| { |
| "schema": "nimble-mimic-waypoint-annotation/v2-windowed", |
| "task_name": "brush", |
| "source_file": "/home/waynechu/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/brush/0723/annotated.hdf5", |
| "task": "Isaac-InsertClose-PiperX-IK-Abs-Mimic-v0", |
| "generated_by": "apps/mimic/annotate.py", |
| "quaternion_order": "wxyz", |
| "notes": "WINDOWED object-centric annotation. Each subtask is a KEYFRAME (a signal frame) with only a short window [keyframe-half_window, keyframe+half_window] of eef poses CENTRED on it, RDP-thinned. eef_in_ref / eef_quat_in_ref = the arm eef pose in that subtask's reference_object frame (frame-invariant; transported onto a new layout at generation). Windows are NON-contiguous: the frames between windows are NOT stored -- generation INTERPOLATES them. The per-waypoint 'brush_in_box' is the payload centre in the container link frame (seat diagnostic). Multi-object tasks order subtasks by actual signal-fire (pick order per demo).", |
| "rdp_tol_m": 0.007, |
| "half_window": 500, |
| "subtask_pipeline": [ |
| { |
| "name": "grasp_brush", |
| "reference_object": "insert_brush", |
| "keyframe_signal": "grasp_brush" |
| }, |
| { |
| "name": "place_brush", |
| "reference_object": "insert_box", |
| "keyframe_signal": "brush_placed" |
| }, |
| { |
| "name": "push_seat", |
| "reference_object": "insert_box", |
| "keyframe_signal": "push_seat" |
| } |
| ], |
| "conditions": { |
| "grasp_brush": { |
| "GRASP_XY": 0.06, |
| "GRIP_CLOSED_WIDTH": 0.03, |
| "desc": "jaws closed (width > GRIP_CLOSED_WIDTH) AND TCP within GRASP_XY of the object." |
| }, |
| "brush_placed": { |
| "TRAY_OFFSET": [ |
| 0.112, |
| 0.0705, |
| 0.0 |
| ], |
| "TRAY_X": 0.224, |
| "TRAY_Y": 0.141, |
| "TRAY_MARGIN": 0.02, |
| "BRUSH_PLACED_Z": 0.032, |
| "desc": "brush centre inside the tray footprint AND |z| < BRUSH_PLACED_Z in the box frame." |
| }, |
| "brush_in_box_slot": { |
| "SLOT_X": [ |
| 0.176, |
| 0.216 |
| ], |
| "SLOT_Y": [ |
| 0.01, |
| 0.134 |
| ], |
| "SLOT_MARGIN": 0.01, |
| "SLOT_SEAT_Z": 0.03, |
| "desc": "STRICT success/seat: brush XY bbox in the SLOT pocket AND seated (z < SLOT_SEAT_Z)." |
| }, |
| "push_seat": { |
| "PUSH_DZ": 0.01, |
| "PUSH_MIN_GAP": 30, |
| "desc": "seat press (offline): after the placed signal + a release, first closed frame vertically back on the object (|TCP_z-object_z|<PUSH_DZ), >= PUSH_MIN_GAP frames after placed." |
| } |
| }, |
| "demos": { |
| "demo_0": { |
| "num_samples": 7578, |
| "success": true, |
| "signal_frames": { |
| "brush_placed": 3043, |
| "grasp_brush": 2314, |
| "push_seat": 4338 |
| }, |
| "subtasks": [ |
| { |
| "name": "grasp_brush", |
| "reference_object": "insert_brush", |
| "reference_object_pose": { |
| "pos": [ |
| -0.10966, |
| -0.24139, |
| 0.00617 |
| ], |
| "quat": [ |
| 0.99995, |
| -0.0, |
| -0.0, |
| 0.0102 |
| ] |
| }, |
| "signal": "grasp_brush", |
| "keyframe_frame": 2314, |
| "window": [ |
| 1814, |
| 2678 |
| ], |
| "interpolate_gap_from_previous": null, |
| "release_in_gap": false, |
| "num_waypoints": 8, |
| "waypoints": [ |
| { |
| "frame": 1814, |
| "eef_in_ref": [ |
| 0.01489, |
| 0.02564, |
| 0.0975 |
| ], |
| "eef_quat_in_ref": [ |
| -0.08134, |
| 0.72989, |
| -0.67649, |
| 0.05482 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.30442, |
| 0.03732, |
| 0.00417 |
| ], |
| "kind": "window_start" |
| }, |
| { |
| "frame": 1999, |
| "eef_in_ref": [ |
| 0.00432, |
| 0.00827, |
| 0.0308 |
| ], |
| "eef_quat_in_ref": [ |
| -0.04128, |
| 0.71493, |
| -0.69737, |
| 0.02891 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.30441, |
| 0.03732, |
| 0.00417 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2103, |
| "eef_in_ref": [ |
| 0.00151, |
| 0.01463, |
| -0.00336 |
| ], |
| "eef_quat_in_ref": [ |
| -0.02478, |
| 0.72414, |
| -0.68896, |
| 0.01856 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.3044, |
| 0.03731, |
| 0.00417 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2168, |
| "eef_in_ref": [ |
| 0.01179, |
| 0.01213, |
