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<!doctype html><meta charset=utf-8><title>demo_6 - keyframes</title>
<style>
 body{font:13px/1.45 ui-monospace,Menlo,Consolas,monospace;margin:0;background:#14161a;color:#dfe3e8}
 #wrap{display:flex;gap:14px;padding:14px;align-items:flex-start;flex-wrap:wrap}
 canvas{background:#fff;border-radius:6px}
 #side{min-width:330px}
 h1{font-size:14px;margin:0 0 8px;font-weight:600}
 .row{display:flex;align-items:center;gap:8px;margin:8px 0}
 input[type=range]{width:100%}
 button{background:#2b303a;color:#dfe3e8;border:1px solid #3d444f;border-radius:4px;padding:4px 9px;
 font:inherit;cursor:pointer}
 button:hover{background:#39404c}
 table{border-collapse:collapse;width:100%;margin-top:6px}
 td{padding:3px 6px;border-bottom:1px solid #262b33;cursor:pointer}
 tr.sel td{background:#2d3a52}
 tr:hover td{background:#232833}
 .kf{text-align:right;color:#9fb4d0}.miss{color:#e0864f}.mine{color:#68c06a}
 pre{background:#0e1013;border:1px solid #2a3038;border-radius:6px;padding:9px;white-space:pre-wrap;
 max-height:170px;overflow:auto}
 kbd{background:#2b303a;border:1px solid #444b57;border-radius:3px;padding:0 4px}
 .hint{color:#8b95a3}
</style>
<div id=wrap>
 <div>
 <canvas id=c width=660 height=560></canvas>
 <div class=row>
 <button id=play>play</button>
 <span id=lbl></span>
 </div>
 <input type=range id=sl min=0 max=7466 value=0>
 <div class=row>
 <span class=hint>go to</span>
 <input id=gof size=7 placeholder="frame"> <span class=hint>frame</span>
 <input id=gov size=7 placeholder="0.00"> <span class=hint>s &nbsp;take-video time
 (what you scrub to in <code>overview.mp4</code>)</span>
 </div>
 <div class=row class=hint>
 <span class=hint><kbd>space</kbd> set keyframe &nbsp; <kbd>x</kbd> absent &nbsp; <kbd>&larr;/&rarr;</kbd> 1
 &nbsp; <kbd>,/.</kbd> 10 &nbsp; <kbd>[/]</kbd> 100 &nbsp; <kbd>p</kbd> play &nbsp; <kbd>j/k</kbd> subtask</span>
 </div>
 </div>
 <div id=side>
 <h1>demo_6 &nbsp;<span class=hint>take=take_20260807_135143 &nbsp; 7467 frames</span></h1>
 <table id=tbl></table>
 <div class=row><button id=cp>copy all 12</button><span id=cnt class=hint></span>
 <span id=msg class=hint></span></div>
 <div class=hint>paste into <code>keyframe_overrides.yaml</code> — one block per demo, all 12 pinned</div>
 <pre id=out></pre>
 </div>
</div>
<script>
const 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const SLOTS=[[0.0262, 0.0217], [0.0262, 0.0547], [0.0262, 0.0877], [0.0262, 0.1197]], TRAY=[0.224000,0.141000], M=0.020000;
// per-task geometry (see TASKS in manual_annotate.py): slot radius, seated depth, payload footprint
const TOL=0.015000, SEATZ=0.027000, PW=0.034500, PH=0.015000;
