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/hangtowel/ep000011/observations/top_head.png b/inputs/human_hand/hangtowel/ep000011/observations/top_head.png
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index 012af6a0c964d15165fc1c026c810dc8415cb57a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/hangtowel/ep000011/pinhole_migration.json b/inputs/human_hand/hangtowel/ep000011/pinhole_migration.json
deleted file mode 100644
index b9897650f723dceaa53b8423576a7c8d20a50da0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000011",
-  "views": [
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-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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diff --git a/inputs/human_hand/hangtowel/ep000011/source_map.json b/inputs/human_hand/hangtowel/ep000011/source_map.json
deleted file mode 100644
index 587a2869e512204dcded9edae509c191dc8d7857..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/source_map.json
+++ /dev/null
@@ -1,1913 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/hangtowel/ep000011/trajectory.parquet b/inputs/human_hand/hangtowel/ep000011/trajectory.parquet
deleted file mode 100644
index 7b7df12b2a97f8cdcdc57f512374c3907a158e3f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000011/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e6462f34787352c843a38b531b1b403f18acdda37d931613eb7255d2c7f1a0c8
-size 7743960
diff --git a/inputs/human_hand/hangtowel/ep000015/calibration.json b/inputs/human_hand/hangtowel/ep000015/calibration.json
deleted file mode 100644
index cf40a8088139210ef9e6f8b0bf49179e697bcc6a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 15,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
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-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
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-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
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-          [
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-          [
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-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
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-            "z": -0.0002191893102376494,
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-          }
-        }
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-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
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-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
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-      "resolution": {
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-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
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-        "y": -0.00044053462609449333,
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-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
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-        "y": -0.42865062258823455,
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-        "y": 0.014694437626401657,
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-    "extrinsic_head_fisheye_right_T_left": {
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-    },
-    "extrinsic_head_stereo_left_T_imu": {
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-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
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-    },
-    "extrinsic_head_stereo_left_T_right": {
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-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
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-    "intrinsic_head_stereo_right": {
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-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
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-      "k3": -0.019749220460653305,
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-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json
deleted file mode 100644
index baf6227fccac2d5d9be41558f4c99e98dac1ad33..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 15,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
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-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
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-          "translation": {
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
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-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
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-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
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-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
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-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
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-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
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-            "y": 0.42641808299703304,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-        "Cy": 298.59674072265625,
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-        "width": 960
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-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
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-        },
-        "extrinsic_head_stereo_left_T_right": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
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-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
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-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
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-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
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-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
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-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
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-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
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-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
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-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
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-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
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-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
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-      }
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-    "extrinsic_head_stereo_right_T_imu": {
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-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
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diff --git a/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz
deleted file mode 100644
index 5211cc8c12b6e648629082801d3383973f23f6b1..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/hangtowel/ep000015/metadata.json b/inputs/human_hand/hangtowel/ep000015/metadata.json
deleted file mode 100644
index b5ce8921f02dd7c24ab6687df09a889451691421..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "hangtowel",
-  "episode_index": 15,
-  "episode_name": "ep000015",
-  "fps": 15.0,
-  "num_frames": 1864,
-  "num_transitions": 1863,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
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-    "calibration": "calibration.json",
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-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
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-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
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-    "fisheye_calibration": "calibration_fisheye.json",
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
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-  "active_projection": {
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-      "top_head",
-      "hand_left",
-      "hand_right"
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/hangtowel/ep000015/observations/fisheye/top_head.png
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000015",
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deleted file mode 100644
index 768c1c8ab6b841986a8eb33796b7f6c5be191901..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/source_map.json
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-{
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diff --git a/inputs/human_hand/hangtowel/ep000015/trajectory.parquet b/inputs/human_hand/hangtowel/ep000015/trajectory.parquet
deleted file mode 100644
index 2a87fad21e777632873a5aeb77846910953c848d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/ep000015/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:754676e8731758e8c6f87c19c5f4d4a0b59ca4e769a27dccc02fc1043f00c32b
-size 7765515
diff --git a/inputs/human_hand/hangtowel/schema.json b/inputs/human_hand/hangtowel/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/hangtowel/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        57
-      ],
-      "field_descriptions": {
-        "camera_delta": {
-          "description": "camera xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8
-          ]
-        },
-        "right_wrist_world_delta": {
-          "description": "right wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17
-          ]
-        },
-        "right_fingertips_in_wrist": {
-          "description": "five right fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32
-          ]
-        },
-        "left_wrist_world_delta": {
-          "description": "left wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41
-          ]
-        },
-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56
-          ]
-        }
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        304
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-      "field_descriptions": {
-        "hand_state/left/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
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-            5,
-            6,
-            7,
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-            79,
-            80,
-            81,
-            82,
-            83
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-        },
-        "hand_state/left/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            84,
-            85,
-            86,
-            87,
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-            90,
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-        },
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-          "description": "left hand valid",
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-          "indices": [
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-        "hand_state/right/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
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-        },
-        "hand_state/right/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
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-            291,
-            292,
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-          ]
-        },
-        "hand_state/right/valid": {
-          "description": "right hand valid",
-          "dimensions": 1,
-          "indices": [
-            295
-          ]
-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
-          "dimensions": 4,
-          "indices": [
-            296,
-            297,
-            298,
-            299
-          ]
-        },
-        "head_camera/position": {
-          "description": "camera-to-world XYZ position",
-          "dimensions": 3,
-          "indices": [
-            300,
-            301,
-            302
-          ]
-        },
-        "head_camera/valid": {
-          "description": "camera pose valid",
-          "dimensions": 1,
-          "indices": [
-            303
-          ]
-        }
-      }
-    },
-    "observation.aux": {
-      "dtype": "float32",
-      "shape": [
-        19
-      ]
-    },
-    "observation.source_state": {
-      "dtype": "float32",
-      "shape": [
-        635
-      ]
-    }
-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
-      "source": "head_fisheye_left",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000006/calibration.json b/inputs/human_hand/pickfruit/ep000006/calibration.json
deleted file mode 100644
index 867b045d09e472eaba71b1b350510d1b2a6cfc6d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 6,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
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-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
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-        "source_to_virtual_rotation": [
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-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
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-        "height": 480
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-      "rectification": {
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-        "source_intrinsics": {
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-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
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-        "width": 640,
-        "height": 480
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-      "extrinsics": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
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-      },
-      "resolution": {
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-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
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-          "Cy": 299.4262390136719,
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
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-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json
deleted file mode 100644
index 09d3e908ae81d94f2e40c5b712098bef7c33e486..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 6,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
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-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
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-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
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-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
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-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
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-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
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diff --git a/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-        9
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-      "name": "left_wrist_world_delta",
-      "indices": [
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "left_fingertips_in_wrist",
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz
deleted file mode 100644
index 4ee291949d50f989cdb85a6c3a0cafa999160ab5..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000006/metadata.json b/inputs/human_hand/pickfruit/ep000006/metadata.json
deleted file mode 100644
index cccacfe7de574759f8fe697c4ef16900e5bb1c3a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pickfruit",
-  "episode_index": 6,
-  "episode_name": "ep000006",
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-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
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-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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index 3ff2b366e7fffc1efe22c4d6c74c5cc807ddb017..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/top_head.png
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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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--- a/inputs/human_hand/pickfruit/ep000006/observations/head_stereo_left.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pickfruit/ep000006/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000006/observations/top_head.png b/inputs/human_hand/pickfruit/ep000006/observations/top_head.png
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--- a/inputs/human_hand/pickfruit/ep000006/observations/top_head.png