| -0.01227 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03529, |
| 0.71916, |
| -0.69327, |
| 0.03063 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.3044, |
| 0.03731, |
| 0.00417 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2266, |
| "eef_in_ref": [ |
| -0.02917, |
| 0.00613, |
| -0.00908 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01008, |
| 0.71695, |
| -0.69699, |
| 0.00879 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.30439, |
| 0.03731, |
| 0.00417 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2314, |
| "eef_in_ref": [ |
| -0.01767, |
| 0.00711, |
| -0.01386 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01246, |
| 0.71434, |
| -0.69962, |
| 0.00944 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.30439, |
| 0.03731, |
| 0.00417 |
| ], |
| "kind": "keyframe:grasp_brush" |
| }, |
| { |
| "frame": 2318, |
| "eef_in_ref": [ |
| -0.01655, |
| 0.00711, |
| -0.014 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01323, |
| 0.71386, |
| -0.7001, |
| 0.00998 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.30439, |
| 0.03731, |
| 0.00417 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2678, |
| "eef_in_ref": [ |
| -0.016, |
| -0.00152, |
| -0.01419 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01753, |
| 0.70703, |
| -0.70685, |
| 0.01266 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.26275, |
| 0.06507, |
| 0.08197 |
| ], |
| "kind": "window_end" |
| } |
| ] |
| }, |
| { |
| "name": "place_brush", |
| "reference_object": "insert_box", |
| "reference_object_pose": { |
| "pos": [ |
| -0.1981, |
| 0.05226, |
| 0.00202 |
| ], |
| "quat": [ |
| 0.76476, |
| -6e-05, |
| 5e-05, |
| -0.64431 |
| ] |
| }, |
| "signal": "brush_placed", |
| "keyframe_frame": 3043, |
| "window": [ |
| 2678, |
| 3543 |
| ], |
| "interpolate_gap_from_previous": [ |
| 2678, |
| 2678 |
| ], |
| "release_in_gap": false, |
| "num_waypoints": 10, |
| "waypoints": [ |
| { |
| "frame": 2678, |
| "eef_in_ref": [ |
| 0.26354, |
| 0.0497, |
| 0.06704 |
| ], |
| "eef_quat_in_ref": [ |
| -0.04561, |
| 0.99851, |
| -0.02963, |
| 0.00456 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.26275, |
| 0.06507, |
| 0.08197 |
| ], |
| "kind": "window_start" |
| }, |
| { |
| "frame": 2894, |
| "eef_in_ref": [ |
| 0.2064, |
| 0.06751, |
| 0.06362 |
| ], |
| "eef_quat_in_ref": [ |
| -0.04139, |
| 0.99876, |
| 0.02651, |
| 0.00778 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20373, |
| 0.08279, |
| 0.07843 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 2945, |
| "eef_in_ref": [ |
| 0.19908, |
| 0.06677, |
| 0.04951 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03272, |
| 0.99902, |
| 0.0279, |
| 0.01052 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.1963, |
| 0.08229, |
| 0.06404 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3043, |
| "eef_in_ref": [ |
| 0.2083, |
| 0.06196, |
| 0.01798 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01045, |
| 0.99975, |
| -0.00682, |
| 0.01835 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20653, |
| 0.07826, |
| 0.03184 |
| ], |
| "kind": "keyframe:brush_placed" |
| }, |
| { |
| "frame": 3050, |
| "eef_in_ref": [ |
| 0.20769, |
| 0.0623, |
| 0.01694 |
| ], |
| "eef_quat_in_ref": [ |
| -0.00998, |
| 0.99974, |
| -0.00573, |
| 0.01972 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20594, |
| 0.07861, |
| 0.03106 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3085, |
| "eef_in_ref": [ |
| 0.18307, |
| 0.06472, |
| 0.0157 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01082, |
| 0.99976, |
| -0.00108, |
| 0.01897 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20114, |
| 0.08094, |
| 0.03041 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3128, |
| "eef_in_ref": [ |
| 0.16372, |
| 0.06627, |
| 0.01526 |
| ], |
| "eef_quat_in_ref": [ |
| -0.00874, |
| 0.99974, |
| -0.01894, |
| 0.00931 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3192, |
| "eef_in_ref": [ |
| 0.17158, |
| 0.04762, |
| 0.02951 |
| ], |
| "eef_quat_in_ref": [ |
| 0.01273, |
