{ "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": "s10907720a074bdba6a4a72e1f26b159", "owner": "OPENLOONG.NET", "region": "CN-SH-01", "created_at": "2026-01-28T11:23:41.575221+08:00", "created_by": "OPENLOONG.NET" }, "time_align_info": { "aligned": true, "algorithm": "aligned_to_30_fps", "fps": 30.0, "frame_count": 1038 }, "data_info": { "camera_info": { "head": { "name": "head", "camera_type": "rgbd", "rgb_data": { "fps": 30.0, "type": "image/jpg/binary", "shape": [ 1038 ] }, "depth_data": { "fps": 30.0, "type": "image/png/binary", "shape": [ 1038 ] } }, "hand_left": { "name": "hand_left", "camera_type": "rgb", "rgb_data": { "fps": 30.0, "type": "image/jpg/binary", "shape": [ 1038 ] } }, "hand_right": { "name": "hand_right", "camera_type": "rgb", "rgb_data": { "fps": 30.0, "type": "image/jpg/binary", "shape": [ 1038 ] } } }, "joint_info": { "action/arm": { "name": "arm", "datasets": [ { "name": "position", "shape": [ 1038, 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": [ 1038, 2 ], "type": "float32", "fps": 30.0 } ], "path": "joints/action/effector", "joint_names": [ "left_gripper", "right_gripper" ] }, "action/head": { "name": "head", "datasets": [ { "name": "position", "shape": [ 1038, 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": [ 1038, 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": [ 1038, 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": [ 1038, 14 ], "type": "float32", "fps": 30.0 }, { "name": "position", "shape": [ 1038, 14 ], "type": "float32", "fps": 30.0 }, { "name": "velocity", "shape": [ 1038, 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": [ 1038, 2 ], "type": "float32", "fps": 30.0 } ], "path": "joints/state/effector", "joint_names": [ "left_gripper", "right_gripper" ] }, "state/head": { "name": "head", "datasets": [ { "name": "effort", "shape": [ 1038, 2 ], "type": "float32", "fps": 30.0 }, { "name": "position", "shape": [ 1038, 2 ], "type": "float32", "fps": 30.0 }, { "name": "velocity", "shape": [ 1038, 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": [ 1038, 12 ], "type": "float32", "fps": 30.0 }, { "name": "position", "shape": [ 1038, 12 ], "type": "float32", "fps": 30.0 }, { "name": "velocity", "shape": [ 1038, 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": [ 1038, 3 ], "type": "float32", "fps": 30.0 }, { "name": "position", "shape": [ 1038, 3 ], "type": "float32", "fps": 30.0 }, { "name": "velocity", "shape": [ 1038, 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": [ 1038 ] }, "right_data": { "name": "right", "fps": 30.0, "type": "image/png/binary", "shape": [ 1038 ] } }, "hand_right": { "name": "hand_right", "left_data": { "name": "left", "fps": 30.0, "type": "image/png/binary", "shape": [ 1038 ] }, "right_data": { "name": "right", "fps": 30.0, "type": "image/png/binary", "shape": [ 1038 ] } } } }, "collected_at": "2026-01-28T11:21:31.308705", "duration_in_ms": 34567 }