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