{
  "id": "signiq-collab-dual-velcro",
  "captured_at": "2024-12-08T14:22:51+09:00",
  "facility": "SignIQ Lab \u2014 Tokyo facility (assembly cell)",
  "robot": {
    "name": "Collaborative dual-arm (2\u00d7 7-DOF arms + parallel grippers, RGB)",
    "embodiment": "collaborative-dual-arm",
    "control_mode": "joint_target",
    "control_hz": 50.0,
    "action_dim": 14,
    "state_dim": 14,
    "cameras": [
      "cam-high",
      "cam-left-wrist",
      "cam-low",
      "cam-right-wrist"
    ]
  },
  "task": {
    "instruction": "Pick up the velcro cable tie with the left arm, then insert the end of the velcro tie into the other end's loop with the right arm.",
    "subtasks": [
      {
        "index": 0,
        "name": "01 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 0,
        "end": 123
      },
      {
        "index": 1,
        "name": "02 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 123,
        "end": 217
      },
      {
        "index": 2,
        "name": "03 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 217,
        "end": 386
      },
      {
        "index": 3,
        "name": "04 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 386,
        "end": 521
      },
      {
        "index": 4,
        "name": "05 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 521,
        "end": 700
      }
    ],
    "outcome": "success"
  },
  "schema": {
    "observation.state": {
      "shape": [
        14
      ],
      "names": [
        "motor_0",
        "motor_1",
        "motor_2",
        "motor_3",
        "motor_4",
        "motor_5",
        "motor_6",
        "motor_7",
        "motor_8",
        "motor_9",
        "motor_10",
        "motor_11",
        "motor_12",
        "motor_13"
      ]
    },
    "action": {
      "shape": [
        14
      ],
      "kind": "joint_target"
    },
    "trajectory_projection": {
      "kind": "joint-state path",
      "left": {
        "label": "left arm joints",
        "indices": [
          0,
          7
        ]
      },
      "right": {
        "label": "right arm joints",
        "indices": [
          7,
          14
        ]
      }
    }
  },
  "attribution": {
    "demo_data_origin": "lerobot/aloha_static_thread_velcro",
    "license": "Apache-2.0",
    "note": "Demo data illustrating bimanual contact-rich capture. SignIQ commercial collections are recorded in our own facility."
  }
}