diff --git "a/small_boxes/0720_3/annotation.json" "b/small_boxes/0720_3/annotation.json" new file mode 100644--- /dev/null +++ "b/small_boxes/0720_3/annotation.json" @@ -0,0 +1,15185 @@ +{ + "schema": "nimble-mimic-waypoint-annotation/v2-windowed", + "task_name": "small_boxes", + "source_file": "/home/waynechu/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720/annotated.hdf5", + "task": "Isaac-InsertSmallBoxes-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 'box_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_smallbox_0", + "reference_object": "insert_smallbox_0", + "keyframe_signal": "grasp_smallbox_0" + }, + { + "name": "place_smallbox_0", + "reference_object": "insert_box", + "keyframe_signal": "smallbox_0_placed" + }, + { + "name": "push_seat_0", + "reference_object": "insert_box", + "keyframe_signal": "push_seat_0" + }, + { + "name": "grasp_smallbox_1", + "reference_object": "insert_smallbox_1", + "keyframe_signal": "grasp_smallbox_1" + }, + { + "name": "place_smallbox_1", + "reference_object": "insert_box", + "keyframe_signal": "smallbox_1_placed" + }, + { + "name": "push_seat_1", + "reference_object": "insert_box", + "keyframe_signal": "push_seat_1" + }, + { + "name": "grasp_smallbox_2", + "reference_object": "insert_smallbox_2", + "keyframe_signal": "grasp_smallbox_2" + }, + { + "name": "place_smallbox_2", + 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