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lerobot/lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml
Michel Aractingi eb4c505cff Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354) 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-27 09:07:00 +02:00

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OPENX_DATASET_CONFIGS:
fractal20220817_data:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- base_pose_tool_reached
- gripper_closed
fps: 3
kuka:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- clip_function_input/base_pose_tool_reached
- gripper_closed
fps: 10
bridge_openx:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- EEF_state
- gripper_state
fps: 5
taco_play:
image_obs_keys:
- rgb_static
- rgb_gripper
depth_obs_keys:
- depth_static
- depth_gripper
state_obs_keys:
- state_eef
- state_gripper
fps: 15
jaco_play:
image_obs_keys:
- image
- image_wrist
depth_obs_keys:
- null
state_obs_keys:
- state_eef
- state_gripper
fps: 10
berkeley_cable_routing:
image_obs_keys:
- image
- top_image
- wrist45_image
- wrist225_image
depth_obs_keys:
- null
state_obs_keys:
- robot_state
fps: 10
roboturk:
image_obs_keys:
- front_rgb
depth_obs_keys:
- null
state_obs_keys:
- null
fps: 10
nyu_door_opening_surprising_effectiveness:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- null
fps: 3
viola:
image_obs_keys:
- agentview_rgb
- eye_in_hand_rgb
depth_obs_keys:
- null
state_obs_keys:
- joint_states
- gripper_states
fps: 20
berkeley_autolab_ur5:
image_obs_keys:
- image
- hand_image
depth_obs_keys:
- image_with_depth
state_obs_keys:
- state
fps: 5
toto:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 30
language_table:
image_obs_keys:
- rgb
depth_obs_keys:
- null
state_obs_keys:
- effector_translation
fps: 10
columbia_cairlab_pusht_real:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- robot_state
fps: 10
stanford_kuka_multimodal_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- depth_image
state_obs_keys:
- ee_position
- ee_orientation
fps: 20
nyu_rot_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 3
io_ai_tech:
image_obs_keys:
- image
- image_fisheye
- image_left_side
- image_right_side
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 3
stanford_hydra_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 10
austin_buds_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 20
nyu_franka_play_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- image_additional_view
depth_obs_keys:
- depth
- depth_additional_view
state_obs_keys:
- eef_state
fps: 3
maniskill_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- depth
- wrist_depth
state_obs_keys:
- tcp_pose
- gripper_state
fps: 20
furniture_bench_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
cmu_franka_exploration_dataset_converted_externally_to_rlds:
image_obs_keys:
- highres_image
depth_obs_keys:
- null
state_obs_keys:
- null
fps: 10
ucsd_kitchen_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- joint_state
fps: 2
ucsd_pick_and_place_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 3
spoc:
image_obs_keys:
- image
- image_manipulation
depth_obs_keys:
- null
state_obs_keys:
- null
fps: 3
austin_sailor_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 20
austin_sirius_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 20
bc_z:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- present/xyz
- present/axis_angle
- present/sensed_close
fps: 10
utokyo_pr2_opening_fridge_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 10
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 10
utokyo_xarm_pick_and_place_converted_externally_to_rlds:
image_obs_keys:
- image
- image2
- hand_image
depth_obs_keys:
- null
state_obs_keys:
- end_effector_pose
fps: 10
utokyo_xarm_bimanual_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- pose_r
fps: 10
robo_net:
image_obs_keys:
- image
- image1
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 1
robo_set:
image_obs_keys:
- image_left
- image_right
- image_wrist
depth_obs_keys:
- null
state_obs_keys:
- state
- state_velocity
fps: 5
berkeley_mvp_converted_externally_to_rlds:
image_obs_keys:
- hand_image
depth_obs_keys:
- null
state_obs_keys:
- gripper
- pose
- joint_pos
fps: 5
berkeley_rpt_converted_externally_to_rlds:
image_obs_keys:
- hand_image
depth_obs_keys:
- null
state_obs_keys:
- joint_pos
- gripper
fps: 30
kaist_nonprehensile_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
stanford_mask_vit_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
tokyo_u_lsmo_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 10
dlr_sara_pour_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
dlr_sara_grid_clamp_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
dlr_edan_shared_control_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 5
asu_table_top_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 12.5
stanford_robocook_converted_externally_to_rlds:
image_obs_keys:
- image_1
- image_2
depth_obs_keys:
- depth_1
- depth_2
state_obs_keys:
- eef_state
- gripper_state
fps: 5
imperialcollege_sawyer_wrist_cam:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
iamlab_cmu_pickup_insert_converted_externally_to_rlds:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- joint_state
- gripper_state
fps: 20
uiuc_d3field:
image_obs_keys:
- image_1
- image_2
depth_obs_keys:
- depth_1
- depth_2
state_obs_keys:
- null
fps: 1
utaustin_mutex:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 20
berkeley_fanuc_manipulation:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- joint_state
- gripper_state
fps: 10
cmu_playing_with_food:
image_obs_keys:
- image
- finger_vision_1
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 10
cmu_play_fusion:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 5
cmu_stretch:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- eef_state
- gripper_state
fps: 10
berkeley_gnm_recon:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
- position
- yaw
fps: 3
berkeley_gnm_cory_hall:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
- position
- yaw
fps: 5
berkeley_gnm_sac_son:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
- position
- yaw
fps: 10
droid:
image_obs_keys:
- exterior_image_1_left
- exterior_image_2_left
- wrist_image_left
depth_obs_keys:
- null
state_obs_keys:
- proprio
fps: 15
droid_100:
image_obs_keys:
- exterior_image_1_left
- exterior_image_2_left
- wrist_image_left
depth_obs_keys:
- null
state_obs_keys:
- proprio
fps: 15
fmb:
image_obs_keys:
- image_side_1
- image_side_2
- image_wrist_1
- image_wrist_2
depth_obs_keys:
- image_side_1_depth
- image_side_2_depth
- image_wrist_1_depth
- image_wrist_2_depth
state_obs_keys:
- proprio
fps: 10
dobbe:
image_obs_keys:
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- proprio
fps: 3.75
usc_cloth_sim_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- null
fps: 10
plex_robosuite:
image_obs_keys:
- image
- wrist_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 20
conq_hose_manipulation:
image_obs_keys:
- frontleft_fisheye_image
- frontright_fisheye_image
- hand_color_image
depth_obs_keys:
- null
state_obs_keys:
- state
fps: 30
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