{
  "id": "signiq-collab-single-pickplace",
  "captured_at": "2025-04-02T09:55:11+09:00",
  "facility": "SignIQ Lab \u2014 Tokyo facility (single-arm cell)",
  "robot": {
    "name": "Collaborative single-arm (7-DOF + parallel gripper)",
    "embodiment": "collaborative-single-arm",
    "control_mode": "joint_target",
    "control_hz": 10.0,
    "action_dim": 7,
    "state_dim": 8,
    "cameras": [
      "hand-image",
      "image2",
      "image"
    ]
  },
  "task": {
    "instruction": "Pick up a white plate, and then place it on the red plate.",
    "subtasks": [
      {
        "index": 0,
        "name": "01 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 0,
        "end": 13
      },
      {
        "index": 1,
        "name": "02 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 13,
        "end": 31
      },
      {
        "index": 2,
        "name": "03 \u00b7 fast retract",
        "description": "Fast retract / pose change between subtasks",
        "start": 31,
        "end": 41
      },
      {
        "index": 3,
        "name": "04 \u00b7 in-contact motion",
        "description": "High-energy contact-rich motion (peak joint travel)",
        "start": 41,
        "end": 49
      },
      {
        "index": 4,
        "name": "05 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 49,
        "end": 65
      }
    ],
    "outcome": "success"
  },
  "schema": {
    "observation.state": {
      "shape": [
        8
      ],
      "names": [
        "motor_0",
        "motor_1",
        "motor_2",
        "motor_3",
        "motor_4",
        "motor_5",
        "motor_6",
        "motor_7"
      ]
    },
    "action": {
      "shape": [
        7
      ],
      "kind": "joint_target"
    },
    "trajectory_projection": {
      "kind": "joint-state path",
      "left": {
        "label": "base joints",
        "indices": [
          0,
          3
        ]
      },
      "right": {
        "label": "wrist joints",
        "indices": [
          3,
          7
        ]
      }
    }
  },
  "attribution": {
    "demo_data_origin": "lerobot/utokyo_xarm_pick_and_place",
    "license": "Apache-2.0",
    "note": "Demo data illustrating single-arm pick-and-place capture. SignIQ commercial collections are recorded in our own facility."
  }
}