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diff --git a/Surgical/tud/260116_tud_dataset_v1/endoscope_guidance/meta/info.json b/Surgical/tud/260116_tud_dataset_v1/endoscope_guidance/meta/info.json
deleted file mode 100644
index 555339488657ab6b7e14ab2cd8ccc33f3c60e986..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/endoscope_guidance/meta/info.json
+++ /dev/null
@@ -1,152 +0,0 @@
-{
-  "codebase_version": "v2.1",
-  "robot_type": "ur5e",
-  "total_episodes": 50,
-  "total_frames": 58605,
-  "total_tasks": 9,
-  "total_videos": 50,
-  "total_chunks": 1,
-  "chunks_size": 1000,
-  "fps": 30,
-  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
-  "features": {
-    "observation.images.laparoscope_left": {
-      "dtype": "video",
-      "shape": [
-        540,
-        960,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channel"
-      ],
-      "info": {
-        "video.fps": 30,
-        "video.codec": "mp4v",
-        "video.pix_fmt": "bgr24",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        35
-      ],
-      "names": [
-        "relative_tip_position_x",
-        "relative_tip_position_y",
-        "relative_tip_position_z",
-        "shoulder_pan_joint_pos",
-        "shoulder_lift_joint_pos",
-        "elbow_joint_pos",
-        "wrist_1_joint_pos",
-        "wrist_2_joint_pos",
-        "wrist_3_joint_pos",
-        "shoulder_pan_joint_vel",
-        "shoulder_lift_joint_vel",
-        "elbow_joint_vel",
-        "wrist_1_joint_vel",
-        "wrist_2_joint_vel",
-        "wrist_3_joint_vel",
-        "shoulder_pan_joint_effort",
-        "shoulder_lift_joint_effort",
-        "elbow_joint_effort",
-        "wrist_1_joint_effort",
-        "wrist_2_joint_effort",
-        "wrist_3_joint_effort",
-        "base_frame_ee_position_x",
-        "base_frame_ee_position_y",
-        "base_frame_ee_position_z",
-        "base_frame_ee_orientation_x",
-        "base_frame_ee_orientation_y",
-        "base_frame_ee_orientation_z",
-        "base_frame_ee_orientation_w",
-        "base_frame_initial_tip_position_x",
-        "base_frame_initial_tip_position_y",
-        "base_frame_initial_tip_position_z",
-        "base_frame_rcm_position_x",
-        "base_frame_rcm_position_y",
-        "base_frame_rcm_position_z",
-        "roll_angle"
-      ]
-    },
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        4
-      ],
-      "names": [
-        "delta_base_frame_endoscope_camera_position_x",
-        "delta_base_frame_endoscope_camera_position_y",
-        "delta_base_frame_endoscope_camera_position_z",
-        "delta_endoscope_camera_roll"
-      ]
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "shape": [
-        1
-      ],
-      "names": null
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/episodes_stats.jsonl b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/episodes_stats.jsonl
deleted file mode 100644
index 055069cc66c8ccc30cf686279dbaefbacb5792d0..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/episodes_stats.jsonl
+++ /dev/null
@@ -1,116 +0,0 @@
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/info.json b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/info.json
deleted file mode 100644
index 69d708f3b581f8d50fcbc3d34525abd111c68232..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/info.json
+++ /dev/null
@@ -1,158 +0,0 @@
-{
-  "codebase_version": "v2.1",
-  "robot_type": "ur5e",
-  "total_episodes": 116,
-  "total_frames": 35406,
-  "total_tasks": 5,
-  "total_videos": 116,
-  "total_chunks": 1,
-  "chunks_size": 1000,
-  "fps": 30,
-  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
-  "features": {
-    "observation.images.laparoscope_left": {
-      "dtype": "video",
-      "shape": [
-        540,
-        960,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channel"
-      ],
-      "info": {
-        "video.fps": 30,
-        "video.codec": "mp4v",
-        "video.pix_fmt": "bgr24",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        40
-      ],
-      "names": [
-        "base_to_camera_quat_x",
-        "base_to_camera_quat_y",
-        "base_to_camera_quat_z",
-        "base_to_camera_quat_w",
-        "gripper_opened",
-        "relative_tip_position_x",
-        "relative_tip_position_y",
-        "relative_tip_position_z",
-        "shoulder_pan_joint_pos",
-        "shoulder_lift_joint_pos",
-        "elbow_joint_pos",
-        "wrist_1_joint_pos",
-        "wrist_2_joint_pos",
-        "wrist_3_joint_pos",
-        "shoulder_pan_joint_vel",
-        "shoulder_lift_joint_vel",
-        "elbow_joint_vel",
-        "wrist_1_joint_vel",
-        "wrist_2_joint_vel",
-        "wrist_3_joint_vel",
-        "shoulder_pan_joint_effort",
-        "shoulder_lift_joint_effort",
-        "elbow_joint_effort",
-        "wrist_1_joint_effort",
-        "wrist_2_joint_effort",
-        "wrist_3_joint_effort",
