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README.md

@@ -24,20 +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": "Unitree_G1_Inspire",
     "total_episodes": 116,
     "total_frames": 37599,
     "total_tasks": 2,
-    "total_videos": 232,
-    "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
         "train": "0:116"
     },
-    "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",
+    "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.state": {
             "dtype": "float32",
@@ -73,7 +71,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                     "kRightHandThumbBend",
                     "kRightHandThumbRotation"
                 ]
-            ]
+            ],
+            "fps": 30
         },
         "action": {
             "dtype": "float32",
@@ -109,7 +108,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                     "kRightHandThumbBend",
                     "kRightHandThumbRotation"
                 ]
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.cam_left_high": {
             "dtype": "video",
@@ -169,7 +169,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_little_finger_nail": {
             "dtype": "image",
@@ -183,7 +184,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_little_finger_pad": {
             "dtype": "image",
@@ -197,7 +199,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_ring_finger_tip": {
             "dtype": "image",
@@ -211,7 +214,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_ring_finger_nail": {
             "dtype": "image",
@@ -225,7 +229,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_ring_finger_pad": {
             "dtype": "image",
@@ -239,7 +244,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_middle_finger_tip": {
             "dtype": "image",
@@ -253,7 +259,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_middle_finger_nail": {
             "dtype": "image",
@@ -267,7 +274,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_middle_finger_pad": {
             "dtype": "image",
@@ -281,7 +289,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_index_finger_tip": {
             "dtype": "image",
@@ -295,7 +304,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_index_finger_nail": {
             "dtype": "image",
@@ -309,7 +319,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_index_finger_pad": {
             "dtype": "image",
@@ -323,7 +334,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_tip": {
             "dtype": "image",
@@ -337,7 +349,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_nail": {
             "dtype": "image",
@@ -351,7 +364,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_middle": {
             "dtype": "image",
@@ -365,7 +379,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_pad": {
             "dtype": "image",
@@ -379,7 +394,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_palm": {
             "dtype": "image",
@@ -393,7 +409,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_little_finger_tip": {
             "dtype": "image",
@@ -407,7 +424,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_little_finger_nail": {
             "dtype": "image",
@@ -421,7 +439,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_little_finger_pad": {
             "dtype": "image",
@@ -435,7 +454,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_ring_finger_tip": {
             "dtype": "image",
@@ -449,7 +469,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_ring_finger_nail": {
             "dtype": "image",
@@ -463,7 +484,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_ring_finger_pad": {
             "dtype": "image",
@@ -477,7 +499,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_middle_finger_tip": {
             "dtype": "image",
@@ -491,7 +514,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_middle_finger_nail": {
             "dtype": "image",
@@ -505,7 +529,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_middle_finger_pad": {
             "dtype": "image",
@@ -519,7 +544,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_index_finger_tip": {
             "dtype": "image",
@@ -533,7 +559,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_index_finger_nail": {
             "dtype": "image",
@@ -547,7 +574,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_index_finger_pad": {
             "dtype": "image",
@@ -561,7 +589,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_tip": {
             "dtype": "image",
@@ -575,7 +604,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_nail": {
             "dtype": "image",
@@ -589,7 +619,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_middle": {
             "dtype": "image",
@@ -603,7 +634,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_pad": {
             "dtype": "image",
@@ -617,7 +649,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_palm": {
             "dtype": "image",
@@ -631,7 +664,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.carpet_0": {
             "dtype": "image",
@@ -645,44 +679,52 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "timestamp": {
             "dtype": "float32",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30
         },
         "frame_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30
         },
         "episode_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30
         },
         "index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30
         },
         "task_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30
         }
-    }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
 }
 ```