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000006/pinhole_migration.json b/inputs/human_hand/pickfruit/ep000006/pinhole_migration.json
deleted file mode 100644
index f1df83e732b8c333ac080cd0a105795dd95dab8f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pickfruit",
-  "episode": "ep000006",
-  "views": [
-    "top_head",
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-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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diff --git a/inputs/human_hand/pickfruit/ep000006/source_map.json b/inputs/human_hand/pickfruit/ep000006/source_map.json
deleted file mode 100644
index bd0223e7291bdb81acba2874c1748ba301101c27..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/source_map.json
+++ /dev/null
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-{
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diff --git a/inputs/human_hand/pickfruit/ep000006/trajectory.parquet b/inputs/human_hand/pickfruit/ep000006/trajectory.parquet
deleted file mode 100644
index d01a69d40f7a66992d10eb7d3ba021c03a363bef..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000006/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:64b7fdc432941992d5cd20be1189c7cf2d9dd4d6fca421fb5fcea199aed65ee9
-size 7575943
diff --git a/inputs/human_hand/pickfruit/ep000017/calibration.json b/inputs/human_hand/pickfruit/ep000017/calibration.json
deleted file mode 100644
index b61af542bee5b3c09c83ac1bc7955de65e86a832..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
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-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
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-    "hand_right": {
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-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
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-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json
deleted file mode 100644
index 7e8b94c14d2e22539b057fd219195a56b5fe5dbb..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 17,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
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-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
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-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-            "y": -0.42865062258823455,
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-      "resolution": {
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-      }
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-    "hand_left": {
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-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Cy": 299.9506530761719,
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-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
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-    "head_stereo_left": {
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-      "camera_mount": "head",
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-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
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-      }
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-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000017/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000017/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz
deleted file mode 100644
index 2b5eaef7547d09b4ddf12d8b39b0d444cb4c1e96..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eb62d33507518af7828b7ec326701a3efa067984ce4f60d23c720923059a8e25
-size 1779526
diff --git a/inputs/human_hand/pickfruit/ep000017/metadata.json b/inputs/human_hand/pickfruit/ep000017/metadata.json
deleted file mode 100644
index 0d66b088383410090351b3575a913d14220ba11a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pickfruit",
-  "episode_index": 17,
-  "episode_name": "ep000017",
-  "fps": 15.0,
-  "num_frames": 1858,
-  "num_transitions": 1857,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png
deleted file mode 100644
index 9f2344c1f3a1a3c6d7c7c49123d9b9f9ffe3fa9a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c9c48097bfeabe643931a2a88066035ad360205e1a87e253dd4734682daa43e1
-size 717294
diff --git a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_right.png
deleted file mode 100644
index 380ec616302364c1fe2ce5f6434c2a91a8774efb..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a2f27b74230b182bdd646ae4fca3914230eb70a07412040980fce6bbd929a31e
-size 787087
diff --git a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/top_head.png b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/top_head.png
deleted file mode 100644
index 2f808faf4b6bf4560aa6e104878c90ca716006e2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000017/observations/hand_left.png b/inputs/human_hand/pickfruit/ep000017/observations/hand_left.png
deleted file mode 100644
index 2f5e2bbcd8ca0808f85cc32a65fa19b21145580e..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/observations/hand_left.png
+++ /dev/null
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diff --git a/inputs/human_hand/pickfruit/ep000017/observations/hand_right.png b/inputs/human_hand/pickfruit/ep000017/observations/hand_right.png
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index e673f0f8f27f43398c402443965ff857daf1b030..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/observations/hand_right.png
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pickfruit",
-  "episode": "ep000017",
-  "views": [
-    "top_head",
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-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
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-}
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-{
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-}
diff --git a/inputs/human_hand/pickfruit/ep000017/trajectory.parquet b/inputs/human_hand/pickfruit/ep000017/trajectory.parquet
deleted file mode 100644
index 1e369c6b26103b2557ea33d636af3112b880c688..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000017/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0fc2a585b894a33d151efa1bf592da59b80f4956660bc0912ce727687eea3a66
-size 7728097
diff --git a/inputs/human_hand/pickfruit/ep000022/calibration.json b/inputs/human_hand/pickfruit/ep000022/calibration.json
deleted file mode 100644
index 81df536f49df7d85f4b23450114dc72d86bdb1dd..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 22,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
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-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
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-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
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-          },
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-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
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-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
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-            0.0,
-            0.0
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-            0.7880107536067219,
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-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
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-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
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-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
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-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
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-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
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-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json
deleted file mode 100644
index 3ac467fdb87f2cbfc1de843f3570fe3cd7270e13..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 22,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
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diff --git a/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "left_fingertips_in_wrist",
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
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diff --git a/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz
deleted file mode 100644
index 82f4edf3cb824bfbdd39af21bd256453dc22bee2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000022/metadata.json b/inputs/human_hand/pickfruit/ep000022/metadata.json
deleted file mode 100644
index 6044aaf5b31a4fb8838ccdebf8a3ce61ea18c3ba..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pickfruit",
-  "episode_index": 22,
-  "episode_name": "ep000022",
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-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
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-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
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-  "active_projection": {
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-      "hand_left",
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-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png
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diff --git a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_right.png
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--- a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/top_head.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pickfruit/ep000022/observations/hand_left.png
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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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index 9a033aa1a2e4452150ed31aa023ca6ae476c384f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/observations/head_stereo_left.png
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-version https://git-lfs.github.com/spec/v1
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index ae25c53920a78122ce5419eed3e5dfa345e7e12a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000022/observations/top_head.png b/inputs/human_hand/pickfruit/ep000022/observations/top_head.png
deleted file mode 100644
index c297851bed20fc1ebaac73de14d7c76ea4252945..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000022/pinhole_migration.json b/inputs/human_hand/pickfruit/ep000022/pinhole_migration.json
deleted file mode 100644
index 55fe808d51b74c5e4bf7f26671130965695b6a17..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pickfruit",
-  "episode": "ep000022",
-  "views": [
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-  "controls_transformed": false,
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-  "mask_stats": {
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diff --git a/inputs/human_hand/pickfruit/ep000022/source_map.json b/inputs/human_hand/pickfruit/ep000022/source_map.json
deleted file mode 100644
index 3a8ae2d58cc1c71242639e07ef43d667a496ad14..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/source_map.json
+++ /dev/null
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-{
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diff --git a/inputs/human_hand/pickfruit/ep000022/trajectory.parquet b/inputs/human_hand/pickfruit/ep000022/trajectory.parquet
deleted file mode 100644
index 7c4c74db650b76fc2f800d2c146eaa45b66af854..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000022/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2773a59f5fb8ea583b9f454d73c1cefeadf6272fe6c9fec9a6bb8d662e2ef444
-size 7674124
diff --git a/inputs/human_hand/pickfruit/ep000026/calibration.json b/inputs/human_hand/pickfruit/ep000026/calibration.json
deleted file mode 100644
index d456e57e78abad85c6ec229f38cb15d0bd4aa03f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 26,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
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-      "camera_mount": "head",
-      "projection_model": "pinhole",
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-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
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-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
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-          }
-        },
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-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
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-          "translation": {
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-          }
-        }
-      },
-      "resolution": {
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-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
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-        "source_to_virtual_rotation": [
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-            0.0
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-          [
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
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-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
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-      "resolution": {
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-        "height": 480
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-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
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-            "w": 0.8819900289925252
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-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
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-          "width": 960
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-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
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-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
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-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
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-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
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-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
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-    "head_stereo_right": {
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-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-        "w": 0.8819900289925252
-      },
-      "translation": {
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-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
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-      "translation": {
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-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
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-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
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-    "extrinsic_head_stereo_right_T_imu": {
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-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
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-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
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-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
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-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
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-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
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-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
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-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
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-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json
deleted file mode 100644
index d5206ec857f0859291b43b21f60ac5015a89053a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 26,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
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-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
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-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
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-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
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-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
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-          },
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-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz
deleted file mode 100644
index 47d3e6d78a29f36d0cf99a4c182d6f8c2296efe3..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000026/metadata.json b/inputs/human_hand/pickfruit/ep000026/metadata.json
deleted file mode 100644
index 62f633462d286128e867ad03f19ee9f6057f9e8d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pickfruit",
-  "episode_index": 26,
-  "episode_name": "ep000026",
-  "fps": 15.0,
-  "num_frames": 1877,
-  "num_transitions": 1876,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png
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--- a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 915794
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--- a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/top_head.png
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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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--- a/inputs/human_hand/pickfruit/ep000026/observations/top_head.png
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--- a/inputs/human_hand/pickfruit/ep000026/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pickfruit",
-  "episode": "ep000026",
-  "views": [
-    "top_head",
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-  "height": 480,
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-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
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-}
diff --git a/inputs/human_hand/pickfruit/ep000026/source_map.json b/inputs/human_hand/pickfruit/ep000026/source_map.json
deleted file mode 100644
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--- a/inputs/human_hand/pickfruit/ep000026/source_map.json
+++ /dev/null
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-{
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diff --git a/inputs/human_hand/pickfruit/ep000026/trajectory.parquet b/inputs/human_hand/pickfruit/ep000026/trajectory.parquet
deleted file mode 100644
index 1dac07a05268341d643b883c60d1b588ee93328c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000026/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
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-size 7783390
diff --git a/inputs/human_hand/pickfruit/ep000032/calibration.json b/inputs/human_hand/pickfruit/ep000032/calibration.json
deleted file mode 100644
index 7fc5d136c88f1a954168133f834d0c40c2bf7c36..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 32,
-  "view_aliases": {
-    "top_head": "head_fisheye",
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-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
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-      "extrinsics_reference_frame": "source_fisheye_camera"
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
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-      "projection_model": "pinhole",
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-      "view_pitch_deg": 38.0
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-      "height": 480,
-      "hfov_deg": 90.0,
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-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json
deleted file mode 100644
index 298ec061b7b52972df873c02508a0c47b1cfed2f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 32,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
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-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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diff --git a/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-        9
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
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-      "encoding": "xyz+rot6d"
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-        16,
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz
deleted file mode 100644
index f85a31f9901345d39eeee8b27b5066168e5c2314..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:145a5fb55e2487eae213c6fbde0b6b314f1b9e222fc860d0c8a1d858cd6ea374
-size 1778622
diff --git a/inputs/human_hand/pickfruit/ep000032/metadata.json b/inputs/human_hand/pickfruit/ep000032/metadata.json
deleted file mode 100644
index d248156361c08b89f29aaa79bffba4de7e8b69d2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pickfruit",
-  "episode_index": 32,
-  "episode_name": "ep000032",
-  "fps": 15.0,
-  "num_frames": 1865,
-  "num_transitions": 1864,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
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-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
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-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png
deleted file mode 100644
index 243c41126f1c88c8089bda67643acd62ad2e3845..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7fe43250514c38cb3f2f40fe9799bbeaa0241d36fbc4027e0686d298ebc6a314
-size 833663
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_right.png
deleted file mode 100644
index 46e343e42e22e866bd65c8cec68dea075d8b084f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8fc5e3873fe832a39d184dd0255a8059f8c9459549dab22521947b6c496714b5
-size 911514
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/top_head.png b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/top_head.png
deleted file mode 100644
index ea88cb179749dea42eda84f9403ef13c8e89ed4d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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index ac8ad9d1ad073ffe7287631c6979444ab0f2f525..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58843018c3f72166436cbea220bc0d4dc3d3b2705d54bc6379eec1468aac756e
-size 318824
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/hand_right.png b/inputs/human_hand/pickfruit/ep000032/observations/hand_right.png
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index 5732df2e6c5719b0a7dc28f451c11622eb12a580..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 352514
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_left.png b/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_left.png
deleted file mode 100644
index eaac78ad5c6994427e2035f57274d8429451a264..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 922934
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_right.png b/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_right.png
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index 710cbd98e623dd7646709de038ef4c7605dba131..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4f836d34f198ef5b2072351d7b8784665d9032660a9fcc4e6ff4bbb02b7f6d8c
-size 924063
diff --git a/inputs/human_hand/pickfruit/ep000032/observations/top_head.png b/inputs/human_hand/pickfruit/ep000032/observations/top_head.png
deleted file mode 100644
index d82121c33f29d64ed0d90ce5047dadf783b3e295..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/observations/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a57b2b73ac6183b4ac515085f9b9632c6af4684091fc24b2a82b29837766dc96
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diff --git a/inputs/human_hand/pickfruit/ep000032/pinhole_migration.json b/inputs/human_hand/pickfruit/ep000032/pinhole_migration.json
deleted file mode 100644
index 8dae0a05fcd060aebc37fd80319137bdcaab6a17..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pickfruit",
-  "episode": "ep000032",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 8482630.0,
-      "pinhole_nonzero": 20329561.0,
-      "area_ratio": 2.3966106030794694
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-}
diff --git a/inputs/human_hand/pickfruit/ep000032/source_map.json b/inputs/human_hand/pickfruit/ep000032/source_map.json
deleted file mode 100644
index f70a48d181f48d2808ddfd831e9d7d7c4703bd13..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/source_map.json
+++ /dev/null
@@ -1,1926 +0,0 @@
-{
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-  "source_episode_index": 32,
-  "source_fps": 60.0,
-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
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-}
diff --git a/inputs/human_hand/pickfruit/ep000032/trajectory.parquet b/inputs/human_hand/pickfruit/ep000032/trajectory.parquet
deleted file mode 100644
index 1988eb470fa464e9e24b3a03ce9da60d2d0c02e3..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/ep000032/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57a5f05818ca2a390bf51b91138eff2d0142da95b904f7ca23bf538253b751e3
-size 7752038
diff --git a/inputs/human_hand/pickfruit/schema.json b/inputs/human_hand/pickfruit/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pickfruit/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        57
-      ],
-      "field_descriptions": {
-        "camera_delta": {
-          "description": "camera xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8
-          ]
-        },
-        "right_wrist_world_delta": {
-          "description": "right wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17
-          ]
-        },
-        "right_fingertips_in_wrist": {
-          "description": "five right fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
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-            28,
-            29,
-            30,
-            31,
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-          ]
-        },
-        "left_wrist_world_delta": {
-          "description": "left wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41
-          ]
-        },
-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56
-          ]
-        }
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        304
-      ],
-      "field_descriptions": {
-        "hand_state/left/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
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-            12,
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-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
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-            83
-          ]
-        },
-        "hand_state/left/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
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-            146
-          ]
-        },
-        "hand_state/left/valid": {
-          "description": "left hand valid",
-          "dimensions": 1,
-          "indices": [
-            147
-          ]
-        },
-        "hand_state/right/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            148,
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-          ]
-        },
-        "hand_state/right/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294
-          ]
-        },
-        "hand_state/right/valid": {
-          "description": "right hand valid",
-          "dimensions": 1,
-          "indices": [
-            295
-          ]
-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
-          "dimensions": 4,
-          "indices": [
-            296,
-            297,
-            298,
-            299
-          ]
-        },
-        "head_camera/position": {
-          "description": "camera-to-world XYZ position",
-          "dimensions": 3,
-          "indices": [
-            300,
-            301,
-            302
-          ]
-        },
-        "head_camera/valid": {
-          "description": "camera pose valid",
-          "dimensions": 1,
-          "indices": [
-            303
-          ]
-        }
-      }
-    },
-    "observation.aux": {
-      "dtype": "float32",
-      "shape": [
-        19
-      ]
-    },
-    "observation.source_state": {
-      "dtype": "float32",
-      "shape": [
-        635
-      ]
-    }
-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
-      "source": "head_fisheye_left",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000015/calibration.json b/inputs/human_hand/pourwater/ep000015/calibration.json
deleted file mode 100644
index cf40a8088139210ef9e6f8b0bf49179e697bcc6a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 15,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json
deleted file mode 100644
index baf6227fccac2d5d9be41558f4c99e98dac1ad33..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 15,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
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-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
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-          },
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
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-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
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-        "k1": 0.06008125841617584,
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-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
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-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
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-            "w": 0.8811976106036848
-          },
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-            "y": 0.014694437626401657,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
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-          }
-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
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-            "z": -0.0016198635801491547,
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-      }
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-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
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-        "height": 600,
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-            "y": -0.0059275519736941866,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-        "z": 2.7778272304765542e-05,
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-      }
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-      "Fy": 299.9335632324219,
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-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz
deleted file mode 100644
index 6e60f1983931061498645fa73ff46368f8c2a8f4..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:34dd787d8bcfef05083fa363e7e480979a91271f244e2299333adc2ea70e7627
-size 1797092
diff --git a/inputs/human_hand/pourwater/ep000015/metadata.json b/inputs/human_hand/pourwater/ep000015/metadata.json
deleted file mode 100644
index 9a6b93c94f92f1228f517e7bdd04fa5b0d4b9443..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pourwater",
-  "episode_index": 15,
-  "episode_name": "ep000015",
-  "fps": 15.0,
-  "num_frames": 1875,
-  "num_transitions": 1874,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png
deleted file mode 100644
index 4ec14ac8bad9e8f5ab179db7e218b78bae4a8742..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e9317f1dd0e18d40aa872f976eb40d0df303ec8cfeb5e10a613ab363ff432d21
-size 704521
diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png
deleted file mode 100644
index 0c833bd709cc4d468aa5077238a4841d3e9863e5..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png
deleted file mode 100644
index ab75e5ce9df558f3c26bed0a649e7ca15398c620..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000015/observations/hand_left.png b/inputs/human_hand/pourwater/ep000015/observations/hand_left.png
deleted file mode 100644
index 87594705b542d1204cb3ac610dc266dc005807a1..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/observations/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index bf62f60cef76bf15db178a0f085224037105815c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/observations/hand_right.png
+++ /dev/null
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--- a/inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png
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diff --git a/inputs/human_hand/pourwater/ep000015/pinhole_migration.json b/inputs/human_hand/pourwater/ep000015/pinhole_migration.json
deleted file mode 100644
index 5a958b0ae5c0ab57aa209d1cb9ae24759fb2a26d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pourwater",
-  "episode": "ep000015",
-  "views": [
-    "top_head",
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-  "controls_transformed": false,
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-{
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-}
diff --git a/inputs/human_hand/pourwater/ep000015/trajectory.parquet b/inputs/human_hand/pourwater/ep000015/trajectory.parquet
deleted file mode 100644