const SUBS=["grasp_bottle_0", "bottle_0_placed", "push_seat_0", "grasp_bottle_1", "bottle_1_placed", "push_seat_1", "grasp_bottle_2", "bottle_2_placed", "push_seat_2", "grasp_bottle_3", "bottle_3_placed", "push_seat_3"], KF={"grasp_bottle_0": 1937, "bottle_0_placed": 4249, "push_seat_0": 4300, "grasp_bottle_1": null, "bottle_1_placed": null, "push_seat_1": null, "grasp_bottle_2": null, "bottle_2_placed": null, "push_seat_2": null, "grasp_bottle_3": null, "bottle_3_placed": null, "push_seat_3": null}, TAKE="take_20260807_135143";
const EDIT={};
let t=0, sel=0, playing=false, stride=4;
const c=document.getElementById('c'), g=c.getContext('2d');
const COL=['#1f77b4','#ff7f0e','#2ca02c','#d62728'];
// world->canvas: fit the demo's own extents (boxes start well outside the tray)
const EX=D.ex, sc=Math.min((c.width-40)/(EX[2]-EX[0]),(c.height-40)/(EX[3]-EX[1]));
const X=x=>20+(x-EX[0])*sc, Y=y=>c.height-20-(y-EX[1])*sc;
function rect(x,y,w,h,st,fi,lw){g.lineWidth=lw||1;if(fi){g.fillStyle=fi;g.fillRect(X(x),Y(y+h),w*sc,h*sc);}
 if(st){g.strokeStyle=st;g.strokeRect(X(x),Y(y+h),w*sc,h*sc);}}
function draw(){
 g.clearRect(0,0,c.width,c.height);
 rect(-M,-M,TRAY[0]+2*M,TRAY[1]+2*M,'#bbb',null,1);
 rect(0,0,TRAY[0],TRAY[1],'#222',null,2);
 const fb=D.box[sel]; // focused box index for the selected subtask
 for(const s of SLOTS){g.strokeStyle='#3aa64a';g.setLineDash([4,3]);
 g.beginPath();g.arc(X(s[0]),Y(s[1]),TOL*sc,0,7);g.stroke();g.setLineDash([]);
 rect(s[0]-PW/2,s[1]-PH/2,PW,PH,'#3aa64a',null,1);}
 for(let i=0;i<D.b.length;i++){
 const p=[D.b[i][0][t]/1000,D.b[i][1][t]/1000,D.b[i][2][t]/1000];
 const seated=Math.min(...SLOTS.map(s=>Math.hypot(p[0]-s[0],p[1]-s[1])))<TOL && p[2]<SEATZ;
 rect(p[0]-PW/2,p[1]-PH/2,PW,PH,i===fb?'#c0f':'#222',COL[i]+(seated?'':'88'),i===fb?2.5:1);
 g.fillStyle=COL[i];g.font='11px monospace';
 g.fillText(i+' z'+Math.round(p[2]*1000),X(p[0])+11,Y(p[1])-8);}
 const q=[D.t[0][t]/1000,D.t[1][t]/1000,D.t[2][t]/1000], cl=D.g[t]>30;
 if(fb!=null){const p=[D.b[fb][0][t]/1000,D.b[fb][1][t]/1000];
 g.strokeStyle='#c0f';g.beginPath();g.moveTo(X(q[0]),Y(q[1]));g.lineTo(X(p[0]),Y(p[1]));g.stroke();}
 g.fillStyle=cl?'#e03131':'#40c057';g.beginPath();g.arc(X(q[0]),Y(q[1]),8,0,7);g.fill();
 g.strokeStyle='#111';g.stroke();
 let ex='';
 if(fb!=null){const p=[D.b[fb][0][t]/1000,D.b[fb][1][t]/1000,D.b[fb][2][t]/1000];
 ex=' | dXY '+Math.round(Math.hypot(q[0]-p[0],q[1]-p[1])*1000)+'mm dZ '
 +Math.round(Math.abs(q[2]-p[2])*1000)+'mm';}
 document.getElementById('lbl').textContent=
 'frame '+t+' / '+(D.T-1)+tstr(t)+' jaws '+(cl?'CLOSED':'open')+ex;
 document.getElementById('sl').value=t;
 document.getElementById('gof').value=t;
 document.getElementById('gov').value=(vt(t)==null?'':vt(t).toFixed(2));
}
// Two clocks. t_src = frame*dt on the settle-INFLATED recorded timeline; t_video = the same instant in the
// original take video. They differ by ~8x here and NOT by a constant factor -- the settle loop inflates
// grasp/place/press far more than free transit -- so t_video is recovered from the take-frame map, never by
// rescaling t_src. t_video is the one to scrub to in overview.mp4.