| 0.99936, |
| -0.02563, |
| 0.02162 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3459, |
| "eef_in_ref": [ |
| 0.16176, |
| 0.06708, |
| 0.11081 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03183, |
| 0.99822, |
| 0.04933, |
| 0.01007 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3543, |
| "eef_in_ref": [ |
| 0.14541, |
| 0.04561, |
| 0.13623 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03186, |
| 0.97622, |
| 0.21443, |
| 0.00286 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "window_end" |
| } |
| ] |
| }, |
| { |
| "name": "push_seat", |
| "reference_object": "insert_box", |
| "reference_object_pose": { |
| "pos": [ |
| -0.1908, |
| 0.02867, |
| 0.002 |
| ], |
| "quat": [ |
| 0.76234, |
| -0.0, |
| -0.0, |
| -0.64718 |
| ] |
| }, |
| "signal": "push_seat", |
| "keyframe_frame": 4338, |
| "window": [ |
| 3838, |
| 4838 |
| ], |
| "interpolate_gap_from_previous": [ |
| 3543, |
| 3838 |
| ], |
| "release_in_gap": true, |
| "num_waypoints": 11, |
| "waypoints": [ |
| { |
| "frame": 3838, |
| "eef_in_ref": [ |
| 0.16628, |
| 0.02409, |
| 0.14957 |
| ], |
| "eef_quat_in_ref": [ |
| -0.00952, |
| 0.77618, |
| 0.63043, |
| 0.00132 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "window_start" |
| }, |
| { |
| "frame": 3840, |
| "eef_in_ref": [ |
| 0.16665, |
| 0.02408, |
| 0.14942 |
| ], |
| "eef_quat_in_ref": [ |
| -0.00925, |
| 0.77565, |
| 0.6311, |
| 0.00128 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3940, |
| "eef_in_ref": [ |
| 0.1853, |
| 0.01584, |
| 0.13324 |
| ], |
| "eef_quat_in_ref": [ |
| 0.01572, |
| 0.7333, |
| 0.67964, |
| -0.01057 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4079, |
| "eef_in_ref": [ |
| 0.1764, |
| 0.04337, |
| 0.11802 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03284, |
| 0.72831, |
| 0.68278, |
| -0.04795 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4283, |
| "eef_in_ref": [ |
| 0.19387, |
| 0.03896, |
| 0.05631 |
| ], |
| "eef_quat_in_ref": [ |
| 0.00576, |
| 0.74014, |
| 0.66772, |
| -0.07943 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4338, |
| "eef_in_ref": [ |
| 0.19341, |
| 0.04337, |
| 0.04021 |
| ], |
| "eef_quat_in_ref": [ |
| 0.01336, |
| 0.73933, |
| 0.66814, |
| -0.08244 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "keyframe:push_seat" |
| }, |
| { |
| "frame": 4362, |
| "eef_in_ref": [ |
| 0.1926, |
| 0.0441, |
| 0.03231 |
| ], |
| "eef_quat_in_ref": [ |
| 0.01658, |
| 0.73856, |
| 0.66873, |
| -0.08402 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4402, |
| "eef_in_ref": [ |
| 0.19192, |
| 0.05523, |
| 0.02716 |
| ], |
| "eef_quat_in_ref": [ |
| 0.01032, |
| 0.73758, |
| 0.67103, |
| -0.07475 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4611, |
| "eef_in_ref": [ |
| 0.16576, |
| 0.04564, |
| 0.08764 |
| ], |
| "eef_quat_in_ref": [ |
| -0.00797, |
| 0.72696, |
| 0.68463, |
| -0.05242 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4785, |
| "eef_in_ref": [ |
| 0.1624, |
| 0.04703, |
| 0.14879 |
| ], |
| "eef_quat_in_ref": [ |
| -0.04267, |
| 0.7913, |
| 0.60884, |
| -0.03657 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 4838, |
| "eef_in_ref": [ |
| 0.16772, |
| 0.05072, |
| 0.17039 |
| ], |
| "eef_quat_in_ref": [ |
| -0.06364, |
| 0.82154, |
| 0.56578, |
| -0.03023 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "brush_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "kind": "window_end" |
| } |
| ] |
| } |
| ], |
| "seat_diagnostic": { |
| "frame": 4338, |
| "brush_center_in_box": [ |
| 0.20173, |
| 0.08094, |
| 0.03042 |
| ], |
| "brush_footprint_xy_min": [ |
| 0.19471, |
| 0.02428 |
| ], |
| "brush_footprint_xy_max": [ |
| 0.2091, |
| 0.13757 |
| ], |
| "slot_x": [ |
| 0.176, |
| 0.216 |
| ], |
| "slot_y": [ |
| 0.01, |
| 0.134 |
| ], |
| "slot_seat_z": 0.03, |
| "in_slot_x": true, |
| "in_slot_y": true, |
| "seated": false, |
| "in_slot": false |
| } |
| }, |
| "demo_1": { |
| "num_samples": 6733, |
| "success": true, |
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