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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_Dex3_Sim",
     "total_episodes": 20,
     "total_frames": 16064,
     "total_tasks": 1,
-    "total_videos": 60,
-    "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_0": {
             "dtype": "float32",
@@ -46,7 +44,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderPitch"
-            ]
+            ],
+            "fps": 30
         },
         "action_0": {
             "dtype": "float32",
@@ -55,7 +54,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderPitch"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_1": {
             "dtype": "float32",
@@ -64,7 +64,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderRoll"
-            ]
+            ],
+            "fps": 30
         },
         "action_1": {
             "dtype": "float32",
@@ -73,7 +74,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderRoll"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_2": {
             "dtype": "float32",
@@ -82,7 +84,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderYaw"
-            ]
+            ],
+            "fps": 30
         },
         "action_2": {
             "dtype": "float32",
@@ -91,7 +94,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftShoulderYaw"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_3": {
             "dtype": "float32",
@@ -100,7 +104,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftElbow"
-            ]
+            ],
+            "fps": 30
         },
         "action_3": {
             "dtype": "float32",
@@ -109,7 +114,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftElbow"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_4": {
             "dtype": "float32",
@@ -118,7 +124,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristRoll"
-            ]
+            ],
+            "fps": 30
         },
         "action_4": {
             "dtype": "float32",
@@ -127,7 +134,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristRoll"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_5": {
             "dtype": "float32",
@@ -136,7 +144,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristPitch"
-            ]
+            ],
+            "fps": 30
         },
         "action_5": {
             "dtype": "float32",
@@ -145,7 +154,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristPitch"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_6": {
             "dtype": "float32",
@@ -154,7 +164,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristYaw"
-            ]
+            ],
+            "fps": 30
         },
         "action_6": {
             "dtype": "float32",
@@ -163,7 +174,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftWristYaw"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_7": {
             "dtype": "float32",
@@ -172,7 +184,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderPitch"
-            ]
+            ],
+            "fps": 30
         },
         "action_7": {
             "dtype": "float32",
@@ -181,7 +194,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderPitch"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_8": {
             "dtype": "float32",
@@ -190,7 +204,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderRoll"
-            ]
+            ],
+            "fps": 30
         },
         "action_8": {
             "dtype": "float32",
@@ -199,7 +214,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderRoll"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_9": {
             "dtype": "float32",
@@ -208,7 +224,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderYaw"
-            ]
+            ],
+            "fps": 30
         },
         "action_9": {
             "dtype": "float32",
@@ -217,7 +234,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightShoulderYaw"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_10": {
             "dtype": "float32",
@@ -226,7 +244,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightElbow"
-            ]
+            ],
+            "fps": 30
         },
         "action_10": {
             "dtype": "float32",
@@ -235,7 +254,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightElbow"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_11": {
             "dtype": "float32",
@@ -244,7 +264,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristRoll"
-            ]
+            ],
+            "fps": 30
         },
         "action_11": {
             "dtype": "float32",
@@ -253,7 +274,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristRoll"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_12": {
             "dtype": "float32",
@@ -262,7 +284,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristPitch"
-            ]
+            ],
+            "fps": 30
         },
         "action_12": {
             "dtype": "float32",
@@ -271,7 +294,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristPitch"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_13": {
             "dtype": "float32",
@@ -280,7 +304,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristYaw"
-            ]
+            ],
+            "fps": 30
         },
         "action_13": {
             "dtype": "float32",
@@ -289,7 +314,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightWristYaw"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_14": {
             "dtype": "float32",
@@ -298,7 +324,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb0"
-            ]
+            ],
+            "fps": 30
         },
         "action_14": {
             "dtype": "float32",
@@ -307,7 +334,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_15": {
             "dtype": "float32",
@@ -316,7 +344,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb1"
-            ]
+            ],
+            "fps": 30
         },
         "action_15": {
             "dtype": "float32",
@@ -325,7 +354,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_16": {
             "dtype": "float32",
@@ -334,7 +364,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb2"
-            ]
+            ],
+            "fps": 30
         },
         "action_16": {
             "dtype": "float32",
@@ -343,7 +374,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandThumb2"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_17": {
             "dtype": "float32",
@@ -352,7 +384,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandMiddle0"
-            ]
+            ],
+            "fps": 30
         },
         "action_17": {
             "dtype": "float32",
@@ -361,7 +394,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandMiddle0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_18": {
             "dtype": "float32",
@@ -370,7 +404,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandMiddle1"
-            ]
+            ],
+            "fps": 30
         },
         "action_18": {
             "dtype": "float32",
@@ -379,7 +414,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandMiddle1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_19": {
             "dtype": "float32",
@@ -388,7 +424,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandIndex0"
-            ]
+            ],
+            "fps": 30
         },
         "action_19": {
             "dtype": "float32",
@@ -397,7 +434,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandIndex0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_20": {
             "dtype": "float32",
@@ -406,7 +444,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandIndex1"
-            ]
+            ],
+            "fps": 30
         },
         "action_20": {
             "dtype": "float32",
@@ -415,7 +454,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kLeftHandIndex1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_21": {
             "dtype": "float32",
@@ -424,7 +464,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb0"
-            ]
+            ],
+            "fps": 30
         },
         "action_21": {
             "dtype": "float32",
@@ -433,7 +474,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_22": {
             "dtype": "float32",
@@ -442,7 +484,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb1"
-            ]
+            ],
+            "fps": 30
         },
         "action_22": {
             "dtype": "float32",
@@ -451,7 +494,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_23": {
             "dtype": "float32",
@@ -460,7 +504,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb2"
-            ]
+            ],
+            "fps": 30
         },
         "action_23": {
             "dtype": "float32",
@@ -469,7 +514,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandThumb2"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_24": {
             "dtype": "float32",
@@ -478,7 +524,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandIndex0"
-            ]
+            ],
+            "fps": 30
         },
         "action_24": {
             "dtype": "float32",
@@ -487,7 +534,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandIndex0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_25": {
             "dtype": "float32",
@@ -496,7 +544,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandIndex1"
-            ]
+            ],
+            "fps": 30
         },
         "action_25": {
             "dtype": "float32",
@@ -505,7 +554,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandIndex1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_26": {
             "dtype": "float32",
@@ -514,7 +564,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandMiddle0"
-            ]
+            ],
+            "fps": 30
         },
         "action_26": {
             "dtype": "float32",
@@ -523,7 +574,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandMiddle0"
-            ]
+            ],
+            "fps": 30
         },
         "observation.state_27": {
             "dtype": "float32",
@@ -532,7 +584,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandMiddle1"
-            ]
+            ],
+            "fps": 30
         },
         "action_27": {
             "dtype": "float32",
@@ -541,7 +594,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": [
                 "kRightHandMiddle1"
-            ]
+            ],
+            "fps": 30
         },
         "observation.images.cam_left_high": {
             "dtype": "video",
@@ -617,37 +671,44 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             "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": 500
 }
 ```