| { |
| "schema": "nimble-mimic-waypoint-annotation/v2-windowed", |
| "task_name": "bottles", |
| "source_file": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/insert_bottles_annotated.hdf5", |
| "task": "Isaac-InsertBottles-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 'bottle_in_tray' 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_bottle_0", |
| "reference_object": "insert_bottle_0", |
| "keyframe_signal": "grasp_bottle_0" |
| }, |
| { |
| "name": "place_bottle_0", |
| "reference_object": "insert_box", |
| "keyframe_signal": "bottle_0_placed" |
| }, |
| { |
| "name": "push_seat_0", |
| "reference_object": "insert_box", |
| "keyframe_signal": "push_seat_0" |
| }, |
| { |
| "name": "grasp_bottle_1", |
| "reference_object": "insert_bottle_1", |
| "keyframe_signal": "grasp_bottle_1" |
| }, |
| { |
| "name": "place_bottle_1", |
| "reference_object": "insert_box", |
| "keyframe_signal": "bottle_1_placed" |
| }, |
| { |
| "name": "push_seat_1", |
| "reference_object": "insert_box", |
| "keyframe_signal": "push_seat_1" |
| }, |
| { |
| "name": "grasp_bottle_2", |
| "reference_object": "insert_bottle_2", |
| "keyframe_signal": "grasp_bottle_2" |
| }, |
| { |
| "name": "place_bottle_2", |
| "reference_object": "insert_box", |
| "keyframe_signal": "bottle_2_placed" |
| }, |
| { |
| "name": "push_seat_2", |
| "reference_object": "insert_box", |
| "keyframe_signal": "push_seat_2" |
| }, |
| { |
| "name": "grasp_bottle_3", |
| "reference_object": "insert_bottle_3", |
| "keyframe_signal": "grasp_bottle_3" |
| }, |
| { |
| "name": "place_bottle_3", |
| "reference_object": "insert_box", |
| "keyframe_signal": "bottle_3_placed" |
| }, |
| { |
| "name": "push_seat_3", |
| "reference_object": "insert_box", |
| "keyframe_signal": "push_seat_3" |
| } |
| ], |
| "conditions": { |
| "grasp_bottle": { |
| "GRASP_XY": 0.06, |
| "GRIP_CLOSED_WIDTH": 0.03, |
| "desc": "jaws closed (width > GRIP_CLOSED_WIDTH) AND TCP within GRASP_XY of the object." |
| }, |
| "bottle_placed": { |
| "BOTTLE_SLOTS": [ |
| [ |
| 0.0262, |
| 0.0217 |
| ], |
| [ |
| 0.0262, |
| 0.0547 |
| ], |
| [ |
| 0.0262, |
| 0.0877 |
| ], |
| [ |
| 0.0262, |
| 0.1197 |
| ] |
| ], |
| "BOTTLE_SLOT_XY_TOL": 0.015, |
| "BOTTLE_SEAT_Z": 0.027, |
| "BOTTLE_PLACED_Z": 0.038, |
| "desc": "loose (annotate): bottle set down in the tray footprint near the floor (|z| < BOTTLE_PLACED_Z); strict (generation): bottle within SLOT_XY_TOL of its nearest slot AND seated (z < SEAT_Z).", |
| "BOTTLE_MIN_SEATED": 4 |
| }, |
| "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": 6690, |
| "success": true, |
| "signal_frames": { |
| "bottle_0_placed": 3417, |
| "bottle_1_placed": null, |
| "bottle_2_placed": null, |
| "bottle_3_placed": null, |
| "grasp_bottle_0": 1736, |
| "grasp_bottle_1": null, |
| "grasp_bottle_2": null, |
| "grasp_bottle_3": null, |
| "push_seat_0": 4275, |
| "push_seat_1": null, |
| "push_seat_2": null, |
| "push_seat_3": null |
| }, |
| "subtasks": [ |
| { |
| "name": "grasp_bottle_0", |
| "reference_object": "insert_bottle_0", |
| "reference_object_pose": { |
| "pos": [ |
| -0.15113, |
| -0.25884, |
| 0.00706 |
| ], |
| "quat": [ |
| 0.18, |
| 0.14858, |
| -0.01606, |
| 0.97225 |
| ] |
| }, |
| "signal": "grasp_bottle_0", |
| "keyframe_frame": 1736, |
| "window": [ |
| 1236, |
| 2236 |
| ], |
| "interpolate_gap_from_previous": null, |
| "release_in_gap": false, |
| "num_waypoints": 4, |
| "waypoints": [ |
| { |
| "frame": 1236, |
| "eef_in_ref": [ |
| 0.07979, |
| -0.01004, |
