diff --git a/G1_WBT_Brainco_Pickup_Pillow/.gitattributes b/G1_WBT_Brainco_Pickup_Pillow/.gitattributes
deleted file mode 100644
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..0000000000000000000000000000000000000000
--- a/G1_WBT_Brainco_Pickup_Pillow/.gitattributes
+++ /dev/null
@@ -1,60 +0,0 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
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-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
diff --git a/G1_WBT_Brainco_Pickup_Pillow/README.md b/G1_WBT_Brainco_Pickup_Pillow/README.md
deleted file mode 100644
index a1044cbe8ca030df272f1ed95a900548527deb7f..0000000000000000000000000000000000000000
--- a/G1_WBT_Brainco_Pickup_Pillow/README.md
+++ /dev/null
@@ -1,120 +0,0 @@
----
-license: apache-2.0
-task_categories:
-  - robotics
-
-tags:
-  - LeRobot
-
-configs:
-  - config_name: default
-    data_files: data/*/*.parquet
----
-
-# Data Structure
-
-## Observations
-
-### `observation.state.ee_state` (12)
-End-effector states of the robot.
-- Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
-- Includes the contribution of the waist.
-- Represented as concatenated poses of both end-effectors.
-
----
-
-### `observation.state.hand_state` (12 or 2)
-Finger states for both hands. The dimensionality depends on the hand type.
-
-#### Inspire Hand (range: 0.0 – 1.0, open → close)
-Per hand:
-1. Index finger  
-2. Middle finger  
-3. Ring finger  
-4. Little finger  
-5. Thumb (open/close)  
-6. Thumb (lateral tilt)
-
----
-
-#### BrainCo Hand (range: 0.0 – 1.0, open → close)
-Per hand:
-1. Thumb (open/close)  
-2. Thumb (lateral tilt)  
-3. Index finger  
-4. Middle finger  
-5. Ring finger  
-6. Little finger  
-
----
-
-#### Dex1 Hand (range: 5.5 – 0.0, open → close)
-Per hand:
-1. Open/close  
-
----
-
-### `observation.state.robot_q_current` (36)
-Current robot configuration.
-- First 7 values:
-  - Root position: (x, y, z)
-  - Root orientation: quaternion (w, x, y, z)
-- Remaining 29 values:
-  - Robot joint positions.
-
----
-
-## Actions
-
-### `action.ee_action` (12)
-Target end-effector states.
-- Defined using forward kinematics (FK) from the root link to both end-effectors.
-- Includes waist motion.
-
----
-
-### `action.hand_cmd` (12 or 2)
-Commanded finger actions. The dimensionality depends on the hand type.
-
-#### Inspire Hand (range: 0.0 – 1.0, open → close)
-Per hand:
-1. Index finger  
-2. Middle finger  
-3. Ring finger  
-4. Little finger  
-5. Thumb (open/close)  
-6. Thumb (lateral tilt)
-
----
-
-#### BrainCo Hand (range: 0.0 – 1.0, open → close)
-Per hand:
-1. Thumb (open/close)  
-2. Thumb (lateral tilt)  
-3. Index finger  
-4. Middle finger  
-5. Ring finger  
-6. Little finger  
-
----
-
-#### Dex1 Hand (range: 5.5 – 0.0, open → close)
-Per hand:
-1. Open/close  
-
----
-
-### `action.robot_q_desired` (36)
-Desired robot configuration.
-- First 7 values:
-  - Target root position: (x, y, z)
-  - Target root orientation: quaternion (w, x, y, z)
-- Remaining 29 values:
-  - Target joint positions.
-
----
-
-
-# Acknowledgements
-
-This dataset was created using the [LeRobot](https://github.com/huggingface/lerobot) framework.
