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filter=lfs diff=lfs merge=lfs -text +brush/0723_3/src.hdf5 filter=lfs diff=lfs merge=lfs -text +brush/0723_3/wpgen.hdf5 filter=lfs diff=lfs merge=lfs -text diff --git a/brush/0723_3/annotated.hdf5 b/brush/0723_3/annotated.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d80bf49b6ccee4b4bc6b38e5976f69818c5f2871 --- /dev/null +++ b/brush/0723_3/annotated.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:718d14b16292135d16f650f66d259ca64ecf990e51084fc7bb42dee1667816d3 +size 13576154 diff --git a/brush/0723_3/annotation.json b/brush/0723_3/annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..c57a82b80a310043411764cc09519ad0f5a74523 --- /dev/null +++ b/brush/0723_3/annotation.json @@ -0,0 +1,4323 @@ +{ + "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 + ], 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"seat_diagnostic": { + "frame": 5415, + "brush_center_in_box": [ + 0.19043, + 0.07003, + 0.03029 + ], + "brush_footprint_xy_min": [ + 0.17411, + 0.01302 + ], + "brush_footprint_xy_max": [ + 0.20641, + 0.12707 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/brush/0723_3/annotation_keyframes.txt b/brush/0723_3/annotation_keyframes.txt new file mode 100644 index 0000000000000000000000000000000000000000..958a684977c32c171790a5e670aa6857d810bb56 --- /dev/null +++ b/brush/0723_3/annotation_keyframes.txt @@ -0,0 +1,36 @@ +# subtask keyframe times +# source : /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 +# rate : 60.00 Hz (0.01667 s/frame) +# t_src = keyframe time in the (settle-inflated) source/annotated timeline = frame * dt +# t_video = EXACT time in the native-rate take video (take_frame * dt); scrub HERE + +demo_0 (take=take_20260723_145543, frames=7578, success=True, src_len=126.30s, video_len=17.60s) + grasp_brush frame 2314 30.5% t_src= 38.57s t_video= 4.23s + place_brush frame 3043 40.2% t_src= 50.72s t_video= 7.63s + push_seat frame 4338 57.2% t_src= 72.30s t_video= 12.73s + +demo_1 (take=take_20260723_150017, frames=6733, success=True, src_len=112.22s, video_len=17.40s) + grasp_brush frame 2097 31.1% t_src= 34.95s t_video= 3.92s + place_brush frame 2817 41.8% t_src= 46.95s t_video= 8.05s + push_seat frame 4140 61.5% t_src= 69.00s t_video= 13.23s + +demo_2 (take=take_20260723_150329, frames=7490, success=True, src_len=124.83s, video_len=16.80s) + grasp_brush frame 2124 28.4% t_src= 35.40s t_video= 3.88s + place_brush frame 3332 44.5% t_src= 55.53s t_video= 8.48s + push_seat frame 4378 58.5% t_src= 72.97s t_video= 12.48s + +demo_3 (take=take_20260723_151010, frames=7065, success=True, src_len=117.75s, video_len=17.80s) + grasp_brush frame 2012 28.5% t_src= 33.53s t_video= 3.83s + place_brush frame 3055 43.2% t_src= 50.92s t_video= 9.00s + push_seat frame 4498 63.7% t_src= 74.97s t_video= 13.63s + +demo_4 (take=take_20260723_151835, frames=6107, success=True, src_len=101.78s, video_len=16.30s) + grasp_brush frame 2154 35.3% t_src= 35.90s t_video= 5.52s + place_brush frame 3118 51.1% t_src= 51.97s t_video= 9.70s + push_seat frame 4219 69.1% t_src= 70.32s t_video= 13.07s + +demo_5 (take=take_20260723_153406, frames=7594, success=True, src_len=126.57s, video_len=18.30s) + grasp_brush frame 2625 34.6% t_src= 43.75s t_video= 5.95s + place_brush frame 4264 56.1% t_src= 71.07s t_video= 10.23s + push_seat frame 5415 71.3% t_src= 90.25s t_video= 14.43s diff --git a/brush/0723_3/episodes_j4ok/demo_101/episode.mcap b/brush/0723_3/episodes_j4ok/demo_101/episode.mcap new file mode 100644 index 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