index 55c70e960270188cd11802a97a63c70ffddaabf3..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000015/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6c20fa5f179bc2db4cdf18b713e14f1bd851e848d1aebbb0ecb8bd4679de87c1
-size 7820847
diff --git a/inputs/human_hand/pourwater/ep000016/calibration.json b/inputs/human_hand/pourwater/ep000016/calibration.json
deleted file mode 100644
index 05ebb7a0f9b5baee9ab46d989488d10a024fda9b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 16,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json
deleted file mode 100644
index 5552b4e4e470142a2cb1244a02ce8e97c172ddce..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 16,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
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diff --git a/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-        9
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-      "encoding": "xyz+rot6d"
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-      "name": "right_wrist_world_delta",
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-        16,
-        20
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-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
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-        12,
-        16,
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz
deleted file mode 100644
index e2ec4cb930bfcb77731f2570c7aa3c4e4acab2e5..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b43808990fff87258db0c203a6e12c8cf12a5106323705b186c03f98bbd532e7
-size 1835999
diff --git a/inputs/human_hand/pourwater/ep000016/metadata.json b/inputs/human_hand/pourwater/ep000016/metadata.json
deleted file mode 100644
index 6b949efd014e099e12d1f52cb8b36fe3251a3f1d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pourwater",
-  "episode_index": 16,
-  "episode_name": "ep000016",
-  "fps": 15.0,
-  "num_frames": 1910,
-  "num_transitions": 1909,
-  "seed_local_index": 0,
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-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
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-  "active_projection": {
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-      "hand_left",
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png
deleted file mode 100644
index 448e66db1f5c228df94002eb2d276def9136dd5a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index 077700b02e3c0de9f75cbccffebd0976fa07455b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bff8bc2839c25dbb8ef3c0374381f7d0c9605bc21f0eca8701ed2085686c65da
-size 832829
diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png
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index ca2e68c642f5c981562d5bc9a3d74ad07bfda69c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000016/observations/hand_left.png
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-version https://git-lfs.github.com/spec/v1
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index 12b3bbb48c7d4d50b5cf76906fe52f2e2ef63fe7..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png
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index 03811ae5233dd77ea8e1f2105bc0aa6a80516b5c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index bc211fb6ecd3f6d0d16702bc55d0924c58635652..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000016/observations/top_head.png b/inputs/human_hand/pourwater/ep000016/observations/top_head.png
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index be98fac1cdd3197b7ef45e7dffe0cbc6d6913f25..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000016/pinhole_migration.json b/inputs/human_hand/pourwater/ep000016/pinhole_migration.json
deleted file mode 100644
index 387f820389b11fe6b6ab124af489d3ed19e1527a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pourwater",
-  "episode": "ep000016",
-  "views": [
-    "top_head",
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-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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-      "area_ratio": 1.9231268093843104
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-}
diff --git a/inputs/human_hand/pourwater/ep000016/source_map.json b/inputs/human_hand/pourwater/ep000016/source_map.json
deleted file mode 100644
index cc3e2b849a24008c623521b493e94b3e13e063c0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/source_map.json
+++ /dev/null
@@ -1,1969 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/pourwater/ep000016/trajectory.parquet b/inputs/human_hand/pourwater/ep000016/trajectory.parquet
deleted file mode 100644
index 8bfcfd668dc07716e8b29fd7d93204c9dbd983b1..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000016/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d5facac68a0f496b88563d22f3fed9b6ec41ebec5ee7f8360289c2a369a17da7
-size 7987861
diff --git a/inputs/human_hand/pourwater/ep000020/calibration.json b/inputs/human_hand/pourwater/ep000020/calibration.json
deleted file mode 100644
index 3acd121261cb19e80073ee3d2aecf0a19919767f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 20,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
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-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
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-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
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-        "source_to_virtual_rotation": [
-          [
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-            0.0,
-            0.0
-          ],
-          [
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-            0.7880107536067219,
-            -0.6156614753256583
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-          [
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-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
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-          }
-        }
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-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
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-      "resolution": {
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-        "height": 600
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-    }
-  },
-  "source_calibration": {
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-    "suppiler_flag": {
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-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json
deleted file mode 100644
index 29cba79aaa3fecbc917a32636741e8214e184ef0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 20,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Fx": 224.22935485839844,
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-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
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-            "z": 2.7778272304765542e-05,
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
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-      "extrinsics": {
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-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-      "extrinsics": {
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-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
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-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-    },
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-    },
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-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000020/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000020/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
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-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
-        4,
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-        12,
-        16,
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-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz
deleted file mode 100644
index fda0547364ff31c5f0c4da536d9ef1c9c90f27d1..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b9c8bf09ea224116a2f710d11064a2650367c3bd060758efb33ae8abd9d62b42
-size 1797620
diff --git a/inputs/human_hand/pourwater/ep000020/metadata.json b/inputs/human_hand/pourwater/ep000020/metadata.json
deleted file mode 100644
index e67fd208921640b769a51fd124e74d138fc0ce9f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pourwater",
-  "episode_index": 20,
-  "episode_name": "ep000020",
-  "fps": 15.0,
-  "num_frames": 1884,
-  "num_transitions": 1883,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png
deleted file mode 100644
index 02a9535eff3dade9a8f2fd406dc4db20b614b2cd..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index 456111cf0e18ceefbfb9610c46f2cd3fb7d37d8b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 842419
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--- a/inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000020/observations/hand_left.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000020/observations/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000020/observations/top_head.png b/inputs/human_hand/pourwater/ep000020/observations/top_head.png
deleted file mode 100644
index 714c37d2469049af48189ad161f746d524216828..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000020/pinhole_migration.json b/inputs/human_hand/pourwater/ep000020/pinhole_migration.json
deleted file mode 100644
index 75389489dd18f6dc3048586e310b3a451e848dec..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pourwater",
-  "episode": "ep000020",
-  "views": [
-    "top_head",
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-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 6923383.0,
-      "pinhole_nonzero": 15672093.0,
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-      "pinhole_nonzero": 73971046.0,
-      "area_ratio": 1.8282818071799716
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-      "area_ratio": 1.9074354868054724
-    }
-  },
-  "created_unix": 1789879409.1173952
-}
diff --git a/inputs/human_hand/pourwater/ep000020/source_map.json b/inputs/human_hand/pourwater/ep000020/source_map.json
deleted file mode 100644
index d77fc40a1d804e7f2fc9e3179798c0c8a9719a2c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/source_map.json
+++ /dev/null
@@ -1,1943 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/pourwater/ep000020/trajectory.parquet b/inputs/human_hand/pourwater/ep000020/trajectory.parquet
deleted file mode 100644
index dc393f9a6fff60b0387fbc83ab1c563f648cea84..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000020/trajectory.parquet
+++ /dev/null
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-oid sha256:9064da70ae8ed788faa16a05dcc7ab30ff7f63f262a4f6aaa35f348fae119f0f
-size 7839661
diff --git a/inputs/human_hand/pourwater/ep000021/calibration.json b/inputs/human_hand/pourwater/ep000021/calibration.json
deleted file mode 100644
index 22412b45cb42c8d088433b81d05b8e5d75268f0c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 21,
-  "view_aliases": {
-    "top_head": "head_fisheye",
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-    "hand_right": "head_fisheye_right"
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-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
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diff --git a/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json
deleted file mode 100644
index 64ee60e0ed6611ce9b996d486bc5f858d2807e41..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
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diff --git a/inputs/human_hand/pourwater/ep000021/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000021/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz
deleted file mode 100644
index 6170a1e46ad37144b44fffeb156e3abf7f57b8a2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a9d47a222bc07dde8a657d7a4fd534328cdbc3548f956574a54cdd0df86acd21
-size 1787651
diff --git a/inputs/human_hand/pourwater/ep000021/metadata.json b/inputs/human_hand/pourwater/ep000021/metadata.json
deleted file mode 100644
index 332448aab5860a0fa1b905a8da2b6b6abde5aad2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pourwater",
-  "episode_index": 21,
-  "episode_name": "ep000021",
-  "fps": 15.0,
-  "num_frames": 1877,
-  "num_transitions": 1876,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png
deleted file mode 100644
index a977ff84a4c883179bdff7cf38de87eb9873a0f4..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 832268
diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png
deleted file mode 100644
index 1e95ba6a0ae8d369358448c4ad493f5578511c2d..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b4157a6862a20f650cfb1c752ae60c04fc9ab0510ea35665175597a93b279ba6
-size 852437
diff --git a/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png b/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png
deleted file mode 100644
index 6c82615356d1b38749dcefbde982ff65c93397f3..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index d3a9014569b21ff22e4bd62462aa34d9a96d723b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000021/observations/hand_right.png
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diff --git a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png
deleted file mode 100644
index 977e1e8501e92d7bee14e56775d53d36783ec503..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png b/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png
deleted file mode 100644
index cb4953ee1e7ee893b5054143daa305208e624daf..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png
+++ /dev/null
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diff --git a/inputs/human_hand/pourwater/ep000021/observations/top_head.png b/inputs/human_hand/pourwater/ep000021/observations/top_head.png
deleted file mode 100644
index 9c2a1e00c345c42787e002be6eb0dc5ded666a7c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/observations/top_head.png
+++ /dev/null
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diff --git a/inputs/human_hand/pourwater/ep000021/pinhole_migration.json b/inputs/human_hand/pourwater/ep000021/pinhole_migration.json
deleted file mode 100644
index 19792f83b7009982d23f8429b7a8d1e7a9b2e50f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pourwater",
-  "episode": "ep000021",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
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-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 7376248.0,
-      "pinhole_nonzero": 16617268.0,
-      "area_ratio": 2.252807660479962
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-      "pinhole_nonzero": 80112257.0,
-      "area_ratio": 1.883155834853085
-    },
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-      "pinhole_nonzero": 34604600.0,
-      "area_ratio": 1.4736836367312727
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-      "area_ratio": 1.7203640511602583
-    }
-  },
-  "created_unix": 1789879456.9235563
-}
diff --git a/inputs/human_hand/pourwater/ep000021/source_map.json b/inputs/human_hand/pourwater/ep000021/source_map.json
deleted file mode 100644
index fba3746e2557061f7f24046b7d9a69207ace91e4..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/source_map.json
+++ /dev/null
@@ -1,1936 +0,0 @@
-{
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-}
diff --git a/inputs/human_hand/pourwater/ep000021/trajectory.parquet b/inputs/human_hand/pourwater/ep000021/trajectory.parquet
deleted file mode 100644
index f85e6882ef53bd16b76adb27bcc1754beca913ca..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000021/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d55b212ab0671faf8219bcfde45dd455a4d2bf167db6729f735593457de2db80
-size 7794510
diff --git a/inputs/human_hand/pourwater/ep000022/calibration.json b/inputs/human_hand/pourwater/ep000022/calibration.json
deleted file mode 100644
index 81df536f49df7d85f4b23450114dc72d86bdb1dd..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 22,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
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-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
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-          "translation": {
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-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
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-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
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-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
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-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
