Datasets:

yxma
/

tactile-video-pretrain-nc

@@ -1137,3 +1137,5 @@ videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1e73d8c9ec04ba6b2acb03f7e5c7
 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1fabfc079504ff195104d98fd484c80/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s10dd3f3acd247a9985f14bd280a10f2/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s133ddd2a7f44a0aaa9310eda898cbdd/head_depth.mkv filter=lfs diff=lfs merge=lfs -text

 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1fabfc079504ff195104d98fd484c80/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s10dd3f3acd247a9985f14bd280a10f2/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
 videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s133ddd2a7f44a0aaa9310eda898cbdd/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
+videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/head_depth.mkv filter=lfs diff=lfs merge=lfs -text
+videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/head_depth.mkv filter=lfs diff=lfs merge=lfs -text

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/_done ADDED Viewed

	@@ -0,0 +1 @@


1	+ ok 1781455229.0403643

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/bimanual.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb40c45c3c8b86fc31f987f38b6cac280264a567141b4e847bc8ecb91082c13
+size 768991

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/cam_hand_left.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:da1a48ee9293f8dc8421e70118858961b39b5b37c315f685a9f5ed60ca114634
+size 9821245

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/cam_hand_right.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:fc3df63fcee05b50e0d89d11c29472b9e0b5be015871b7771cec6af87a4dc6cb
+size 13557064

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/cam_head.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:f6392ac6a833a87eb2a90a942885919a102f65976f9b4ea6c189f6f46869291d
+size 5583502

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/head_depth.mkv ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:51890f876cc23c54711b718deeab012b5691575800819daa767b3678d04db17e
+size 46994455

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/head_ir_left.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:b266d46a169db0039c8e45f806d2df5e9cec731e2cf0c5be3a130e54b679c9bb
+size 1957194

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/head_ir_right.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0cc95db1e0493831e50d4514e9f2ae71f449c2fc457761ca41f612ec9d8b06
+size 1957416

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/joints.parquet ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef3bda8b58d00f9766335d9a126ad845c841311853cab61e96e3686c5630176
+size 55278

