#####################################
datasets:
#####################################
    DTU:
        name: [DTU]
        path: [DTU]
        labels: [rgb,intrinsics,pose]
        context: []
        cameras: [[0]]
#####################################
    LBMv12:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset/format-v1.2/indices]
        labels: [rgb,intrinsics,depth,pose,action,language]
        language_dict: [language_annotations_lbm]
        path: [[]]
        context: []
        cameras: [[scene_left,scene_right,wrist_left_plus,wrist_right_minus]]
#####################################
    RBY:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset/format-v1.4/indices]
        labels: [rgb,intrinsics,depth,pose,action,language]
        language_dict: [language_annotations_lbm]
        path: [[]]
        context: []
        cameras: [[scene_left,scene_right,wrist_left_plus,wrist_right_minus]]
#####################################
    UMI:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset/format-v1.1/indices]
        labels: [rgb,action,language]
        language_dict: [language_annotations_umi]
        path: [[]]
        context: []
        cameras: [[wrist_left_plus,wrist_right_plus]]
#####################################
    DROID:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/droid/1.0.0/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left,scene_right,wrist_right_minus]]
#####################################
    BridgeV2:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/bridge_data_v2/0.0.1/train/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left]]
#####################################
    BCZ:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/bc_z/0.1.0/train/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left]]
#####################################
    Furniture:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/furniture_bench_dataset_converted_externally_to_rlds/0.1.0/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left,wrist_right_minus]]
#####################################
    Fractal:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/fractal20220817_data/0.1.0/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left]]
#####################################
    LanguageTable:
        name: [EFS]
        s3_path: [s3://robotics-manip-lbm/webdataset_external/oxe/language_table/0.1.0/format-v1.0/indices]
        labels: [rgb,action,language]
        path: [[]]
        context: []
        cameras: [[scene_left]]
#####################################
    TartanAir:
        name: [TartanAir]
        path: [TartanAir]
        split: [all]
        labels: [rgb,intrinsics,depth,pose]
        context: []
        cameras: [[0],[1]]
#####################################
    ScanNetVideo:
        resolution: [[640,480]]
        name: [ScanNetVideo]
        path: [ScanNet]
        split: [scans]
        labels: [rgb,intrinsics,depth,pose]
        depth_extension: [png]
        context: []
        cameras: [[0]]
#####################################

# - "s3://robotics-manip-lbm/webdataset/format-v1.2/datasets/lbm-v1.0/lbm/real/train/indices/filenames.txt"
# - "s3://robotics-manip-lbm/webdataset/format-v1.2/datasets/lbm-v1.0/lbm/sim/train/indices/filenames.txt"
# - "s3://robotics-manip-lbm/webdataset/format-v1.1/datasets/lbm-v1.0/umi/train/indices/filenames.txt"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/bc_z/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/berkeley_autolab_ur5/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/bridge_data_v2/0.0.1/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/droid/1.0.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/fractal20220817_data/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/furniture_bench_dataset_converted_externally_to_rlds/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/jaco_play/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/language_table/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/nyu_franka_play_dataset_converted_externally_to_rlds/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/stanford_hydra_dataset_converted_externally_to_rlds/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/utokyo_xarm_pick_and_place_converted_externally_to_rlds/0.1.0/train/indices/${task.index_filename}"
# - "s3://robotics-manip-lbm/webdataset_external/format-v1.1/datasets/lbm-v1.0/oxe/viola/0.1.0/train/indices/${task.index_filename}"