| 0.05281 |
| ], |
| "eef_quat_in_ref": [ |
| -0.04091, |
| 0.69061, |
| 0.70975, |
| -0.13282 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "bottle_in_tray": [ |
| 0.31506, |
| 0.00015, |
| 0.00509 |
| ], |
| "kind": "window_start" |
| }, |
| { |
| "frame": 1602, |
| "eef_in_ref": [ |
| 0.01941, |
| 0.00322, |
| 0.01334 |
| ], |
| "eef_quat_in_ref": [ |
| -0.03112, |
| 0.70735, |
| 0.7039, |
| -0.05667 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "bottle_in_tray": [ |
| 0.31506, |
| 0.00015, |
| 0.00509 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 1736, |
| "eef_in_ref": [ |
| 0.00725, |
| -0.00286, |
| -0.01481 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01923, |
| 0.71656, |
| 0.69649, |
| -0.03259 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.31506, |
| 0.00015, |
| 0.00509 |
| ], |
| "kind": "keyframe:grasp_bottle_0" |
| }, |
| { |
| "frame": 2236, |
| "eef_in_ref": [ |
| 0.00715, |
| 0.00149, |
| -0.01528 |
| ], |
| "eef_quat_in_ref": [ |
| -0.01657, |
| 0.71441, |
| 0.69893, |
| -0.02891 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.20305, |
| -0.0042, |
| 0.12876 |
| ], |
| "kind": "window_end" |
| } |
| ] |
| }, |
| { |
| "name": "place_bottle_0", |
| "reference_object": "insert_box", |
| "reference_object_pose": { |
| "pos": [ |
| -0.16797, |
| 0.05577, |
| 0.002 |
| ], |
| "quat": [ |
| 0.72559, |
| -1e-05, |
| -1e-05, |
| -0.68813 |
| ] |
| }, |
| "signal": "bottle_0_placed", |
| "keyframe_frame": 3417, |
| "window": [ |
| 2917, |
| 3846 |
| ], |
| "interpolate_gap_from_previous": [ |
| 2236, |
| 2917 |
| ], |
| "release_in_gap": false, |
| "num_waypoints": 11, |
| "waypoints": [ |
| { |
| "frame": 2917, |
| "eef_in_ref": [ |
| 0.04583, |
| 0.01575, |
| 0.1034 |
| ], |
| "eef_quat_in_ref": [ |
| 0.03928, |
| 0.99527, |
| 0.07137, |
| -0.05302 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.04441, |
| 0.02475, |
| 0.11765 |
| ], |
| "kind": "window_start" |
| }, |
| { |
| "frame": 3042, |
| "eef_in_ref": [ |
| 0.03485, |
| 0.02936, |
| 0.08583 |
| ], |
| "eef_quat_in_ref": [ |
| 0.04356, |
| 0.99588, |
| 0.06131, |
| -0.05061 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.03355, |
| 0.03852, |
| 0.09999 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3305, |
| "eef_in_ref": [ |
| 0.02263, |
| 0.02751, |
| 0.02198 |
| ], |
| "eef_quat_in_ref": [ |
| 0.08484, |
| 0.9963, |
| 0.00215, |
| -0.01327 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.02156, |
| 0.03797, |
| 0.03519 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3400, |
| "eef_in_ref": [ |
| 0.04413, |
| 0.01328, |
| 0.02707 |
| ], |
| "eef_quat_in_ref": [ |
| 0.10375, |
| 0.99452, |
| 0.01271, |
| -6e-05 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.04233, |
| 0.02419, |
| 0.03985 |
| ], |
| "kind": "via" |
| }, |
| { |
| "frame": 3417, |
| "eef_in_ref": [ |
| 0.04084, |
| 0.01466, |
| 0.02305 |
| ], |
| "eef_quat_in_ref": [ |
| 0.10253, |
| 0.99454, |
| 0.01915, |
| -0.00133 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.03893, |
| 0.02552, |
| 0.03586 |
| ], |
| "kind": "keyframe:bottle_0_placed" |
| }, |
| { |
| "frame": 3441, |
| "eef_in_ref": [ |
| 0.03585, |
| 0.01275, |
| 0.01827 |
| ], |
| "eef_quat_in_ref": [ |
| 0.10438, |
| 0.99425, |
| 0.02364, |
| -0.00172 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
| 0.03352, |
| 0.02366, |
| 0.02842 |
| ], |
| "kind": "via" |
| }, |
| { |
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| "eef_in_ref": [ |
| 0.04441, |