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/metadata.json ADDED Viewed

	@@ -0,0 +1,298 @@

+{
+    "ver": "2.1.0",
+    "equipment_info": {
+        "manufacturer": "人形机器人（上海）有限公司",
+        "model": "DWHEEL-TACTILE",
+        "version": "V1",
+        "sn": "DWHEEL_SH_033"
+    },
+    "resource_info": {
+        "id": "s11e7830d4ce4448af19ae05c0dde6fd",
+        "owner": "OPENLOONG.NET",
+        "region": "CN-SH-01",
+        "created_at": "2026-01-08T17:13:22.967160+08:00",
+        "created_by": "OPENLOONG.NET"
+    },
+    "time_align_info": {
+        "aligned": true,
+        "algorithm": "aligned_to_30_fps",
+        "fps": 30.0,
+        "frame_count": 999
+    },
+    "data_info": {
+        "camera_info": {
+            "head": {
+                "name": "head",
+                "camera_type": "rgbd",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        999
+                    ]
+                },
+                "depth_data": {
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        999
+                    ]
+                },
+                "ir_left_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        999
+                    ]
+                },
+                "ir_right_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        999
+                    ]
+                }
+            },
+            "hand_left": {
+                "name": "hand_left",
+                "camera_type": "rgb",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        999
+                    ]
+                }
+            },
+            "hand_right": {
+                "name": "hand_right",
+                "camera_type": "rgb",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        999
+                    ]
+                }
+            }
+        },
+        "joint_info": {
+            "action/arm": {
+                "name": "arm",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            14
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/arm",
+                "joint_names": [
+                    "l-j1",
+                    "l-j2",
+                    "l-j3",
+                    "l-j4",
+                    "l-j5",
+                    "l-j6",
+                    "l-j7",
+                    "r-j1",
+                    "r-j2",
+                    "r-j3",
+                    "r-j4",
+                    "r-j5",
+                    "r-j6",
+                    "r-j7"
+                ]
+            },
+            "action/effector": {
+                "name": "effector",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/effector",
+                "joint_names": [
+                    "left_gripper",
+                    "right_gripper"
+                ]
+            },
+            "action/robot": {
+                "name": "robot",
+                "datasets": [
+                    {
+                        "name": "velocity",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/robot",
+                "joint_names": [
+                    "base_link"
+                ]
+            },
+            "action/waist": {
+                "name": "waist",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/waist",
+                "joint_names": [
+                    "J_waist_pitch",
+                    "J_waist_lift"
+                ]
+            },
+            "state/arm": {
+                "name": "arm",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            14
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/arm",
+                "joint_names": [
+                    "l-j1",
+                    "l-j2",
+                    "l-j3",
+                    "l-j4",
+                    "l-j5",
+                    "l-j6",
+                    "l-j7",
+                    "r-j1",
+                    "r-j2",
+                    "r-j3",
+                    "r-j4",
+                    "r-j5",
+                    "r-j6",
+                    "r-j7"
+                ]
+            },
+            "state/effector": {
+                "name": "effector",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/effector",
+                "joint_names": [
+                    "left_gripper",
+                    "right_gripper"
+                ]
+            },
+            "state/robot": {
+                "name": "robot",
+                "datasets": [
+                    {
+                        "name": "velocity",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/robot",
+                "joint_names": [
+                    "base_link"
+                ]
+            },
+            "state/waist": {
+                "name": "waist",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            999,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/waist",
+                "joint_names": [
+                    "J_waist_pitch",
+                    "J_waist_lift"
+                ]
+            }
+        },
+        "tactile_info": {
+            "hand_left": {
+                "name": "hand_left",
+                "left_data": {
+                    "name": "left",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        999
+                    ]
+                },
+                "right_data": {
+                    "name": "right",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        999
+                    ]
+                }
+            },
+            "hand_right": {
+                "name": "hand_right",
+                "left_data": {
+                    "name": "left",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        999
+                    ]
+                },
+                "right_data": {
+                    "name": "right",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        999
+                    ]
+                }
+            }
+        }
+    },
+    "collected_at": "2026-01-08T13:53:21.216206",
+    "duration_in_ms": 33267
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/params/hand_left.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D405",
+    "width": 848,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 436.1697082519531,
+        "fy": 435.738525390625,
+        "ppx": 425.54986572265625,
+        "ppy": 244.45802307128906,
+        "distortion_model": "plumb_bob",
+        "k1": -0.052270472049713135,
+        "k2": 0.06022689491510391,
+        "k3": 0.0018824853468686342,
+        "p1": 0.0008333210716955364,
+        "p2": -0.020749041810631752
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/params/hand_right.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D405",
+    "width": 848,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 435.6694641113281,
+        "fy": 435.24688720703125,
+        "ppx": 428.5193176269531,
+        "ppy": 242.67471313476562,
+        "distortion_model": "plumb_bob",
+        "k1": -0.05153879150748253,
+        "k2": 0.06005503237247467,
+        "k3": 0.0016317086992785335,
+        "p1": 0.0006329048774205148,
+        "p2": -0.02010374888777733
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/params/head.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D435",
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 605.3667602539062,
+        "fy": 605.1751708984375,
+        "ppx": 324.4651794433594,
+        "ppy": 238.1761474609375,
+        "distortion_model": "plumb_bob",
+        "k1": 0.0,
+        "k2": 0.0,
+        "k3": 0.0,
+        "p1": 0.0,
+        "p2": 0.0
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/tactile_left_l.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:18611f77e1d1de83b73e571c7e6d2ecf037e9bc6ab4139507cf5937de53a28c4
+size 1241771

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/tactile_left_r.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:9feea50480235beec4bd1e6695cfad4923bbd43e3fa17ce81c42fc88d9186891
+size 1332263

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/tactile_right_l.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:0200f7f427e71f0fffb1120910b7ed086c3c539616457ab14a57a13e0f85b4d3
+size 1294018

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s11e7830d4ce4448af19ae05c0dde6fd/tactile_right_r.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d975d7917e82fcfa75fee2dbfd297e861b9b56334ee00c8d8ec9322f8a6bcf9e
+size 1403346