\ No newline at end of file
diff --git a/G1_WBT_Brainco_Pickup_Pillow/data/chunk-000/file-000.parquet b/G1_WBT_Brainco_Pickup_Pillow/data/chunk-000/file-000.parquet
deleted file mode 100644
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--- a/G1_WBT_Brainco_Pickup_Pillow/data/chunk-000/file-000.parquet
+++ /dev/null
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-oid sha256:1a58d710ca60f6794ef4fc120642bbd96acfa4b6e5a6069fd45f97a780f2dea9
-size 92013388
diff --git a/G1_WBT_Brainco_Pickup_Pillow/meta/episodes/chunk-000/file-000.parquet b/G1_WBT_Brainco_Pickup_Pillow/meta/episodes/chunk-000/file-000.parquet
deleted file mode 100644
index e4dd8d2fcf783574fbb7b85bd106223da854ea43..0000000000000000000000000000000000000000
--- a/G1_WBT_Brainco_Pickup_Pillow/meta/episodes/chunk-000/file-000.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/G1_WBT_Brainco_Pickup_Pillow/meta/info.json b/G1_WBT_Brainco_Pickup_Pillow/meta/info.json
deleted file mode 100644
index e9fa8aea7d90b33b973a50d7506b2162a0a7359a..0000000000000000000000000000000000000000
--- a/G1_WBT_Brainco_Pickup_Pillow/meta/info.json
+++ /dev/null
@@ -1,325 +0,0 @@
-{
-    "codebase_version": "v3.0",
-    "robot_type": "unitree_g1",
-    "total_episodes": 300,
-    "total_frames": 177811,
-    "total_tasks": 1,
-    "chunks_size": 1000,
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200,
-    "fps": 30,
-    "splits": {
-        "train": "0:300"
-    },
-    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
-    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-    "features": {
-        "observation.images.head_stereo_left": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.head_stereo_right": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.wrist_left": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.wrist_right": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.state.ee_state": {
-            "dtype": "float32",
-            "shape": [
-                12
-            ],
-            "names": [
-                "ee_state_0",
-                "ee_state_1",
-                "ee_state_2",
-                "ee_state_3",
-                "ee_state_4",
-                "ee_state_5",
-                "ee_state_6",
-                "ee_state_7",
-                "ee_state_8",
-                "ee_state_9",
-                "ee_state_10",
-                "ee_state_11"
-            ]
-        },
-        "observation.state.hand_state": {
-            "dtype": "float32",
-            "shape": [
-                12
-            ],
-            "names": [
-                "hand_state_0",
-                "hand_state_1",
-                "hand_state_2",
-                "hand_state_3",
-                "hand_state_4",
-                "hand_state_5",
-                "hand_state_6",
-                "hand_state_7",
-                "hand_state_8",
-                "hand_state_9",
-                "hand_state_10",
-                "hand_state_11"
-            ]
-        },
-        "observation.state.robot_q_current": {
-            "dtype": "float32",
-            "shape": [
-                36
-            ],
-            "names": [
-                "robot_q_current_0",
-                "robot_q_current_1",
-                "robot_q_current_2",
-                "robot_q_current_3",
-                "robot_q_current_4",
-                "robot_q_current_5",
-                "robot_q_current_6",
-                "robot_q_current_7",
-                "robot_q_current_8",
-                "robot_q_current_9",
-                "robot_q_current_10",
-                "robot_q_current_11",
-                "robot_q_current_12",
-                "robot_q_current_13",
-                "robot_q_current_14",
-                "robot_q_current_15",
-                "robot_q_current_16",
-                "robot_q_current_17",
-                "robot_q_current_18",
-                "robot_q_current_19",
-                "robot_q_current_20",
-                "robot_q_current_21",
-                "robot_q_current_22",
-                "robot_q_current_23",
-                "robot_q_current_24",
-                "robot_q_current_25",
-                "robot_q_current_26",
-                "robot_q_current_27",
-                "robot_q_current_28",
-                "robot_q_current_29",
-                "robot_q_current_30",
-                "robot_q_current_31",
-                "robot_q_current_32",
-                "robot_q_current_33",
-                "robot_q_current_34",
-                "robot_q_current_35"
-            ]
-        },
-        "action.ee_action": {
-            "dtype": "float32",
-            "shape": [
-                12
-            ],
-            "names": [
-                "ee_action_0",
-                "ee_action_1",
-                "ee_action_2",
-                "ee_action_3",
-                "ee_action_4",
-                "ee_action_5",
-                "ee_action_6",
-                "ee_action_7",
-                "ee_action_8",
-                "ee_action_9",
-                "ee_action_10",
-                "ee_action_11"
-            ]
-        },
-        "action.hand_cmd": {
-            "dtype": "float32",
-            "shape": [
-                12
-            ],
-            "names": [
-                "hand_cmd_0",
-                "hand_cmd_1",
-                "hand_cmd_2",
-                "hand_cmd_3",
-                "hand_cmd_4",
-                "hand_cmd_5",
-                "hand_cmd_6",
-                "hand_cmd_7",
-                "hand_cmd_8",
-                "hand_cmd_9",
-                "hand_cmd_10",
-                "hand_cmd_11"
-            ]
-        },
-        "action.robot_q_desired": {
-            "dtype": "float32",
-            "shape": [
-                36
-            ],
