{
  "id": "signiq-sim-bimanual-transfer",
  "captured_at": "2025-03-19T08:14:02+09:00",
  "facility": "SignIQ Lab \u2014 Tokyo facility (Isaac Lab digital twin)",
  "robot": {
    "name": "ALOHA bimanual (simulated, 14-DOF leader/follower)",
    "embodiment": "aloha-bimanual-sim",
    "control_mode": "joint_target",
    "control_hz": 50.0,
    "action_dim": 14,
    "state_dim": 14,
    "cameras": [
      "top"
    ]
  },
  "task": {
    "instruction": "Pick up the cube with the right arm and transfer it to the left arm.",
    "subtasks": [
      {
        "index": 0,
        "name": "01 \u00b7 in-contact motion",
        "description": "High-energy contact-rich motion (peak joint travel)",
        "start": 0,
        "end": 76
      },
      {
        "index": 1,
        "name": "02 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 76,
        "end": 125
      },
      {
        "index": 2,
        "name": "03 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 125,
        "end": 200
      },
      {
        "index": 3,
        "name": "04 \u00b7 fast retract",
        "description": "Fast retract / pose change between subtasks",
        "start": 200,
        "end": 320
      },
      {
        "index": 4,
        "name": "05 \u00b7 fast retract",
        "description": "Fast retract / pose change between subtasks",
        "start": 320,
        "end": 400
      }
    ],
    "outcome": "success"
  },
  "schema": {
    "observation.state": {
      "shape": [
        14
      ],
      "names": [
        "left_waist",
        "left_shoulder",
        "left_elbow",
        "left_forearm_roll",
        "left_wrist_angle",
        "left_wrist_rotate",
        "left_gripper",
        "right_waist",
        "right_shoulder",
        "right_elbow",
        "right_forearm_roll",
        "right_wrist_angle",
        "right_wrist_rotate",
        "right_gripper"
      ]
    },
    "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_sim_transfer_cube_human",
    "license": "MIT",
    "note": "Demo data illustrating simulation-paired ALOHA capture. SignIQ commercial sim collections share an embodiment tag and modality map with their real counterparts."
  }
}