{
  "id": "signiq-humanoid-greeting",
  "captured_at": "2025-02-28T11:47:30+09:00",
  "facility": "SignIQ Lab \u2014 Tokyo facility (humanoid bay, multi-robot cell)",
  "robot": {
    "name": "H1-class humanoid pair (whole-body upper torso, dual arms)",
    "embodiment": "humanoid-multi-agent",
    "control_mode": "joint_target",
    "control_hz": 50.0,
    "action_dim": 40,
    "state_dim": 19,
    "cameras": [
      "cam-left",
      "cam-right"
    ]
  },
  "task": {
    "instruction": "Greet the other robot with a high five.",
    "subtasks": [
      {
        "index": 0,
        "name": "01 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 0,
        "end": 43
      },
      {
        "index": 1,
        "name": "02 \u00b7 fast retract",
        "description": "Fast retract / pose change between subtasks",
        "start": 43,
        "end": 85
      },
      {
        "index": 2,
        "name": "03 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 85,
        "end": 125
      }
    ],
    "outcome": "success"
  },
  "schema": {
    "observation.state": {
      "shape": [
        19
      ],
      "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",
        "motor_14",
        "motor_15",
        "motor_16",
        "motor_17",
        "motor_18"
      ]
    },
    "action": {
      "shape": [
        40
      ],
      "kind": "joint_target"
    },
    "trajectory_projection": {
      "kind": "joint-state path",
      "left": {
        "label": "left arm joints",
        "indices": [
          0,
          3
        ]
      },
      "right": {
        "label": "right arm joints",
        "indices": [
          3,
          6
        ]
      }
    }
  },
  "attribution": {
    "demo_data_origin": "lerobot/unitreeh1_two_robot_greeting",
    "license": "Apache-2.0",
    "note": "Demo data illustrating multi-humanoid coordination capture. SignIQ humanoid retargeting pipelines map mocap onto GR1-class and Unitree-class embodiments."
  }
}