#################################################################
# All 7-8 ext cameras + in-hand (coverage varies by config).
# Episodes missing a camera will be skipped by the dataloader.
RH20T_d6_c80:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d6/split_all.json]
    labels: [rgb,intrinsics,extrinsics,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# (obsolete) Same cameras, but randomly sample 4 per episode.
# RH20T_d6_c42:
#     name: Unified
#     path: [/datasets/basile/cv_unified_debug/RH20T_d6/split_all.json]
#     labels: [rgb,intrinsics,extrinsics,action,language]
#     cameras_core: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8]
#     cameras_core_sample: 4
#     cameras_aux: [in_hand_1, in_hand_2]
#     cameras_aux_sample: 2
#     length: all
#     augmentation:
#         resize: [-16,384]
#################################################################
# d7: fixed per-frame in-hand extrinsics + intrinsics scaling
RH20T_d7_c80:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d7/split_all.json]
    labels: [rgb,intrinsics,extrinsics,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
RH20T_d7_c82:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d7/split_all.json]
    labels: [rgb,intrinsics,extrinsics,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# d8: temporal sync + depth + per-frame in-hand extrinsics + intrinsics scaling
RH20T_d8_c82:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d8/split_all.json]
    labels: [rgb,intrinsics,extrinsics,depth,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# d9: strict temporal alignment (intersection) + raw timestamps in lowdim
RH20T_d9_c82:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d9/split_all.json]
    labels: [rgb,intrinsics,extrinsics,depth,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# d9 per-camera: same as d9_c82 but webbed with --per_camera
RH20T_d9_c82_percam:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d9/split_all.json]
    labels: [rgb,intrinsics,extrinsics,depth,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# d10: rewebbed d9 unified data with per-camera filtering + split_all.json fixes
RH20T_d10_c82:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d9/split_all.json]
    labels: [rgb,intrinsics,extrinsics,depth,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
# d10 per-camera: same as d10_c82 but webbed with --per_camera
RH20T_d10_c82_percam:
    name: Unified
    path: [/datasets/basile/cv_unified_debug/RH20T_d9/split_all.json]
    labels: [rgb,intrinsics,extrinsics,depth,action,language]
    cameras: [ext1,ext2,ext3,ext4,ext5,ext6,ext7,ext8,in_hand_1,in_hand_2]
    length: all
    augmentation:
        resize: [-16,384]
#################################################################