function st(i){return D.dt?i*D.dt:null;}
function vt(i){return (D.dt&&D.tk)?D.tk[i]*D.dt:null;}
function tstr(i){
 if(!D.dt) return '';
 const v=vt(i);
 return ' t_src '+st(i).toFixed(2)+'s'+(v==null?'':' video '+v.toFixed(2)+'s');
}
// take frame -> the FIRST source frame that maps to it (tk is non-decreasing, so binary search)
function seekVideo(sec){
 if(!(D.dt&&D.tk)) return null;
 const want=Math.round(sec/D.dt);
 let lo=0,hi=D.T-1;
 while(lo<hi){const m=(lo+hi)>>1; if(D.tk[m]<want) lo=m+1; else hi=m;}
 return lo;
}
function val(i){const s=SUBS[i];return (s in EDIT)?EDIT[s]:KF[s];}
function tbl(){
 let h='';
 SUBS.forEach((s,i)=>{const v=val(i);
 const cls=(s in EDIT)?'mine':(v===null?'miss':'kf');
 const vv=(v===null)?null:vt(v);
 const txt=(v===null?((s in EDIT)?'ABSENT':'MISSING'):v)
 +(vv==null?'':' <span class=hint>'+vv.toFixed(2)+'s</span>');
 h+='<tr class="'+(i===sel?'sel':'')+'" onclick="pick('+i+')"><td>'+i+'</td><td>'+s
 +'</td><td class="kf '+cls+'">'+txt+'</td></tr>';});
 document.getElementById('tbl').innerHTML=h;
 // Emit ALL 12 subtasks, not just the edited ones: pasting the block pins every keyframe explicitly, so
 // the annotation no longer depends on what the detectors happen to propose next run. `null` = this demo
 // has no such event, which is a real answer and has to survive the round trip.
 let y=TAKE+':\n', n=0;
 SUBS.forEach((s,i)=>{const v=val(i);
 const tag=(s in EDIT)?'yours':(v===null?'no keyframe -> subtask dropped':'detector');
 if(v!==null) n++;
 y+=(' '+s+':').padEnd(28)+(v===null?'null':v)+' # '+tag+'\n';});
 document.getElementById('out').textContent=y;
 document.getElementById('cnt').textContent=n+' / '+SUBS.length+' keyframes set';
}
function pick(i){sel=i;const v=val(i);if(v!==null)t=v;draw();tbl();}
document.getElementById('sl').oninput=e=>{t=+e.target.value;playing=false;draw();};
function goto(i){if(i==null||isNaN(i))return;t=Math.max(0,Math.min(D.T-1,Math.round(i)));playing=false;draw();}
document.getElementById('gof').onchange=e=>goto(+e.target.value);
document.getElementById('gov').onchange=e=>goto(seekVideo(+e.target.value));
// don't let the scrub hotkeys fire while you are typing in a box
for(const id of ['gof','gov']) document.getElementById(id)
 .addEventListener('keydown',e=>{if(e.key!=='Enter')e.stopPropagation();});
document.getElementById('play').onclick=()=>{playing=!playing;};
document.getElementById('cp').onclick=()=>{
 navigator.clipboard.writeText(document.getElementById('out').textContent);
 document.getElementById('msg').textContent='copied';setTimeout(()=>msg.textContent='',1200);};
addEventListener('keydown',e=>{
 const k=e.key;
 if(k===' '){EDIT[SUBS[sel]]=t;e.preventDefault();}
 else if(k==='x'){EDIT[SUBS[sel]]=null;}
 else if(k==='ArrowRight')t++; else if(k==='ArrowLeft')t--;
 else if(k==='.')t+=10; else if(k===',')t-=10;
 else if(k===']')t+=100; else if(k==='[')t-=100;
 else if(k==='p'){playing=!playing;}
 else if(k==='j'){sel=(sel+1)%SUBS.length;pick(sel);return;}
 else if(k==='k'){sel=(sel+SUBS.length-1)%SUBS.length;pick(sel);return;}
 else return;
 t=Math.max(0,Math.min(D.T-1,t));draw();tbl();});
setInterval(()=>{if(playing){t=Math.min(D.T-1,t+stride);if(t>=D.T-1)playing=false;draw();}},33);
pick(0);
</script>