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-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
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-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
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-      "translation": {
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-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
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-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
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-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
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-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json
deleted file mode 100644
index 3ac467fdb87f2cbfc1de843f3570fe3cd7270e13..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 22,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
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diff --git a/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "right_wrist_world_delta",
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-      "encoding": "xyz+rot6d"
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-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
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-        57
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-      "joint_indices": [
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-        12,
-        16,
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz
deleted file mode 100644
index 9cfaef7a92b226a616bbe112156a3e6c358d0ffd..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:257adc7705f0b6f107ecdb5a5a7ae1fd19abcb9bd6d6fc7ae4cb5a6922b83fd4
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diff --git a/inputs/human_hand/pourwater/ep000022/metadata.json b/inputs/human_hand/pourwater/ep000022/metadata.json
deleted file mode 100644
index 7d8e70176573bdacb57b9e67feff8ba5b958bc5c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pourwater",
-  "episode_index": 22,
-  "episode_name": "ep000022",
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-  "num_transitions": 1852,
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-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "action_57d_spec": "controls/action_57d_spec.json"
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-    "fisheye_calibration": "calibration_fisheye.json",
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-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
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-  "active_projection": {
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-      "hand_left",
-      "hand_right"
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-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png
deleted file mode 100644
index e289a978c765e77c0d060af671551d5941394cd2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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index 26c0bb62365d2f70f9cdd45519510906559b4092..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 801508
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index 43d8f09db48a610fe0064de933857148ac54065f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pourwater/ep000022/observations/hand_left.png
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--- a/inputs/human_hand/pourwater/ep000022/observations/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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index d65636fa47136af3f53b78904c540e55297e3773..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/head_stereo_left.png
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-version https://git-lfs.github.com/spec/v1
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index 67eab10ff989914fefac17a8092f62295add2c64..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000022/observations/top_head.png b/inputs/human_hand/pourwater/ep000022/observations/top_head.png
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index a1bde71a5efd91b2a2508ba2ecdd5c57d9e64df6..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/observations/top_head.png
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pourwater/ep000022/pinhole_migration.json b/inputs/human_hand/pourwater/ep000022/pinhole_migration.json
deleted file mode 100644
index 43f59b9b3d3fc6582692a2dd2f79807f6e5d3bae..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pourwater",
-  "episode": "ep000022",
-  "views": [
-    "top_head",
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-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
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diff --git a/inputs/human_hand/pourwater/ep000022/source_map.json b/inputs/human_hand/pourwater/ep000022/source_map.json
deleted file mode 100644
index acd7f904958e0f2e4880220fe37005a401cf475b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/source_map.json
+++ /dev/null
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-{
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diff --git a/inputs/human_hand/pourwater/ep000022/trajectory.parquet b/inputs/human_hand/pourwater/ep000022/trajectory.parquet
deleted file mode 100644
index 11300b13de1c42fa4bd7f6cfd724f9423c0f2f6f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/ep000022/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b84c388fe2d00e9f365275bb7bb2de0fa8c0eeb6d214d0af46b786afa1ea9587
-size 7685568
diff --git a/inputs/human_hand/pourwater/schema.json b/inputs/human_hand/pourwater/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pourwater/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        57
-      ],
-      "field_descriptions": {
-        "camera_delta": {
-          "description": "camera xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8
-          ]
-        },
-        "right_wrist_world_delta": {
-          "description": "right wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17
-          ]
-        },
-        "right_fingertips_in_wrist": {
-          "description": "five right fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32
-          ]
-        },
-        "left_wrist_world_delta": {
-          "description": "left wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41
-          ]
-        },
-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56
-          ]
-        }
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        304
-      ],
-      "field_descriptions": {
-        "hand_state/left/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
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-            79,
-            80,
-            81,
-            82,
-            83
-          ]
-        },
-        "hand_state/left/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
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-          ]
-        },
-        "hand_state/left/valid": {
-          "description": "left hand valid",
-          "dimensions": 1,
-          "indices": [
-            147
-          ]
-        },
-        "hand_state/right/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            148,
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-            193,
-            194,
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-            223,
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-            226,
-            227,
-            228,
-            229,
-            230,
-            231
-          ]
-        },
-        "hand_state/right/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
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-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294
-          ]
-        },
-        "hand_state/right/valid": {
-          "description": "right hand valid",
-          "dimensions": 1,
-          "indices": [
-            295
-          ]
-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
-          "dimensions": 4,
-          "indices": [
-            296,
-            297,
-            298,
-            299
-          ]
-        },
-        "head_camera/position": {
-          "description": "camera-to-world XYZ position",
-          "dimensions": 3,
-          "indices": [
-            300,
-            301,
-            302
-          ]
-        },
-        "head_camera/valid": {
-          "description": "camera pose valid",
-          "dimensions": 1,
-          "indices": [
-            303
-          ]
-        }
-      }
-    },
-    "observation.aux": {
-      "dtype": "float32",
-      "shape": [
-        19
-      ]
-    },
-    "observation.source_state": {
-      "dtype": "float32",
-      "shape": [
-        635
-      ]
-    }
-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
-      "source": "head_fisheye_left",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000010/calibration.json b/inputs/human_hand/pulldrawer/ep000010/calibration.json
deleted file mode 100644
index 3f8953532c17c3b7d8b7d30f8419365f0685fb70..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 10,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
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-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
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-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
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-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
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-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
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-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json
deleted file mode 100644
index 418767104f012c7f48431904aaf02af156a98da2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 10,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
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diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
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-        9
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
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-        18
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
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-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz
deleted file mode 100644
index 8e525706ebe21912b6a365852a456cc135c3a858..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:535aa8dd55496424ce642737fe9bc321553e911b1f16c78e07d54da7bf81f5ca
-size 1774682
diff --git a/inputs/human_hand/pulldrawer/ep000010/metadata.json b/inputs/human_hand/pulldrawer/ep000010/metadata.json
deleted file mode 100644
index 57dbe0bc5a5487fd52ca857c6e3a731a598ed5c2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pulldrawer",
-  "episode_index": 10,
-  "episode_name": "ep000010",
-  "fps": 15.0,
-  "num_frames": 1861,
-  "num_transitions": 1860,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png
deleted file mode 100644
index db074424a63e164b6dae1d4f4f1a12e635815e0c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png
deleted file mode 100644
index 84fc8eee59a1c6aa431b08ee8bfeb909203f8890..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:749cc5486f688b8f94a9f234a40d9511607e7724c24c71b54ad0d6befffdbd65
-size 872794
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deleted file mode 100644
index 7653fbbae6809c031ec6233c0f684642a436fdf1..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png
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index 582109932a91313635e52be8728977650aef99d8..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 333445
diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png
deleted file mode 100644
index 4435515b83dc054d11f82e2ab2f685e5b050f364..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 373351
diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png
deleted file mode 100644
index 9d8029217a6039960b08e0bb1ea86aa683981d9c..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 955654
diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png
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index d40e9b7db2384737062c8aa10cae0ceabf6fda77..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2d2955caa4ccaca438af900a51a72f21f842d42ce8f77b3d9dbd2c23f25ef071
-size 953343
diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png b/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png
deleted file mode 100644
index da47373c9847927f211d4436efb229afec4e81d2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/observations/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000010/pinhole_migration.json b/inputs/human_hand/pulldrawer/ep000010/pinhole_migration.json
deleted file mode 100644
index e9854746a7b51e967f5e345d5a2f2eaf57e2fa31..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pulldrawer",
-  "episode": "ep000010",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 19422664.0,
-      "pinhole_nonzero": 43125393.0,
-      "area_ratio": 2.2203644669958766
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-      "pinhole_nonzero": 87685798.0,
-      "area_ratio": 2.0135010000936417
-    },
-    "multiview_masks/hand_left": {
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-      "pinhole_nonzero": 47382424.0,
-      "area_ratio": 1.598411143209637
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-      "pinhole_nonzero": 67602783.0,
-      "area_ratio": 1.758469190729087
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-  },
-  "created_unix": 1789880006.9114797
-}
diff --git a/inputs/human_hand/pulldrawer/ep000010/source_map.json b/inputs/human_hand/pulldrawer/ep000010/source_map.json
deleted file mode 100644
index 5428437fec4ba91f648234d70bcae577afb07239..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/source_map.json
+++ /dev/null
@@ -1,1928 +0,0 @@
-{
-  "source_dataset": "<redacted>",
-  "source_episode_index": 10,
-  "source_fps": 60.0,
-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
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diff --git a/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet
deleted file mode 100644
index 11f57b7fe23fa009ecab0cc650228e242944a403..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5d2a0493e57e3c9a55adadf52384e471514b7340ded37a6e7245650d01797328
-size 7737155
diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration.json b/inputs/human_hand/pulldrawer/ep000017/calibration.json
deleted file mode 100644
index b61af542bee5b3c09c83ac1bc7955de65e86a832..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 17,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
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-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-  "source_calibration": {
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-      "acc_w": 2.9547641343712726e-05,
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-      "gyro_w": 8.042016530226203e-06,
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-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json
deleted file mode 100644
index 7e8b94c14d2e22539b057fd219195a56b5fe5dbb..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 17,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
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-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
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-      },
-      "extrinsics": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
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-      "extrinsics": {
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-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
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-        "k2": -0.01877696067094803,
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-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
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-            "y": -0.0059275519736941866,
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-            "w": -0.006305158409659226
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-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
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-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
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-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
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-    },
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-    "intrinsic_head_fisheye_left": {
