Datasets:

yxma
/

tactile-video-pretrain-nc

	{
	"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
	}