diff --git a/config/umi/left_xarm6_umi_record_config.yaml b/config/umi/left_xarm6_umi_record_config.yaml
deleted file mode 100644
index d504d0d..0000000
--- a/config/umi/left_xarm6_umi_record_config.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-robot:
-  type: uf::robot
-  id: "uf_robot"
-  robot_ip: "192.168.1.29"
-  robot_dof: 6
-  control_space: "cartesian"
-  gripper_type: 0
-  max_linear_velocity: 250
-  start_joints: [-14.7, 25.6, -49.6, -282.5, 95.9, -65.9]
-  start_tcp_pose: [400, 0, 150, -90, 0, 0]
-  cameras:
-    fisheye:
-      # type: uf::umi_camera
-      # serial_number: "250801DR48FB26001379"
-      # width: 1280
-      # height: 1280
-      # fps: 30
-      type: opencv
-      index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001379-video-index0"
-      width: 1280
-      height: 1280
-      fps: 100
-      fourcc: "YUYV"
-
-teleop:
-  type: uf::umi_teleop
-  serial_number: "250801DR48FP26001318"
-  use_vive_tracker: False
-  vive_tracker_id: "LHR-555DC7BF"
-  use_gripper: True
-  tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
-  robot_base_pose: [400, 0, 150, -90, 0, 0]
-
-dataset:
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_umi_datas"
-  repo_id: "ufactory/xarm6_umi_datas"
-  single_task: "Pick up the purple grape and drop into the box on the left."
-  fps: 60
-  episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # time for resetting env between episodes
-  num_episodes: 100
-  push_to_hub: False
\ No newline at end of file
diff --git a/config/umi/right_xarm6_umi_record_config.yaml b/config/umi/right_xarm6_umi_record_config.yaml
deleted file mode 100644
index b79b0a1..0000000
--- a/config/umi/right_xarm6_umi_record_config.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-robot:
-  type: uf::robot
-  id: "uf_robot"
-  robot_ip: "192.168.1.83"
-  robot_dof: 6
-  control_space: "cartesian"
-  gripper_type: 2
-  max_linear_velocity: 250
-  start_joints: [14.5, 25.5, -49.6, -76.8, 95.9, 66.6]
-  start_tcp_pose: [400, 0, 150, 90, 0, 0]
-  cameras:
-    fisheye:
-      # type: uf::umi_camera
-      # serial_number: "250801DR48FB26001396"
-      # width: 1280
-      # height: 1280
-      # fps: 30
-      type: opencv
-      index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
-      width: 1280
-      height: 1280
-      fps: 100
-      fourcc: "YUYV"
-
-teleop:
-  type: uf::umi_teleop
-  serial_number: "250801DR48FP26001295"
-  use_vive_tracker: False
-  vive_tracker_id: "LHR-2425BAD3"
-  use_gripper: True
-  tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
-  robot_base_pose: [400, 0, 150, 90, 0, 0]
-
-dataset:
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_umi_datas"
-  repo_id: "ufactory/xarm6_umi_datas"
-  single_task: "Pick up the purple grape and drop into the box on the left."
-  fps: 60
-  episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # time for resetting env between episodes
-  num_episodes: 100
-  push_to_hub: False
\ No newline at end of file
diff --git a/src/lerobot_robot_ufactory/configs/__init__.py b/src/lerobot_robot_ufactory/configs/__init__.py
new file mode 100644
index 0000000..52c8cf5
--- /dev/null
+++ b/src/lerobot_robot_ufactory/configs/__init__.py
@@ -0,0 +1 @@
+from .parser import wrap
\ No newline at end of file
diff --git a/src/lerobot_robot_ufactory/configs/parser.py b/src/lerobot_robot_ufactory/configs/parser.py
new file mode 100644
index 0000000..bb2a530
--- /dev/null
+++ b/src/lerobot_robot_ufactory/configs/parser.py
@@ -0,0 +1,151 @@
+import sys
+import tempfile
+import yaml
+import inspect
+from dataclasses import fields, is_dataclass
+from types import UnionType
+from typing import Union, get_args, get_origin
+from lerobot.configs.parser import *
+
+
+def _is_choice_registry(config_type):
+    return (
+        isinstance(config_type, type)
+        and hasattr(config_type, "get_known_choices")
+        and hasattr(config_type, "get_choice_class")
+    )
+
+
+def _unwrap_optional(config_type):
+    origin = get_origin(config_type)
+    if origin in (Union, UnionType):
+        non_none_args = [arg for arg in get_args(config_type) if arg is not type(None)]
+        if len(non_none_args) == 1:
+            return non_none_args[0]
+    return config_type
+
+
+def _pop_cli_arg(arg_name, args):
+    value = None
+    filtered_args = []
+    prefix = f"--{arg_name}="
+    index = 0
+    while index < len(args):
+        arg = args[index]
+        if arg.startswith(prefix):
+            value = arg[len(prefix):]
+        elif arg == f"--{arg_name}":
+            if index + 1 >= len(args):
+                raise ValueError(f"Missing value for --{arg_name}")
+            value = args[index + 1]
+            index += 1
+        else:
+            filtered_args.append(arg)
+        index += 1
+    return value, filtered_args
+
+def _filter_unknown_config_fields(data, config_type, resolve_choice=True):
+    config_type = _unwrap_optional(config_type)
+    origin = get_origin(config_type)