| 0.01394, |
| 0.01813 |
| ], |
| "eef_quat_in_ref": [ |
| 0.10422, |
| 0.99397, |
| 0.0341, |
| 0.00015 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "bottle_in_tray": [ |
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| 0.02297, |
| 0.02684 |
| ], |
| "kind": "via" |
| }, |
| { |
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| 0.01595, |
| 0.01734 |
| ], |
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| 0.99282, |
| 0.04846, |
| -0.00507 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "bottle_in_tray": [ |
| 0.03301, |
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| 0.02677 |
| ], |
| "kind": "via" |
| }, |
| { |
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| 0.03713, |
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| ], |
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| 0.992, |
| 0.0851, |
| -0.08377 |
| ], |
| "gripper_cmd": 1.0, |
| "gripper_closed": false, |
| "bottle_in_tray": [ |
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| 0.02352, |
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| "kind": "via" |
| }, |
| { |
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| "eef_in_ref": [ |
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| 0.0407, |
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| ], |
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| 0.99519, |
| 0.02523, |
| -0.08667 |
| ], |
| "gripper_cmd": -1.0, |
| "gripper_closed": true, |
| "bottle_in_tray": [ |
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| 0.02353, |
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| "kind": "via" |
| }, |
| { |
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| "eef_in_ref": [ |
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| 0.08944 |
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| "gripper_cmd": -1.0, |
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| "bottle_in_tray": [ |
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| 0.02353, |
| 0.02688 |
| ], |
| "kind": "window_end" |
| } |
| ] |
| }, |
| { |
| "name": "push_seat_0", |
| "reference_object": "insert_box", |
| "reference_object_pose": { |
| "pos": [ |
| -0.16996, |
| 0.09351, |
| 0.002 |
| ], |
| "quat": [ |
| 0.69227, |
| -0.0, |
| -0.0, |
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| ] |
| }, |
| "signal": "push_seat_0", |
| "keyframe_frame": 4275, |
| "window": [ |
| 3846, |
| 4775 |
| ], |
| "interpolate_gap_from_previous": [ |
| 3846, |
| 3846 |
| ], |
| "release_in_gap": false, |
| "num_waypoints": 12, |
| "waypoints": [ |
| { |
| "frame": 3846, |
| "eef_in_ref": [ |
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| "gripper_cmd": -1.0, |
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| 0.02688 |
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| { |
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| ], |
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| ], |
| "gripper_cmd": -1.0, |
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| { |
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| ], |
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| { |
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| ], |
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| { |
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| "gripper_cmd": -1.0, |
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| ], |
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| }, |
| { |
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