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-      "head_fisheye": "383100008901V01AA1VA069126071000489",
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-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
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diff --git a/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz
deleted file mode 100644
index c25084cfbf0e225e49c9a53fc920cdd002572f3a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7cfa44cc8ad8648160cf8a851dd18e882d0e7ced924291866f51b89bcfd44c3a
-size 1761562
diff --git a/inputs/human_hand/pulldrawer/ep000017/metadata.json b/inputs/human_hand/pulldrawer/ep000017/metadata.json
deleted file mode 100644
index 6dfb022479e28ccf00b6467312cfd3f56d002441..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pulldrawer",
-  "episode_index": 17,
-  "episode_name": "ep000017",
-  "fps": 15.0,
-  "num_frames": 1850,
-  "num_transitions": 1849,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png
deleted file mode 100644
index 77698e463924245f0ab538262f5e4e5daf11b769..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_right.png
deleted file mode 100644
index 33727b49dd67c4305e920e37c03e7ea905da8972..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 862468
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deleted file mode 100644
index 4a4c1f532fcd257cbf5b1141c34efb04c66ad1ac..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/hand_left.png b/inputs/human_hand/pulldrawer/ep000017/observations/hand_left.png
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--- a/inputs/human_hand/pulldrawer/ep000017/observations/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 309766
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--- a/inputs/human_hand/pulldrawer/ep000017/observations/hand_right.png
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-version https://git-lfs.github.com/spec/v1
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-size 373555
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deleted file mode 100644
index 1853171975365d5cd6e30504f60891a9df4e0502..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/observations/head_stereo_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:9d051d9064675ce3b281f068c45e4e0194793d6301ce8787e574a5bf59cbc46a
-size 879267
diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/head_stereo_right.png b/inputs/human_hand/pulldrawer/ep000017/observations/head_stereo_right.png
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--- a/inputs/human_hand/pulldrawer/ep000017/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 877141
diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/top_head.png b/inputs/human_hand/pulldrawer/ep000017/observations/top_head.png
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index 8599c4e37805591263d2c71f8afa7e6bedfbd705..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json b/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json
deleted file mode 100644
index df3d01328fb5fe0a405596bf6af4dcefc6378c7a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pulldrawer",
-  "episode": "ep000017",
-  "views": [
-    "top_head",
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-    "hand_right"
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-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 24021687.0,
-      "pinhole_nonzero": 49509626.0,
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-}
diff --git a/inputs/human_hand/pulldrawer/ep000017/source_map.json b/inputs/human_hand/pulldrawer/ep000017/source_map.json
deleted file mode 100644
index 4bb9d194d334f853eb9b601bc2cf2c9a53a6a4f6..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/source_map.json
+++ /dev/null
@@ -1,1909 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet
deleted file mode 100644
index 15b58d4e96827c9796242e85d6ce96b7134e9c76..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:002b6cf16aea82422ee88511d123913394043d674dff9c25121137639aca92a7
-size 7670742
diff --git a/inputs/human_hand/pulldrawer/ep000018/calibration.json b/inputs/human_hand/pulldrawer/ep000018/calibration.json
deleted file mode 100644
index 4e0edf7b99a2b3fee0cdb236f184ac78cc60ce61..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 18,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
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-      "camera_mount": "head",
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-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
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-      "intrinsics": {
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-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-        "width": 960
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-      "extrinsics": {
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-      "resolution": {
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-        "height": 600
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-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json
deleted file mode 100644
index c3ca9d48174a0a8c57eb970bf94a1b8d5abe565f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 18,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
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-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
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-          "translation": {
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-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
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-      "translation": {
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-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
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-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
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-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
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-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
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-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
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-      "translation": {
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-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
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-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
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-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
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-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
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-      "k1": 0.05835850164294243,
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-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
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-      "width": 960
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-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz
deleted file mode 100644
index 5074785f911d963b3cbb9d9b90219ccb7e29b2e7..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:764296bce0b314cf1f1f6aa78f7a1458757e40a4e7dd74588ed8249a600103dc
-size 1840433
diff --git a/inputs/human_hand/pulldrawer/ep000018/metadata.json b/inputs/human_hand/pulldrawer/ep000018/metadata.json
deleted file mode 100644
index bbc1c7791547d8f18e2d354052a96f23890ef8e7..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pulldrawer",
-  "episode_index": 18,
-  "episode_name": "ep000018",
-  "fps": 15.0,
-  "num_frames": 1922,
-  "num_transitions": 1921,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png
deleted file mode 100644
index 16ff7a1651aff565345c36b612b2836647284b40..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:013897ec8047330c8f48caf54eb92db3e700f1c7955f35436d722b6d831a9289
-size 730407
diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_right.png
deleted file mode 100644
index c8d97f5311a9a6859b54cec0d3f0f7677effd3f2..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e6c42ff591c4bf03c5a96ceeaaf23674e7cb581d7196806c92eb7e779205357d
-size 789553
diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/top_head.png b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/top_head.png
deleted file mode 100644
index 9d4c0f31b0c0cdaa674190f178414791e26d5301..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/top_head.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e94e0f2ad792d5aea1528d79b240e2255a09bb9dada8239fc19d77fc98b70827
-size 722413
diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/hand_left.png b/inputs/human_hand/pulldrawer/ep000018/observations/hand_left.png
deleted file mode 100644
index 4765a0c5182bc1fe61b0fe5128c33944a45d9087..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/observations/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index a22170b791338caadd927a6c217eff4a32b139b4..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/observations/hand_right.png
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--- a/inputs/human_hand/pulldrawer/ep000018/observations/head_stereo_left.png
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--- a/inputs/human_hand/pulldrawer/ep000018/observations/top_head.png
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deleted file mode 100644
index 823b78c4bed3d6e8393a03b04306a97cb7ec1608..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/pinhole_migration.json
+++ /dev/null
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-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pulldrawer",
-  "episode": "ep000018",
-  "views": [
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deleted file mode 100644
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--- a/inputs/human_hand/pulldrawer/ep000018/source_map.json
+++ /dev/null
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-{
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-}
diff --git a/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet
deleted file mode 100644
index 5edb1977af5a268506a6791e0b0c6c22bbef7ae8..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b11c24319d7f021b56734c9338154cb16776911881a4217c7a82381310e3b82b
-size 8007707
diff --git a/inputs/human_hand/pulldrawer/ep000024/calibration.json b/inputs/human_hand/pulldrawer/ep000024/calibration.json
deleted file mode 100644
index 18ca0d3289fec4ed81da2431beb5411fc82d5318..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 24,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 479.4472961425781,
-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
-          },
-          "translation": {
-            "x": 0.004417393018733836,
-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
-            "x": -0.0014040695076892229,
-            "y": 0.0010112171798395235,
-            "z": -0.0002191893102376494,
-            "w": 0.9999984789911828
-          },
-          "translation": {
-            "x": -0.06050456252912958,
-            "y": -0.00012716207060800203,
-            "z": -0.00025589655066818193
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 480.90869140625,
-        "Cy": 300.6904602050781,
-        "Fx": 300.04974365234375,
-        "Fy": 299.9335632324219,
-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
-        "k3": -0.019749220460653305,
-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
-          "rotation": {
-            "x": 0.9999591107589757,
-            "y": -0.0059275519736941866,
-            "z": -0.002624102731710321,
-            "w": -0.006305158409659226
-          },
-          "translation": {
-            "x": 0.06491403504737772,
-            "y": -0.005074571574618962,
-            "z": -0.01760922065052973
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
-      "rotation": {
-        "x": 0.0009442228132370642,
-        "y": 0.0002965523734030786,
-        "z": 2.7778272304765542e-05,
-        "w": 0.9999995098640481
-      },
-      "translation": {
-        "x": 0.03061258879177004,
-        "y": -0.00044053462609449333,
-        "z": 0.0010914965841121059
-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
-      "rotation": {
-        "x": 0.00363868679823883,
-        "y": -0.42865062258823455,
-        "z": -0.19933934578868262,
-        "w": 0.8811976106036848
-      },
-      "translation": {
-        "x": -0.05050148006484744,
-        "y": 0.014694437626401657,
-        "z": -0.028958392523767598
-      }
-    },
-    "extrinsic_head_fisheye_right_T_left": {
-      "rotation": {
-        "x": 0.0003976459684297884,
-        "y": 0.42641808299703304,
-        "z": 0.20065156149051988,
-        "w": 0.8819900289925252
-      },
-      "translation": {
-        "x": 0.11023896172779998,
-        "y": 0.013827394575498546,
-        "z": -0.02812516971803584
-      }
-    },
-    "extrinsic_head_stereo_left_T_imu": {
-      "rotation": {
-        "x": 0.999970395486808,
-        "y": -0.005711054071957077,
-        "z": -0.0016198635801491547,
-        "w": -0.004895717855982548
-      },
-      "translation": {
-        "x": 0.004417393018733836,
-        "y": -0.0042354069095445705,
-        "z": -0.017029698432489374
-      }
-    },
-    "extrinsic_head_stereo_left_T_right": {
-      "rotation": {
-        "x": -0.0014040695076892229,
-        "y": 0.0010112171798395235,
-        "z": -0.0002191893102376494,
-        "w": 0.9999984789911828
-      },
-      "translation": {
-        "x": -0.06050456252912958,
-        "y": -0.00012716207060800203,
-        "z": -0.00025589655066818193
-      }
-    },
-    "extrinsic_head_stereo_right_T_imu": {
-      "rotation": {
-        "x": 0.9999591107589757,
-        "y": -0.0059275519736941866,
-        "z": -0.002624102731710321,
-        "w": -0.006305158409659226
-      },
-      "translation": {
-        "x": 0.06491403504737772,
-        "y": -0.005074571574618962,
-        "z": -0.01760922065052973
-      }
-    },
-    "intrinsic_head_fisheye": {
-      "Cx": 401.24334716796875,
-      "Cy": 299.5632019042969,
-      "Fx": 224.22935485839844,
-      "Fy": 224.09205627441406,
-      "height": 600,
-      "k1": 0.057993289083242416,
-      "k2": 0.01816844940185547,
-      "k3": -0.008063109591603279,
-      "k4": 0.0006919464212842286,
-      "width": 800
-    },
-    "intrinsic_head_fisheye_left": {
-      "Cx": 479.4472961425781,
-      "Cy": 299.9506530761719,
-      "Fx": 223.04345703125,
-      "Fy": 223.11749267578125,
-      "height": 600,
-      "k1": 0.06008125841617584,
-      "k2": 0.015944620594382286,
-      "k3": -0.006167862098664045,
-      "k4": 0.00022500510385725647,
-      "width": 960
-    },
-    "intrinsic_head_fisheye_right": {
-      "Cx": 480.4215393066406,
-      "Cy": 299.4262390136719,
-      "Fx": 223.5740509033203,
-      "Fy": 223.46319580078125,
-      "height": 600,
-      "k1": 0.05835850164294243,
-      "k2": 0.017698010429739952,
-      "k3": -0.007227227091789246,
-      "k4": 0.0004160731041338295,
-      "width": 960
-    },
-    "intrinsic_head_imu": {
-      "acc_n": 0.0005510443172649928,
-      "acc_w": 2.9547641343712726e-05,
-      "gyro_n": 0.0008512645105958214,
-      "gyro_w": 8.042016530226203e-06,
-      "timeshift_fisheye_cam_imu": 0.0032943932938084845
-    },
-    "intrinsic_head_stereo_left": {
-      "Cx": 481.39990234375,
-      "Cy": 298.59674072265625,
-      "Fx": 300.0994873046875,
-      "Fy": 300.0945129394531,
-      "height": 600,
-      "k1": 0.23313209414482117,
-      "k2": -0.013054169714450836,
-      "k3": -0.02656524069607258,
-      "k4": 0.008368264883756638,
-      "width": 960
-    },
-    "intrinsic_head_stereo_right": {
-      "Cx": 480.90869140625,
-      "Cy": 300.6904602050781,
-      "Fx": 300.04974365234375,
-      "Fy": 299.9335632324219,
-      "height": 600,
-      "k1": 0.23226110637187958,
-      "k2": -0.01877696067094803,
-      "k3": -0.019749220460653305,
-      "k4": 0.00620193500071764,
-      "width": 960
-    },
-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json
deleted file mode 100644
index 565bb6df237639d3cd768404c5ad69bdd5340edf..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 24,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 401.24334716796875,
-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
-        "Fy": 224.09205627441406,
-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
-          },
-          "translation": {
-            "x": 0.03061258879177004,
-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 479.4472961425781,
-        "Cy": 299.9506530761719,