-            "names": [
-                "robot_q_desired_0",
-                "robot_q_desired_1",
-                "robot_q_desired_2",
-                "robot_q_desired_3",
-                "robot_q_desired_4",
-                "robot_q_desired_5",
-                "robot_q_desired_6",
-                "robot_q_desired_7",
-                "robot_q_desired_8",
-                "robot_q_desired_9",
-                "robot_q_desired_10",
-                "robot_q_desired_11",
-                "robot_q_desired_12",
-                "robot_q_desired_13",
-                "robot_q_desired_14",
-                "robot_q_desired_15",
-                "robot_q_desired_16",
-                "robot_q_desired_17",
-                "robot_q_desired_18",
-                "robot_q_desired_19",
-                "robot_q_desired_20",
-                "robot_q_desired_21",
-                "robot_q_desired_22",
-                "robot_q_desired_23",
-                "robot_q_desired_24",
-                "robot_q_desired_25",
-                "robot_q_desired_26",
-                "robot_q_desired_27",
-                "robot_q_desired_28",
-                "robot_q_desired_29",
-                "robot_q_desired_30",
-                "robot_q_desired_31",
-                "robot_q_desired_32",
-                "robot_q_desired_33",
-                "robot_q_desired_34",
-                "robot_q_desired_35"
-            ]
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
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-            "names": null
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-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    },
-    "episode_rgb_mp4": {
-        "video_key": "observation.images.head_stereo_left",
-        "path": "videos_episode_mp4/{video_key}/episode_{episode_index:06d}.mp4",
-        "fps": 30,
-        "codec": "h264/libx264",
-        "pix_fmt": "yuv420p",
-        "crf": 18,
-        "gop": 32,
-        "preset": "veryfast",
-        "source": "videos_zarr",
-        "indexing": "episode-local frame index"
-    }
-}
diff --git a/G1_WBT_Brainco_Pickup_Pillow/meta/stats.json b/G1_WBT_Brainco_Pickup_Pillow/meta/stats.json
deleted file mode 100644
index f580b637288bb115db16ecb68f260296eff8424a..0000000000000000000000000000000000000000
--- a/G1_WBT_Brainco_Pickup_Pillow/meta/stats.json
+++ /dev/null
@@ -1,2012 +0,0 @@
-{
-    "observation.state.hand_state": {
-        "min": [
-            0.0,
-            0.03999999910593033,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.34200000762939453,
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "max": [
-            0.800000011920929,
-            1.0,
-            0.6819999814033508,
-            0.8029999732971191,
-            0.7940000295639038,
-            0.8029999732971191,
-            0.800000011920929,
-            1.0,
-            0.5899999737739563,
-            0.7990000247955322,
-            0.800000011920929,
-            0.8029999732971191
-        ],
-        "mean": [
-            0.21073874706420617,
-            0.7807094132326822,
-            0.15458807823871487,
-            0.16148133454543867,
-            0.1694895596664453,
-            0.19938525319591846,
-            0.22826385873259708,
-            0.7808487886828359,
-            0.1651994026404581,
-            0.15169928683879186,
-            0.1702103938031913,
-            0.20563661891836596
-        ],
-        "std": [
-            0.28623891245809213,
-            0.04664566500060254,
-            0.21026398438417773,
-            0.2254889970537802,
-            0.2370484456306896,
-            0.2797892199061248,
-            0.3028396589090898,
-            0.04592526725878895,
-            0.21919080097494537,
-            0.20906885040557854,
-            0.23298168990989995,
-            0.2839661494313818
-        ],
-        "count": [
-            177811
-        ],
-        "q01": [
-            -9.519094195297254e-11,
-            0.7301776010135557,
-            -9.519094195297254e-11,
-            -9.519094195297254e-11,
-            -9.519094195297254e-11,
-            -9.519094195297254e-11,
-            -1.0000000000000003e-10,
-            0.7443222230996733,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10
-        ],
-        "q10": [
-            -9.519076882757535e-11,
-            0.750608074179774,
-            -9.519076882757535e-11,
-            -9.519076882757535e-11,
-            -9.519076882757535e-11,
-            -9.519076882757535e-11,
-            -1.0000000000000003e-10,
-            0.7652271399715094,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10,
-            -1.0000000000000003e-10
-        ],
-        "q50": [
-            0.016594892301159445,
-            0.7912835415645642,
-            0.013147008248630982,
-            0.012796167442066388,
-            0.013829741636136792,
-            0.015466392832433458,
-            0.016677218424864807,
-            0.7853137396937264,
-            0.010161348053059035,
-            0.008127886027538443,
-            0.009954167393281463,
-            0.012123278919716868
-        ],
-        "q90": [
-            0.5693502108282461,
-            0.7984731953350183,
-            0.4198812765666392,
-            0.4406393966688988,
-            0.46343979970133053,
-            0.5473580705168106,
-            0.6233000939004736,
-            0.7926772184758093,
-            0.45545646706074033,
-            0.423253132936318,
-            0.47216681914304925,
-            0.5735259926828956
-        ],
-        "q99": [
-            0.591923484758777,
-            0.80301864354548,
-            0.423390866476172,
-            0.4488133439270273,
-            0.4667685221357294,
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