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/_done ADDED Viewed

	@@ -0,0 +1 @@


1	+ ok 1781455341.2651176

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/bimanual.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:34e790b98135d6a0480d45d90dbd2786356d2b9796d6fae1c92db9a995eed688
+size 744025

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/cam_hand_left.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:37ea2af15933cb1f7dda7c6fa02667cf0f8e6f45b12e6c820fcf77dfa3e65881
+size 8757721

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/cam_hand_right.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:9265592709dc130b4e54d69d32401d8813a30d868b15a8f6abf5fd5c7e0306d7
+size 12925564

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/cam_head.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:59e98633104d7c5aebcc317485deef60ee908c76a257bc9c12558dd0f1245e1c
+size 4836477

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/head_depth.mkv ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a6871443eaa38fcc5adfc66ccb426a1af0f1b6e72f20f2df4ad4a8f7dfe5b6
+size 44585117

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/head_ir_left.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:002ec27762bc9ccc1a01620e0dab499d612ef2ca2cc46944a5340ebb82440fb8
+size 1945827

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/head_ir_right.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:89da05b71c7fab1ade410f7be0d45e5b0198613884dea77c7ebfa0ebd014783d
+size 1950004

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/joints.parquet ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac7cb3f8c4d0bd5762c4930d00942e993a58ced2f04e2656fad38e197230953
+size 54831

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/metadata.json ADDED Viewed

	@@ -0,0 +1,298 @@

+{
+    "ver": "2.1.0",
+    "equipment_info": {
+        "manufacturer": "人形机器人（上海）有限公司",
+        "model": "DWHEEL-TACTILE",
+        "version": "V1",
+        "sn": "DWHEEL_SH_033"
+    },
+    "resource_info": {
+        "id": "s1490c70f0f44ba2bbfa96eec0d86c21",
+        "owner": "OPENLOONG.NET",
+        "region": "CN-SH-01",
+        "created_at": "2026-01-08T13:50:44.726045+08:00",
+        "created_by": "OPENLOONG.NET"
+    },
+    "time_align_info": {
+        "aligned": true,
+        "algorithm": "aligned_to_30_fps",
+        "fps": 30.0,
+        "frame_count": 946
+    },
+    "data_info": {
+        "camera_info": {
+            "head": {
+                "name": "head",
+                "camera_type": "rgbd",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        946
+                    ]
+                },
+                "depth_data": {
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        946
+                    ]
+                },
+                "ir_left_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        946
+                    ]
+                },
+                "ir_right_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        946
+                    ]
+                }
+            },
+            "hand_left": {
+                "name": "hand_left",
+                "camera_type": "rgb",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        946
+                    ]
+                }
+            },
+            "hand_right": {
+                "name": "hand_right",
+                "camera_type": "rgb",
+                "rgb_data": {
+                    "fps": 30.0,
+                    "type": "image/jpg/binary",
+                    "shape": [
+                        946
+                    ]
+                }
+            }
+        },
+        "joint_info": {
+            "action/arm": {
+                "name": "arm",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            14
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/arm",
+                "joint_names": [
+                    "l-j1",
+                    "l-j2",
+                    "l-j3",
+                    "l-j4",
+                    "l-j5",
+                    "l-j6",
+                    "l-j7",
+                    "r-j1",
+                    "r-j2",
+                    "r-j3",
+                    "r-j4",
+                    "r-j5",
+                    "r-j6",
+                    "r-j7"
+                ]
+            },
+            "action/effector": {
+                "name": "effector",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/effector",
+                "joint_names": [
+                    "left_gripper",
+                    "right_gripper"
+                ]
+            },
+            "action/robot": {
+                "name": "robot",
+                "datasets": [
+                    {
+                        "name": "velocity",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/robot",
+                "joint_names": [
+                    "base_link"
+                ]
+            },
+            "action/waist": {
+                "name": "waist",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/action/waist",
+                "joint_names": [
+                    "J_waist_pitch",
+                    "J_waist_lift"
+                ]
+            },
+            "state/arm": {
+                "name": "arm",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            14
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/arm",
+                "joint_names": [
+                    "l-j1",
+                    "l-j2",
+                    "l-j3",
+                    "l-j4",
+                    "l-j5",
+                    "l-j6",
+                    "l-j7",
+                    "r-j1",
+                    "r-j2",
+                    "r-j3",
+                    "r-j4",
+                    "r-j5",
+                    "r-j6",
+                    "r-j7"
+                ]
+            },
+            "state/effector": {
+                "name": "effector",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/effector",
+                "joint_names": [
+                    "left_gripper",
+                    "right_gripper"
+                ]
+            },
+            "state/robot": {
+                "name": "robot",
+                "datasets": [
+                    {
+                        "name": "velocity",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/robot",
+                "joint_names": [
+                    "base_link"
+                ]
+            },
+            "state/waist": {
+                "name": "waist",
+                "datasets": [
+                    {
+                        "name": "position",
+                        "shape": [
+                            946,
+                            2
+                        ],
+                        "type": "float32",
+                        "fps": 30.0
+                    }
+                ],
+                "path": "joints/state/waist",
+                "joint_names": [
+                    "J_waist_pitch",
+                    "J_waist_lift"
+                ]
+            }
+        },
+        "tactile_info": {
+            "hand_left": {
+                "name": "hand_left",
+                "left_data": {
+                    "name": "left",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        946
+                    ]
+                },
+                "right_data": {
+                    "name": "right",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        946
+                    ]
+                }
+            },
+            "hand_right": {
+                "name": "hand_right",
+                "left_data": {
+                    "name": "left",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        946
+                    ]
+                },
+                "right_data": {
+                    "name": "right",
+                    "fps": 30.0,
+                    "type": "image/png/binary",
+                    "shape": [
+                        946
+                    ]
+                }
+            }
+        }
+    },
+    "collected_at": "2026-01-08T10:59:16.916404",
+    "duration_in_ms": 31500
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/params/hand_left.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D405",
+    "width": 848,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 436.1697082519531,
+        "fy": 435.738525390625,
+        "ppx": 425.54986572265625,
+        "ppy": 244.45802307128906,
+        "distortion_model": "plumb_bob",
+        "k1": -0.052270472049713135,
+        "k2": 0.06022689491510391,
+        "k3": 0.0018824853468686342,
+        "p1": 0.0008333210716955364,
+        "p2": -0.020749041810631752
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/params/hand_right.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D405",
+    "width": 848,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 435.6694641113281,
+        "fy": 435.24688720703125,
+        "ppx": 428.5193176269531,
+        "ppy": 242.67471313476562,
+        "distortion_model": "plumb_bob",
+        "k1": -0.05153879150748253,
+        "k2": 0.06005503237247467,
+        "k3": 0.0016317086992785335,
+        "p1": 0.0006329048774205148,
+        "p2": -0.02010374888777733
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/params/head.json ADDED Viewed