-        "base_frame_ee_position_x",
-        "base_frame_ee_position_y",
-        "base_frame_ee_position_z",
-        "base_frame_ee_orientation_x",
-        "base_frame_ee_orientation_y",
-        "base_frame_ee_orientation_z",
-        "base_frame_ee_orientation_w",
-        "base_frame_initial_tip_position_x",
-        "base_frame_initial_tip_position_y",
-        "base_frame_initial_tip_position_z",
-        "base_frame_rcm_position_x",
-        "base_frame_rcm_position_y",
-        "base_frame_rcm_position_z",
-        "roll_angle"
-      ]
-    },
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        5
-      ],
-      "names": [
-        "delta_camera_frame_tip_position_x",
-        "delta_camera_frame_tip_position_y",
-        "delta_camera_frame_tip_position_z",
-        "delta_roll_angle",
-        "open_gripper"
-      ]
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "next.done": {
-      "dtype": "bool",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "task_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "observation.images.laparoscope_right": {
-      "dtype": "video",
-      "shape": [
-        540,
-        960,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channel"
-      ],
-      "info": {
-        "video.fps": 30,
-        "video.codec": "mp4v",
-        "video.pix_fmt": "bgr24",
-        "video.is_depth_map": false,
-        "has_audio": false
-      }
-    }
-  }
-}
\ No newline at end of file
diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/tasks.jsonl b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/tasks.jsonl
deleted file mode 100644
index 6fb87794bba91273da7dc3b5f9ad9aa7f84aa4a5..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/meta/tasks.jsonl
+++ /dev/null
@@ -1,5 +0,0 @@
-{"task_index": 0, "task": "Stay in place as you wait for the surgeon to seize the bowel and extend it for handover to your gripper."}
-{"task_index": 1, "task": "Move toward the bowel being held by the surgeon and open your grasper for gentle transfer."}
-{"task_index": 2, "task": "Engage the bowel by shutting your gripper. Remain fixed until surgeon secures the far end."}
-{"task_index": 3, "task": "With both ends grasped, withdraw to straighten the bowel in the camera frame completely."}
-{"task_index": 4, "task": "Maintain grip and position on the straightened bowel tissue."}
diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000000.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000000.mp4
deleted file mode 100644
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--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000000.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000001.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000001.mp4
deleted file mode 100644
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--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000001.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000002.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000002.mp4
deleted file mode 100644
index 4f77e0b205be0b315954ae1a7297c4926109ea5a..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000002.mp4
+++ /dev/null
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-size 16034461
diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000003.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000003.mp4
deleted file mode 100644
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--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000003.mp4
+++ /dev/null
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000004.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000004.mp4
deleted file mode 100644
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--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000004.mp4
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000005.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000005.mp4
deleted file mode 100644
index fbdab4238e1ca2748c737daee021c99defc7aec8..0000000000000000000000000000000000000000
--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000005.mp4
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000006.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000006.mp4
deleted file mode 100644
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--- a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000006.mp4
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deleted file mode 100644
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000008.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000008.mp4
deleted file mode 100644
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diff --git a/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000009.mp4 b/Surgical/tud/260116_tud_dataset_v1/grasping_retraction/videos/chunk-000/observation.images.laparoscope_left/episode_000009.mp4
deleted file mode 100644
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