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README.md

@@ -24,18 +24,18 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 [meta/info.json](meta/info.json):
 ```json
 {
-    "codebase_version": "v2.1",
+    "codebase_version": "v3.0",
     "robot_type": "franka",
-    "total_episodes": 0,
-    "total_frames": 0,
-    "total_tasks": 0,
-    "total_videos": 0,
-    "total_chunks": 0,
+    "total_episodes": 11,
+    "total_frames": 8765,
+    "total_tasks": 1,
     "chunks_size": 1000,
     "fps": 15,
-    "splits": {},
-    "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",
+    "splits": {
+        "train": "0:11"
+    },
+    "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": {
         "observation.images.primary": {
             "dtype": "video",
@@ -55,6 +55,46 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "video.pix_fmt": "yuv420p",
                 "video.is_depth_map": false,
                 "has_audio": false
+            },
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "video_info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            },
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
             }
         },
         "observation.images.wrist": {
@@ -75,6 +115,16 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "video.pix_fmt": "yuv420p",
                 "video.is_depth_map": false,
                 "has_audio": false
+            },
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
             }
         },
         "observation.state.cartesian": {
@@ -89,7 +139,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "roll",
                 "pitch",
                 "yaw"
-            ]
+            ],
+            "fps": 15
         },
         "observation.state.gripper": {
             "dtype": "float32",
@@ -98,7 +149,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "gripper"
-            ]
+            ],
+            "fps": 15
         },
         "observation.state.joints": {
             "dtype": "float32",
@@ -113,7 +165,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "joint_4",
                 "joint_5",
                 "joint_6"
-            ]
+            ],
+            "fps": 15
         },
         "observation.state.sensors_ft_sensor": {
             "dtype": "float32",
@@ -127,12 +180,52 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "sensors_ft_sensor_3",
                 "sensors_ft_sensor_4",
                 "sensors_ft_sensor_5"
-            ]
+            ],
+            "fps": 15
+        },
+        "observation.state.sensors_tactile_sensor": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "sensors_tactile_sensor_0",
+                "sensors_tactile_sensor_1",
+                "sensors_tactile_sensor_2",
+                "sensors_tactile_sensor_3",
+                "sensors_tactile_sensor_4",
+                "sensors_tactile_sensor_5",
+                "sensors_tactile_sensor_6",
+                "sensors_tactile_sensor_7",
+                "sensors_tactile_sensor_8",
+                "sensors_tactile_sensor_9",
+                "sensors_tactile_sensor_10",
+                "sensors_tactile_sensor_11",
+                "sensors_tactile_sensor_12",
+                "sensors_tactile_sensor_13",
+                "sensors_tactile_sensor_14"
+            ],
+            "fps": 15
+        },
+        "observation.state.target": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "target_x",
+                "target_y",
+                "target_z",
+                "target_roll",
+                "target_pitch",
+                "target_yaw"
+            ],
+            "fps": 15
         },
         "observation.state": {
             "dtype": "float32",
             "shape": [
-                20
+                41
             ],
             "names": [
                 "x",
@@ -154,8 +247,30 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "sensors_ft_sensor_2",
                 "sensors_ft_sensor_3",
                 "sensors_ft_sensor_4",
-                "sensors_ft_sensor_5"
-            ]
+                "sensors_ft_sensor_5",
+                "sensors_tactile_sensor_0",
+                "sensors_tactile_sensor_1",
+                "sensors_tactile_sensor_2",
+                "sensors_tactile_sensor_3",
+                "sensors_tactile_sensor_4",
+                "sensors_tactile_sensor_5",
+                "sensors_tactile_sensor_6",
+                "sensors_tactile_sensor_7",
+                "sensors_tactile_sensor_8",
+                "sensors_tactile_sensor_9",
+                "sensors_tactile_sensor_10",
+                "sensors_tactile_sensor_11",
+                "sensors_tactile_sensor_12",
+                "sensors_tactile_sensor_13",
+                "sensors_tactile_sensor_14",
+                "target_x",
+                "target_y",
+                "target_z",
+                "target_roll",
+                "target_pitch",
+                "target_yaw"
+            ],
+            "fps": 15
         },
         "action": {
             "dtype": "float32",
@@ -170,44 +285,52 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "pitch",
                 "yaw",
                 "gripper"
-            ]
+            ],
+            "fps": 15
         },
         "timestamp": {
             "dtype": "float32",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 15
         },
         "frame_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 15
         },
         "episode_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 15
         },
         "index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 15
         },
         "task_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 15
         }
-    }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500
 }
 ```