feat: add nyu rot dataset

neuracore-dictionary.txt

@@ -399,4 +399,7 @@ octomap
 delenv
 hookwrapper
 makereport
-tryfirst
+tryfirst
+haldar
+osfstorage
+robotgym

neuracore/importer/config/nyu_rot_dataset.yaml

@@ -0,0 +1,98 @@
+input_dataset_name: lerobot/nyu_rot_dataset
+dataset_type: LEROBOT
+output_dataset:
+  name: NYU ROT
+  tags: [xarm, manipulation, pick-and-place, rot, nyu, imitation-learning]
+  description: "NYU ROT (Regularized Optimal Transport) dataset collected on a Ufactory xArm 7 robot with xArm Gripper. Contains 14 episodes of pick-and-place manipulation tasks with RGB observations and proprioceptive motor state, used in the paper 'Watch and Match: Supercharging Imitation with Regularized Optimal Transport' (Haldar et al., 2023)."
+
+robot:
+  name: nyu_rot_xarm7
+  urdf_path: ""
+
+frequency: 5
+
+data_import_config:
+  RGB_IMAGES:
+    source: observation.images
+    format:
+      image_convention: CHANNELS_FIRST
+      order_of_channels: RGB
+      normalized_pixel_values: TRUE
+    mapping:
+      - name: image
+        source_name: image
+
+  JOINT_POSITIONS:
+    source: observation.state
+    format:
+      angle_units: RADIANS
+    mapping:
+      - name: joint1
+        index: 0
+      - name: joint2
+        index: 1
+      - name: joint3
+        index: 2
+      - name: joint4
+        index: 3
+      - name: joint5
+        index: 4
+      - name: joint6
+        index: 5
+      - name: joint7
+        index: 6
+
+  JOINT_TARGET_POSITIONS:
+    source: action
+    format:
+      action_type: ABSOLUTE
+      angle_units: RADIANS
+    mapping:
+      - name: joint1
+        index: 0
+      - name: joint2
+        index: 1
+      - name: joint3
+        index: 2
+      - name: joint4
+        index: 3
+      - name: joint5
+        index: 4
+      - name: joint6
+        index: 5
+      - name: joint7
+        index: 6
+
+  END_EFFECTOR_POSES:
+    source: observation.state
+    format:
+      ee_pose_input_type: JOINT_POSITIONS
+    mapping:
+      - name: link_eef
+
+  VISUAL_JOINT_POSITIONS:
+    source: observation.state
+    format:
+      visual_joint_input_type: CUSTOM
+    mapping:
+      - name: joint1
+        index: 0
+      - name: joint2
+        index: 1
+      - name: joint3
+        index: 2
+      - name: joint4
+        index: 3
+      - name: joint5
+        index: 4
+      - name: joint6
+        index: 5
+      - name: joint7
+        index: 6
+
+  LANGUAGE:
+    source: language_instruction
+    format:
+      language_type: STRING
+    mapping:
+      - name: instruction

neuracore/importer/config/nyu_rot_rlds.yaml

@@ -0,0 +1,61 @@
+input_dataset_name: nyu_rot_dataset_converted_externally_to_rlds
+dataset_type: RLDS
+
+output_dataset:
+  name: nyu_rot
+  tags: [xarm, table, manipulation, imitation-learning]
+  description: "NYU ROT dataset from the Watch and Match (Regularized Optimal Transport) project. Real-world tabletop manipulation demonstrations collected on a UFactory xArm, with a single 84x84 RGB camera view, end-effector state and delta end-effector actions across 14 manipulation tasks."
+
+robot:
+  name: xarm
+  urdf_path: ""
+  overwrite_existing: true
+
+frequency: 3.0
+
+data_import_config:
+  RGB_IMAGES:
+    source: observation
+    format:
+      image_convention: CHANNELS_LAST
+      order_of_channels: RGB
+    mapping:
+      - name: image
+        source_name: image
+
+  END_EFFECTOR_POSES:
+    source: observation.state
+    format:
+      pose_type: POSITION_ORIENTATION
+      orientation:
+        type: EULER
+        euler_order: XYZ
+        angle_units: RADIANS
+    mapping:
+      - name: end_effector_pose
+        index_range:
+          start: 0
+          end: 6
+
+  PARALLEL_GRIPPER_OPEN_AMOUNTS:
+    source: observation.state
+    format:
+      invert_gripper_amount: true # dataset: 0-open, 1-closed
+    mapping:
+      - name: gripper
+        index: 6
+
+  PARALLEL_GRIPPER_TARGET_OPEN_AMOUNTS:
+    source: action
+    format:
+      invert_gripper_amount: true # dataset: 0-open, 1-closed
+    mapping:
+      - name: gripper
+        index: 6
+
+  LANGUAGE:
+    format:
+      language_type: BYTES
+    mapping:
+      - name: instruction
+        source_name: language_instruction