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README.md

@@ -1,165 +1,169 @@
----
-license: apache-2.0
-task_categories:
-- robotics
-tags:
-- LeRobot
-- so100
-- pengrip
-- pi0
-configs:
-- config_name: default
-  data_files: data/*/*.parquet
----
-
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-
-## Dataset Description
-
-
-
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
-
-## Dataset Structure
-
-[meta/info.json](meta/info.json):
-```json
-{
-    "codebase_version": "v2.1",
-    "robot_type": "so100",
-    "total_episodes": 50,
-    "total_frames": 14694,
-    "total_tasks": 1,
-    "total_videos": 100,
-    "total_chunks": 1,
-    "chunks_size": 1000,
-    "fps": 30,
-    "splits": {
-        "train": "0:50"
-    },
-    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
-    "features": {
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "main_shoulder_pan",
-                "main_shoulder_lift",
-                "main_elbow_flex",
-                "main_wrist_flex",
-                "main_wrist_roll",
-                "main_gripper"
-            ]
-        },
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "main_shoulder_pan",
-                "main_shoulder_lift",
-                "main_elbow_flex",
-                "main_wrist_flex",
-                "main_wrist_roll",
-                "main_gripper"
-            ]
-        },
-        "observation.images.front": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.wrist": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    }
-}
-```
-
-
-## Citation
-
-**BibTeX:**
-
-```bibtex
-[More Information Needed]
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "so100",
+    "total_episodes": 50,
+    "total_frames": 14694,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:50"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ],
+            "fps": 30
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ],
+            "fps": 30
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 30
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
 ```