+
+    if origin is list:
+        args = get_args(config_type)
+        if isinstance(data, list) and args:
+            return [_filter_unknown_config_fields(item, args[0]) for item in data]
+        return data
+
+    if origin is dict:
+        args = get_args(config_type)
+        if isinstance(data, dict) and len(args) == 2:
+            return {key: _filter_unknown_config_fields(value, args[1]) for key, value in data.items()}
+        return data
+
+    if isinstance(data, dict) and _is_choice_registry(config_type) and resolve_choice:
+        choice_key = getattr(draccus, "CHOICE_TYPE_KEY", "type")
+        choice_name = data.get(choice_key) or data.get("type")
+        if choice_name in config_type.get_known_choices():
+            choice_type = config_type.get_choice_class(choice_name)
+            filtered = _filter_unknown_config_fields(data, choice_type, resolve_choice=False)
+            if choice_key in data:
+                filtered = {choice_key: data[choice_key], **filtered}
+            elif "type" in data:
+                filtered = {"type": data["type"], **filtered}
+            return filtered
+        return data
+
+    if not isinstance(data, dict) or not is_dataclass(config_type):
+        return data
+
+    known_fields = {field.name: field for field in fields(config_type)}
+    return {
+        key: _filter_unknown_config_fields(value, known_fields[key].type)
+        for key, value in data.items()
+        if key in known_fields
+    }
+
+def _filtered_config_path(config_type, config_path):
+    if config_path is None:
+        return None, None
+
+    config_path = Path(config_path)
+    with config_path.open("r", encoding="utf-8") as f:
+        raw_config = yaml.safe_load(f) or {}
+
+    filtered_config = _filter_unknown_config_fields(raw_config, config_type)
+    if filtered_config == raw_config:
+        return config_path, None
+
+    suffix = config_path.suffix if config_path.suffix else ".yaml"
+    with tempfile.NamedTemporaryFile("w", suffix=suffix, encoding="utf-8", delete=False) as f:
+        yaml.safe_dump(filtered_config, f, sort_keys=False, allow_unicode=True)
+        return Path(f.name), Path(f.name)
+
+
+def wrap(config_path: Path | None = None) -> Callable[[F], F]:
+    """
+    HACK: Similar to draccus.wrap but does three additional things:
+        - Will remove '.path' arguments from CLI in order to process them later on.
+        - If a 'config_path' is passed and the main config class has a 'from_pretrained' method, will
+          initialize it from there to allow to fetch configs from the hub directly
+        - Will load plugins specified in the CLI arguments. These plugins will typically register
+            their own subclasses of config classes, so that draccus can find the right class to instantiate
+            from the CLI '.type' arguments
+    """
+    def wrapper_outer(fn: F) -> F:
+        @wraps(fn)
+        def wrapper_inner(*args: Any, **kwargs: Any) -> Any:
+            argspec = inspect.getfullargspec(fn)
+            argtype = argspec.annotations[argspec.args[0]]
+            if len(args) > 0 and type(args[0]) is argtype:
+                cfg = args[0]
+                args = args[1:]
+            else:
+                cli_args = sys.argv[1:]
+                plugin_args = parse_plugin_args(PLUGIN_DISCOVERY_SUFFIX, cli_args)
+                for plugin_cli_arg, plugin_path in plugin_args.items():
+                    try:
+                        load_plugin(plugin_path)
+                    except PluginLoadError as e:
+                        # add the relevant CLI arg to the error message
+                        raise PluginLoadError(f"{e}\nFailed plugin CLI Arg: {plugin_cli_arg}") from e
+                    cli_args = filter_arg(plugin_cli_arg, cli_args)
+                config_path_cli, cli_args = _pop_cli_arg("config_path", cli_args)
+                if has_method(argtype, "__get_path_fields__"):
+                    path_fields = argtype.__get_path_fields__()
+                    cli_args = filter_path_args(path_fields, cli_args)
+                if has_method(argtype, "from_pretrained") and config_path_cli:
+                    cfg = argtype.from_pretrained(config_path_cli, cli_args=cli_args)
+                else:
+                    config_path_for_parse = Path(config_path_cli) if config_path_cli else config_path
+                    filtered_path, temp_path = _filtered_config_path(argtype, config_path_for_parse)
+                    try:
+                        cfg = draccus.parse(config_class=argtype, config_path=filtered_path, args=cli_args)
+                    finally:
+                        if temp_path is not None:
+                            temp_path.unlink(missing_ok=True)
+            response = fn(cfg, *args, **kwargs)
+            return response
+
+        return cast(F, wrapper_inner)
+
+    return cast(Callable[[F], F], wrapper_outer)
\ No newline at end of file