-        "Fx": 223.04345703125,
-        "Fy": 223.11749267578125,
-        "height": 600,
-        "k1": 0.06008125841617584,
-        "k2": 0.015944620594382286,
-        "k3": -0.006167862098664045,
-        "k4": 0.00022500510385725647,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
-          },
-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
-        "Cx": 480.4215393066406,
-        "Cy": 299.4262390136719,
-        "Fx": 223.5740509033203,
-        "Fy": 223.46319580078125,
-        "height": 600,
-        "k1": 0.05835850164294243,
-        "k2": 0.017698010429739952,
-        "k3": -0.007227227091789246,
-        "k4": 0.0004160731041338295,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
-            "x": 0.11023896172779998,
-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
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diff --git a/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
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-        18
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
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-      "joint_indices": [
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-        8,
-        12,
-        16,
-        20
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
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-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pulldrawer/ep000024/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000024/controls/hand_camera_poses.npz
deleted file mode 100644
index b89ca7fc9c72de4657f5b73aa3a22f398fed1d85..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b059c0dc67e268926512e9a86d420577b6f83f4d8de0a58cbaaa62f1e4d1f9ea
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diff --git a/inputs/human_hand/pulldrawer/ep000024/metadata.json b/inputs/human_hand/pulldrawer/ep000024/metadata.json
deleted file mode 100644
index d867b93480c8ecdee8ca03f13fa79d8824723679..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pulldrawer",
-  "episode_index": 24,
-  "episode_name": "ep000024",
-  "fps": 15.0,
-  "num_frames": 1871,
-  "num_transitions": 1870,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
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-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
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-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
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-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_left.png
deleted file mode 100644
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--- a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eda74623cd40883086629ce7aec89a5b767b8ad3f1a48082fdd4b0502fd3e655
-size 720317
diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_right.png
deleted file mode 100644
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--- a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/hand_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f95fa417269811203f17ecc1f29114c6b3ceb09da1c5986ae342047d13e76bcf
-size 793581
diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/top_head.png b/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/top_head.png
deleted file mode 100644
index 15997ddbc5669041eecc8faec4372a086770c67a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pulldrawer/ep000024/observations/hand_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/hand_right.png b/inputs/human_hand/pulldrawer/ep000024/observations/hand_right.png
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index eac8fee2aab63e47feb01389a0288bbf6aed8358..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/observations/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 343263
diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_left.png b/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_left.png
deleted file mode 100644
index a30dfa4dade9a3ff6e73a339a329856d3b7da3d0..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 797912
diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_right.png b/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_right.png
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index 0da742579916a171e8893cd0411cef2160beb169..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/observations/head_stereo_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5475cdfb7045d91eff919a42c2540dea8506bb07bfae7835d3960589de67e580
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diff --git a/inputs/human_hand/pulldrawer/ep000024/observations/top_head.png b/inputs/human_hand/pulldrawer/ep000024/observations/top_head.png
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index e22da4e6a2e1b1270134f02a9b4306f3234233ed..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000024/pinhole_migration.json b/inputs/human_hand/pulldrawer/ep000024/pinhole_migration.json
deleted file mode 100644
index dcf8a95d92fa0ff655b9020f5be5d67f15aa366a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pulldrawer",
-  "episode": "ep000024",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
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-      "pinhole_nonzero": 67878818.0,
-      "area_ratio": 2.3316931045467912
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-      "pinhole_nonzero": 75082736.0,
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-      "area_ratio": 1.8200656028477868
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-  "created_unix": 1789880489.8193839
-}
diff --git a/inputs/human_hand/pulldrawer/ep000024/source_map.json b/inputs/human_hand/pulldrawer/ep000024/source_map.json
deleted file mode 100644
index 9eb9212020be82e3cf7eb5e48cc8dc6df206c11a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/source_map.json
+++ /dev/null
@@ -1,1930 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
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diff --git a/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet
deleted file mode 100644
index 9a012b162c6b1f904655f5a49f9e669841c6296b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2f11df89ac768b48f62655728b41cc028d8dc909040b4a32a5751ccc9b83a4fa
-size 7742811
diff --git a/inputs/human_hand/pulldrawer/ep000026/calibration.json b/inputs/human_hand/pulldrawer/ep000026/calibration.json
deleted file mode 100644
index d456e57e78abad85c6ec229f38cb15d0bd4aa03f..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/calibration.json
+++ /dev/null
@@ -1,506 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
-  "episode_index": 26,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
-          "rotation": {
-            "x": 0.0009442228132370642,
-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
-            "w": 0.9999995098640481
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
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-          "translation": {
-            "x": -0.05050148006484744,
-            "y": 0.014694437626401657,
-            "z": -0.028958392523767598
-          }
-        },
-        "extrinsic_head_fisheye_right_T_left": {
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-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
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-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 401.24334716796875,
-          "Cy": 299.5632019042969,
-          "Fx": 224.22935485839844,
-          "Fy": 224.09205627441406,
-          "height": 600,
-          "k1": 0.057993289083242416,
-          "k2": 0.01816844940185547,
-          "k3": -0.008063109591603279,
-          "k4": 0.0006919464212842286,
-          "width": 800
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-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
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-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_left_T_left": {
-          "rotation": {
-            "x": 0.00363868679823883,
-            "y": -0.42865062258823455,
-            "z": -0.19933934578868262,
-            "w": 0.8811976106036848
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-            "z": -0.028958392523767598
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
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-          "Cy": 299.9506530761719,
-          "Fx": 223.04345703125,
-          "Fy": 223.11749267578125,
-          "height": 600,
-          "k1": 0.06008125841617584,
-          "k2": 0.015944620594382286,
-          "k3": -0.006167862098664045,
-          "k4": 0.00022500510385725647,
-          "width": 960
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-        "source_to_virtual_rotation": [
-          [
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-            0.0
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-          [
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-          [
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-            0.7880107536067219
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-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Fx": 320.00000000000006,
-        "Fy": 320.00000000000006,
-        "Cx": 320.0,
-        "Cy": 240.0,
-        "width": 640,
-        "height": 480
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_right_T_left": {
-          "rotation": {
-            "x": 0.0003976459684297884,
-            "y": 0.42641808299703304,
-            "z": 0.20065156149051988,
-            "w": 0.8819900289925252
-          },
-          "translation": {
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-            "y": 0.013827394575498546,
-            "z": -0.02812516971803584
-          }
-        }
-      },
-      "resolution": {
-        "width": 640,
-        "height": 480
-      },
-      "rectification": {
-        "source_projection_model": "opencv_fisheye",
-        "source_intrinsics": {
-          "Cx": 480.4215393066406,
-          "Cy": 299.4262390136719,
-          "Fx": 223.5740509033203,
-          "Fy": 223.46319580078125,
-          "height": 600,
-          "k1": 0.05835850164294243,
-          "k2": 0.017698010429739952,
-          "k3": -0.007227227091789246,
-          "k4": 0.0004160731041338295,
-          "width": 960
-        },
-        "source_to_virtual_rotation": [
-          [
-            1.0,
-            0.0,
-            0.0
-          ],
-          [
-            0.0,
-            0.7880107536067219,
-            -0.6156614753256583
-          ],
-          [
-            0.0,
-            0.6156614753256583,
-            0.7880107536067219
-          ]
-        ],
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
-      },
-      "extrinsics_reference_frame": "source_fisheye_camera"
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
-        "Cx": 481.39990234375,
-        "Cy": 298.59674072265625,
-        "Fx": 300.0994873046875,
-        "Fy": 300.0945129394531,
-        "height": 600,
-        "k1": 0.23313209414482117,
-        "k2": -0.013054169714450836,
-        "k3": -0.02656524069607258,
-        "k4": 0.008368264883756638,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_left_T_imu": {
-          "rotation": {
-            "x": 0.999970395486808,
-            "y": -0.005711054071957077,
-            "z": -0.0016198635801491547,
-            "w": -0.004895717855982548
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-          "translation": {
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-            "y": -0.0042354069095445705,
-            "z": -0.017029698432489374
-          }
-        },
-        "extrinsic_head_stereo_left_T_right": {
-          "rotation": {
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-            "z": -0.0002191893102376494,
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-          }
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-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-      "resolution": {
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-  },
-  "source_calibration": {
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-    "suppiler_flag": {
-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
-    }
-  },
-  "source_calibration_file": "calibration_fisheye.json",
-  "active_views": {
-    "top_head": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_left": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    },
-    "hand_right": {
-      "projection_model": "pinhole",
-      "width": 640,
-      "height": 480,
-      "hfov_deg": 90.0,
-      "view_pitch_deg": 38.0
-    }
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json
deleted file mode 100644
index d5206ec857f0859291b43b21f60ac5015a89053a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json
+++ /dev/null
@@ -1,386 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.calibration.v1",
-  "episode_index": 26,
-  "view_aliases": {
-    "top_head": "head_fisheye",
-    "hand_left": "head_fisheye_left",
-    "hand_right": "head_fisheye_right"
-  },
-  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
-  "cameras": {
-    "top_head": {
-      "source_camera": "head_fisheye",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        "Cy": 299.5632019042969,
-        "Fx": 224.22935485839844,
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-        "height": 600,
-        "k1": 0.057993289083242416,
-        "k2": 0.01816844940185547,
-        "k3": -0.008063109591603279,
-        "k4": 0.0006919464212842286,
-        "width": 800
-      },
-      "extrinsics": {
-        "extrinsic_head_fisheye_T_left": {
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-            "y": 0.0002965523734030786,
-            "z": 2.7778272304765542e-05,
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-            "y": -0.00044053462609449333,
-            "z": 0.0010914965841121059
-          }
-        },
-        "extrinsic_head_fisheye_left_T_left": {
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-          }
-        }
-      },
-      "resolution": {
-        "width": 800,
-        "height": 600
-      }
-    },
-    "hand_left": {
-      "source_camera": "head_fisheye_left",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
-      "intrinsics": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "hand_right": {
-      "source_camera": "head_fisheye_right",
-      "camera_mount": "head",
-      "projection_model": "opencv_fisheye",
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-      "extrinsics": {
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-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_left": {
-      "source_camera": "head_stereo_left",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-      "extrinsics": {
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-        }
-      },
-      "resolution": {
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-        "height": 600
-      }
-    },
-    "head_stereo_right": {
-      "source_camera": "head_stereo_right",
-      "camera_mount": "head",
-      "projection_model": "pinhole",
-      "intrinsics": {
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-        "Fx": 300.04974365234375,
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-        "height": 600,
-        "k1": 0.23226110637187958,
-        "k2": -0.01877696067094803,
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-        "k4": 0.00620193500071764,
-        "width": 960
-      },
-      "extrinsics": {
-        "extrinsic_head_stereo_right_T_imu": {
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-            "y": -0.0059275519736941866,
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-          }
-        }
-      },
-      "resolution": {
-        "width": 960,
-        "height": 600
-      }
-    }
-  },
-  "source_calibration": {
-    "extrinsic_head_fisheye_T_left": {
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-        "y": 0.0002965523734030786,
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-        "w": 0.9999995098640481
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-      }
-    },
-    "extrinsic_head_fisheye_left_T_left": {
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-    },
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-      "head_fisheye": "383100008901V01AA1VA069126071000489",
-      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
-      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
-      "head_stereo_left": "383100008901V01AA1VA069126071000489",
-      "head_stereo_right": "383100008901V01AA1VA069126071000489",
-      "suppiler": 0