	@@ -0,0 +1,44 @@

+{
+    "manufacturer": "Intel",
+    "SN": "",
+    "mode": "Realsens D435",
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "intrinsic": {
+        "fx": 605.3667602539062,
+        "fy": 605.1751708984375,
+        "ppx": 324.4651794433594,
+        "ppy": 238.1761474609375,
+        "distortion_model": "plumb_bob",
+        "k1": 0.0,
+        "k2": 0.0,
+        "k3": 0.0,
+        "p1": 0.0,
+        "p2": 0.0
+    },
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                1,
+                0,
+                0
+            ],
+            [
+                0,
+                1,
+                0
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "translation_vector": [
+            0,
+            0,
+            0
+        ]
+    }
+}

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/tactile_left_l.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d8fdf5c1e38c24fbf71a8ed546efd9b1e5f93e96dfd3096cc83bf0f4dc532239
+size 1188521

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/tactile_left_r.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:bded19ad4b041d02bca29ff7ec42aa3cf7eab8fde3ffeef58b83e5c93ce52f15
+size 1267307

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/tactile_right_l.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:91e485ba2765708a56c0a61b7e39d42aa5d560e7aef6013a69cdc4673c4b2b63
+size 1230425

videos/baihu_vtouch/plastic_cover_into_box/D-WHEEL/s1490c70f0f44ba2bbfa96eec0d86c21/tactile_right_r.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:4ec6595e9e6f326a3bfb1ca45de3f0b2c669f6ca8bd15e1db4e400b4e494eb0a
+size 1340370