File size: 13,015 Bytes
71f4393
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
{
    "ver": "2.1.0",
    "equipment_info": {
        "manufacturer": "人形机器人(上海)有限公司",
        "model": "QINGLOONGV2.5-TACTILE",
        "version": "V2.5",
        "sn": "QL_TACTILE_SH_044"
    },
    "resource_info": {
        "id": "s103920a7cb04f4f84828723e836ccdb",
        "owner": "OPENLOONG.NET",
        "region": "CN-SH-01",
        "created_at": "2026-01-27T14:23:10.637396+08:00",
        "created_by": "OPENLOONG.NET"
    },
    "time_align_info": {
        "aligned": true,
        "algorithm": "aligned_to_30_fps",
        "fps": 30.0,
        "frame_count": 1380
    },
    "data_info": {
        "camera_info": {
            "head": {
                "name": "head",
                "camera_type": "rgbd",
                "rgb_data": {
                    "fps": 30.0,
                    "type": "image/jpg/binary",
                    "shape": [
                        1380
                    ]
                },
                "depth_data": {
                    "fps": 30.0,
                    "type": "image/png/binary",
                    "shape": [
                        1380
                    ]
                }
            },
            "hand_left": {
                "name": "hand_left",
                "camera_type": "rgb",
                "rgb_data": {
                    "fps": 30.0,
                    "type": "image/jpg/binary",
                    "shape": [
                        1380
                    ]
                }
            },
            "hand_right": {
                "name": "hand_right",
                "camera_type": "rgb",
                "rgb_data": {
                    "fps": 30.0,
                    "type": "image/jpg/binary",
                    "shape": [
                        1380
                    ]
                }
            }
        },
        "joint_info": {
            "action/arm": {
                "name": "arm",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            14
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/action/arm",
                "joint_names": [
                    "J_arm_l_01",
                    "J_arm_l_02",
                    "J_arm_l_03",
                    "J_arm_l_04",
                    "J_arm_l_05",
                    "J_arm_l_06",
                    "J_arm_l_07",
                    "J_arm_r_01",
                    "J_arm_r_02",
                    "J_arm_r_03",
                    "J_arm_r_04",
                    "J_arm_r_05",
                    "J_arm_r_06",
                    "J_arm_r_07"
                ]
            },
            "action/effector": {
                "name": "effector",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/action/effector",
                "joint_names": [
                    "left_gripper",
                    "right_gripper"
                ]
            },
            "action/head": {
                "name": "head",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/action/head",
                "joint_names": [
                    "J_head_yaw",
                    "J_head_pitch"
                ]
            },
            "action/leg": {
                "name": "leg",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            12
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/action/leg",
                "joint_names": [
                    "J_hip_l_roll",
                    "J_hip_l_yaw",
                    "J_hip_l_pitch",
                    "J_knee_l_pitch",
                    "J_ankle_l_pitch",
                    "J_ankle_l_roll",
                    "J_hip_r_roll",
                    "J_hip_r_yaw",
                    "J_hip_r_pitch",
                    "J_knee_r_pitch",
                    "J_ankle_r_pitch",
                    "J_ankle_r_roll"
                ]
            },
            "action/waist": {
                "name": "waist",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            3
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/action/waist",
                "joint_names": [
                    "J_waist_pitch",
                    "J_waist_roll",
                    "J_waist_yaw"
                ]
            },
            "state/arm": {
                "name": "arm",
                "datasets": [
                    {
                        "name": "effort",
                        "shape": [
                            1380,
                            14
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            14
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "velocity",
                        "shape": [
                            1380,
                            14
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/state/arm",
                "joint_names": [
                    "J_arm_l_01",
                    "J_arm_l_02",
                    "J_arm_l_03",
                    "J_arm_l_04",
                    "J_arm_l_05",
                    "J_arm_l_06",
                    "J_arm_l_07",
                    "J_arm_r_01",
                    "J_arm_r_02",
                    "J_arm_r_03",
                    "J_arm_r_04",
                    "J_arm_r_05",
                    "J_arm_r_06",
                    "J_arm_r_07"
                ]
            },
            "state/effector": {
                "name": "effector",
                "datasets": [
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/state/effector",
                "joint_names": [
                    "left_gripper",
                    "right_gripper"
                ]
            },
            "state/head": {
                "name": "head",
                "datasets": [
                    {
                        "name": "effort",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "velocity",
                        "shape": [
                            1380,
                            2
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/state/head",
                "joint_names": [
                    "J_head_yaw",
                    "J_head_pitch"
                ]
            },
            "state/leg": {
                "name": "leg",
                "datasets": [
                    {
                        "name": "effort",
                        "shape": [
                            1380,
                            12
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            12
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "velocity",
                        "shape": [
                            1380,
                            12
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/state/leg",
                "joint_names": [
                    "J_hip_l_roll",
                    "J_hip_l_yaw",
                    "J_hip_l_pitch",
                    "J_knee_l_pitch",
                    "J_ankle_l_pitch",
                    "J_ankle_l_roll",
                    "J_hip_r_roll",
                    "J_hip_r_yaw",
                    "J_hip_r_pitch",
                    "J_knee_r_pitch",
                    "J_ankle_r_pitch",
                    "J_ankle_r_roll"
                ]
            },
            "state/waist": {
                "name": "waist",
                "datasets": [
                    {
                        "name": "effort",
                        "shape": [
                            1380,
                            3
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "position",
                        "shape": [
                            1380,
                            3
                        ],
                        "type": "float32",
                        "fps": 30.0
                    },
                    {
                        "name": "velocity",
                        "shape": [
                            1380,
                            3
                        ],
                        "type": "float32",
                        "fps": 30.0
                    }
                ],
                "path": "joints/state/waist",
                "joint_names": [
                    "J_waist_pitch",
                    "J_waist_roll",
                    "J_waist_yaw"
                ]
            }
        },
        "tactile_info": {
            "hand_left": {
                "name": "hand_left",
                "left_data": {
                    "name": "left",
                    "fps": 30.0,
                    "type": "image/png/binary",
                    "shape": [
                        1380
                    ]
                },
                "right_data": {
                    "name": "right",
                    "fps": 30.0,
                    "type": "image/png/binary",
                    "shape": [
                        1380
                    ]
                }
            },
            "hand_right": {
                "name": "hand_right",
                "left_data": {
                    "name": "left",
                    "fps": 30.0,
                    "type": "image/png/binary",
                    "shape": [
                        1380
                    ]
                },
                "right_data": {
                    "name": "right",
                    "fps": 30.0,
                    "type": "image/png/binary",
                    "shape": [
                        1380
                    ]
                }
            }
        }
    },
    "collected_at": "2026-01-27T14:20:00.662313",
    "duration_in_ms": 45967
}