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-}
diff --git a/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json
deleted file mode 100644
index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
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-      "joint_indices": [
-        4,
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
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-      "joint_indices": [
-        4,
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-        12,
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-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}
diff --git a/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz
deleted file mode 100644
index 4b6e265e8355a7c5a7d0932bdad6152c13e09fda..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8f2ccb2a36c31c3914c4ce2c152660481440a03cafa9bce3eb1c5766d5710b8e
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diff --git a/inputs/human_hand/pulldrawer/ep000026/metadata.json b/inputs/human_hand/pulldrawer/ep000026/metadata.json
deleted file mode 100644
index 66ef5795768f8a37b72dd0ec8813fc7d88be9453..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/metadata.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "task_name": "pulldrawer",
-  "episode_index": 26,
-  "episode_name": "ep000026",
-  "fps": 15.0,
-  "num_frames": 1859,
-  "num_transitions": 1858,
-  "seed_local_index": 0,
-  "embodiment": "ego_human_bimanual",
-  "files": {
-    "trajectory": "trajectory.parquet",
-    "calibration": "calibration.json",
-    "source_map": "source_map.json",
-    "observations": {
-      "top_head": "observations/top_head.png",
-      "hand_left": "observations/hand_left.png",
-      "hand_right": "observations/hand_right.png",
-      "head_stereo_left": "observations/head_stereo_left.png",
-      "head_stereo_right": "observations/head_stereo_right.png"
-    },
-    "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
-    },
-    "fisheye_calibration": "calibration_fisheye.json",
-    "fisheye_observations": {
-      "top_head": "observations/fisheye/top_head.png",
-      "hand_left": "observations/fisheye/hand_left.png",
-      "hand_right": "observations/fisheye/hand_right.png"
-    }
-  },
-  "active_projection": {
-    "views": [
-      "top_head",
-      "hand_left",
-      "hand_right"
-    ],
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0
-  }
-}
diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png
deleted file mode 100644
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b99220ddd139539b07aa369fdfebd7ddbd1ff9c9a6f9f114a9f68bb61dcd8619
-size 822182
diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_right.png
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 851971
diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/top_head.png b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/top_head.png
deleted file mode 100644
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/hand_left.png
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-version https://git-lfs.github.com/spec/v1
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index 059ce1b8dd6b930005bbcd0d9feef9ed9ce0faa6..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/observations/hand_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 387021
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/head_stereo_left.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
-oid sha256:1b4e89f1bc478fe9a00b55765affefe3d6ba208630fa6dfde126e926a5719329
-size 959954
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--- a/inputs/human_hand/pulldrawer/ep000026/observations/head_stereo_right.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/top_head.png b/inputs/human_hand/pulldrawer/ep000026/observations/top_head.png
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index 6c94d361fcd3bef7adc0348d789420527c38046a..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/observations/top_head.png
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pulldrawer/ep000026/pinhole_migration.json b/inputs/human_hand/pulldrawer/ep000026/pinhole_migration.json
deleted file mode 100644
index 040fe8347f1f903310a5f55b3e6ecacf9476f8c8..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/pinhole_migration.json
+++ /dev/null
@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "pulldrawer",
-  "episode": "ep000026",
-  "views": [
-    "top_head",
-    "hand_left",
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-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
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-      "pinhole_nonzero": 40169816.0,
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-      "area_ratio": 1.7007768771251226
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-  "created_unix": 1789880586.5079975
-}
diff --git a/inputs/human_hand/pulldrawer/ep000026/source_map.json b/inputs/human_hand/pulldrawer/ep000026/source_map.json
deleted file mode 100644
index 2995df21b9ae767c9cd8d91fcfefb6f30c1bcaab..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/source_map.json
+++ /dev/null
@@ -1,1922 +0,0 @@
-{
-  "source_dataset": "<redacted>",
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diff --git a/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet
deleted file mode 100644
index 916f63a167ccf707110aa17d73311e56cb045732..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/inputs/human_hand/pulldrawer/schema.json b/inputs/human_hand/pulldrawer/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/pulldrawer/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
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-            37,
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-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
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-          "indices": [
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-          "dimensions": 1,
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-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
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-          "indices": [
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-        },
-        "head_camera/position": {
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-    },
-    "observation.aux": {
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-      "shape": [
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-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
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-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
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-      "compatibility_alias": true,
-      "active_projection": {
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-        "width": 640,
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-        "source_model": "opencv_fisheye",
-        "source_backup": {
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-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
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-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}
diff --git a/inputs/human_hand/schema.json b/inputs/human_hand/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        57
-      ],
-      "field_descriptions": {
-        "camera_delta": {
-          "description": "camera xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8
-          ]
-        },
-        "right_wrist_world_delta": {
-          "description": "right wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17
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-        "right_fingertips_in_wrist": {
-          "description": "five right fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
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-        "left_wrist_world_delta": {
-          "description": "left wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            33,
-            34,
-            35,
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-            38,
-            39,
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-        },
-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
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-          "indices": [
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-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231
-          ]
-        },
-        "hand_state/right/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294
-          ]
-        },
-        "hand_state/right/valid": {
-          "description": "right hand valid",
-          "dimensions": 1,
-          "indices": [
-            295
-          ]
-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
-          "dimensions": 4,
-          "indices": [
-            296,
-            297,
-            298,
-            299
-          ]
-        },
-        "head_camera/position": {
-          "description": "camera-to-world XYZ position",
-          "dimensions": 3,
-          "indices": [
-            300,
-            301,
-            302
-          ]
-        },
-        "head_camera/valid": {
-          "description": "camera pose valid",
-          "dimensions": 1,
-          "indices": [
-            303
-          ]
-        }
-      }
-    },
-    "observation.aux": {
-      "dtype": "float32",
-      "shape": [
-        19
-      ]
-    },
-    "observation.source_state": {
-      "dtype": "float32",
-      "shape": [
-        635
-      ]
-    }
-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
-      "source": "head_fisheye_left",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}
diff --git a/inputs/human_hand/shared/ego_human/baseline_adapters.json b/inputs/human_hand/shared/ego_human/baseline_adapters.json
deleted file mode 100644
index 60bd8f6778a6869fcf6c068508eeb4097da28c6b..0000000000000000000000000000000000000000
--- a/inputs/human_hand/shared/ego_human/baseline_adapters.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  "canonical_view": "top_head",
-  "canonical_fps": 15.0,
-  "adapters": {
-    "cosmos3_nano": {
-      "status": "ready",
-      "inputs": [
-        "observations/top_head.png",
-        "trajectory.parquet:action"
-      ]
-    },
-    "jointcontrolvideo": {
-      "status": "adapter_ready",
-      "inputs": [
-        "controls/hand_camera_poses.npz"
-      ]
-    },
-    "oscar": {
-      "status": "requires_2d_skeleton_renderer",
-      "inputs": [
-        "controls/hand_camera_poses.npz",
-        "calibration.json"
-      ]
-    },
-    "rynnworld_teleop": {
-      "status": "requires_depth_skeleton_renderer",
-      "inputs": [
-        "controls/hand_camera_poses.npz",
-        "calibration.json"
-      ]
-    },
-    "egohoi": {
-      "status": "requires_object_masks_and_pose_map_adapter",
-      "inputs": [
-        "controls/hand_camera_poses.npz",
-        "calibration.json"
-      ]
-    },
-    "generated_reality": {
-      "status": "adapter_ready_when_checkpoint_available",
-      "inputs": [
-        "controls/hand_camera_poses.npz"
-      ]
-    },
-    "lome": {
-      "status": "requires_action_map_and_camera_ray_renderer",
-      "inputs": [
-        "controls/hand_camera_poses.npz",
-        "calibration.json"
-      ]
-    }
-  }
-}
diff --git a/inputs/human_hand/shared/ego_human/joint_order.json b/inputs/human_hand/shared/ego_human/joint_order.json
deleted file mode 100644
index 09519b9cfaa0168e5d7ccfd23ddea93d16c6c0b8..0000000000000000000000000000000000000000
--- a/inputs/human_hand/shared/ego_human/joint_order.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{
-  "number_of_joints_per_hand": 21,
-  "wrist_joint_index": 0,
-  "fingertip_joint_indices": [
-    4,
-    8,
-    12,
-    16,
-    20
-  ],
-  "orientation": "quaternion_xyzw",
-  "note": "Full semantic joint names are not declared by the source schema."
-}
diff --git a/inputs/human_hand/shared/schema.json b/inputs/human_hand/shared/schema.json
deleted file mode 100644
index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000
--- a/inputs/human_hand/shared/schema.json
+++ /dev/null
@@ -1,558 +0,0 @@
-{
-  "schema_version": "acwmbench.inference.ego.v1",
-  "embodiment": "ego_human_bimanual",
-  "fps": 15.0,
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        57
-      ],
-      "field_descriptions": {
-        "camera_delta": {
-          "description": "camera xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8
-          ]
-        },
-        "right_wrist_world_delta": {
-          "description": "right wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17
-          ]
-        },
-        "right_fingertips_in_wrist": {
-          "description": "five right fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32
-          ]
-        },
-        "left_wrist_world_delta": {
-          "description": "left wrist world xyz + rot6d delta",
-          "dimensions": 9,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41
-          ]
-        },
-        "left_fingertips_in_wrist": {
-          "description": "five left fingertip XYZ positions in aligned wrist frame",
-          "dimensions": 15,
-          "indices": [
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56
-          ]
-        }
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        304
-      ],
-      "field_descriptions": {
-        "hand_state/left/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83
-          ]
-        },
-        "hand_state/left/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146
-          ]
-        },
-        "hand_state/left/valid": {
-          "description": "left hand valid",
-          "dimensions": 1,
-          "indices": [
-            147
-          ]
-        },
-        "hand_state/right/ori": {
-          "description": "21 XYZW quaternions",
-          "dimensions": 84,
-          "indices": [
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231
-          ]
-        },
-        "hand_state/right/pos": {
-          "description": "21 XYZ positions in camera frame",
-          "dimensions": 63,
-          "indices": [
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294
-          ]
-        },
-        "hand_state/right/valid": {
-          "description": "right hand valid",
-          "dimensions": 1,
-          "indices": [
-            295
-          ]
-        },
-        "head_camera/orientation": {
-          "description": "camera-to-world XYZW quaternion",
-          "dimensions": 4,
-          "indices": [
-            296,
-            297,
-            298,
-            299
-          ]
-        },
-        "head_camera/position": {
-          "description": "camera-to-world XYZ position",
-          "dimensions": 3,
-          "indices": [
-            300,
-            301,
-            302
-          ]
-        },
-        "head_camera/valid": {
-          "description": "camera pose valid",
-          "dimensions": 1,
-          "indices": [
-            303
-          ]
-        }
-      }
-    },
-    "observation.aux": {
-      "dtype": "float32",
-      "shape": [
-        19
-      ]
-    },
-    "observation.source_state": {
-      "dtype": "float32",
-      "shape": [
-        635
-      ]
-    }
-  },
-  "views": {
-    "top_head": {
-      "source": "head_fisheye",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_left": {
-      "source": "head_fisheye_left",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "hand_right": {
-      "source": "head_fisheye_right",
-      "mount": "head",
-      "compatibility_alias": true,
-      "active_projection": {
-        "model": "pinhole",
-        "width": 640,
-        "height": 480,
-        "hfov_deg": 90.0,
-        "view_pitch_deg": 38.0,
-        "source_model": "opencv_fisheye",
-        "source_backup": {
-          "gt": "video/fisheye/<view>",
-          "inference": "observations/fisheye/<view>.png"
-        }
-      },
-      "source_projection": "opencv_fisheye"
-    },
-    "head_stereo_left": {
-      "source": "head_stereo_left",
-      "mount": "head",
-      "compatibility_alias": false
-    },
-    "head_stereo_right": {
-      "source": "head_stereo_right",
-      "mount": "head",
-      "compatibility_alias": false
-    }
-  },
-  "active_projection": {
-    "model": "pinhole",
-    "width": 640,
-    "height": 480,
-    "hfov_deg": 90.0,
-    "view_pitch_deg": 38.0,
-    "source_model": "opencv_fisheye",
-    "source_backup": {
-      "gt": "video/fisheye/<view>",
-      "inference": "observations/fisheye/<view>.png"
-    }
-  }
-}