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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": 20,
     "total_frames": 6461,
     "total_tasks": 1,
-    "total_videos": 40,
-    "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
         "train": "0:20"
     },
-    "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",
@@ -205,7 +205,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "right_tactile_middle_knuckle",
                 "right_tactile_index_knuckle",
                 "right_tactile_palm"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_little_finger_tip": {
             "dtype": "image",
@@ -219,7 +220,8 @@ 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",
@@ -233,7 +235,8 @@ 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",
@@ -247,7 +250,8 @@ 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",
@@ -261,7 +265,8 @@ 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",
@@ -275,7 +280,8 @@ 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",
@@ -289,7 +295,8 @@ 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",
@@ -303,7 +310,8 @@ 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",
@@ -317,7 +325,8 @@ 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",
@@ -331,7 +340,8 @@ 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",
@@ -345,7 +355,8 @@ 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",
@@ -359,7 +370,8 @@ 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",
@@ -373,7 +385,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_tip": {
             "dtype": "image",
@@ -387,7 +400,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_nail": {
             "dtype": "image",
@@ -401,7 +415,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_middle": {
             "dtype": "image",
@@ -415,7 +430,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_thumb_pad": {
             "dtype": "image",
@@ -429,7 +445,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.left_tactile_palm": {
             "dtype": "image",
@@ -443,7 +460,8 @@ 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",
@@ -457,7 +475,8 @@ 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",
@@ -471,7 +490,8 @@ 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",
@@ -485,7 +505,8 @@ 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",
@@ -499,7 +520,8 @@ 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",
@@ -513,7 +535,8 @@ 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",
@@ -527,7 +550,8 @@ 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",
@@ -541,7 +565,8 @@ 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",
@@ -555,7 +580,8 @@ 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",
@@ -569,7 +595,8 @@ 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",
@@ -583,7 +610,8 @@ 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",
@@ -597,7 +625,8 @@ 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",
@@ -611,7 +640,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_tip": {
             "dtype": "image",
@@ -625,7 +655,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_nail": {
             "dtype": "image",
@@ -639,7 +670,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_middle": {
             "dtype": "image",
@@ -653,7 +685,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_thumb_pad": {
             "dtype": "image",
@@ -667,7 +700,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.right_tactile_palm": {
             "dtype": "image",
@@ -681,44 +715,52 @@ 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
 }
 ```