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@@ -12733,3 +12733,5 @@ brush/0723_11/rollout_hz30_chunkall_exec25_gripraw/ep012/episode.mcap filter=lfs
 brush/0723_11/rollout_hz30_chunkall_exec25_gripraw/ep013/episode.mcap filter=lfs diff=lfs merge=lfs -text
 brush/0723_11/rollout_hz30_chunkall_exec25_gripraw/ep014/episode.mcap filter=lfs diff=lfs merge=lfs -text
 brush/0723_11/rollout_hz30_chunkall_exec25_gripraw/ep015/episode.mcap filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/insert_bottles_annotated.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/src.hdf5 filter=lfs diff=lfs merge=lfs -text

insert_bottles/0807_1/insert_bottles_annotated.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb7cd7c9431dfb8041e279badc5c917fe2ba22654b0a927568c729f3516e39e
+size 184966604

insert_bottles/0807_1/insert_bottles_annotation_keyframes.txt

@@ -0,0 +1,131 @@
+# subtask keyframe times
+# source : /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
+# 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_20260807_121510, frames=6690, success=True, src_len=111.50s, video_len=13.60s)
+    grasp_bottle_0 frame   1736   25.9%   t_src=  28.93s   t_video=   2.50s
+    place_bottle_0 frame   3417   51.1%   t_src=  56.95s   t_video=   7.50s
+    push_seat_0  frame   4275   63.9%   t_src=  71.25s   t_video=  10.00s
+
+demo_1  (take=take_20260807_121802, frames=5733, success=True, src_len=95.55s, video_len=13.07s)
+    grasp_bottle_1 frame   1833   32.0%   t_src=  30.55s   t_video=   2.98s
+    place_bottle_1 frame   3660   63.8%   t_src=  61.00s   t_video=   7.42s
+    push_seat_1  frame   4129   72.0%   t_src=  68.82s   t_video=   9.97s
+
+demo_2  (take=take_20260807_122440, frames=7645, success=True, src_len=127.42s, video_len=19.47s)
+    grasp_bottle_0 frame   2112   27.6%   t_src=  35.20s   t_video=   4.72s
+    place_bottle_0 frame   5115   66.9%   t_src=  85.25s   t_video=  13.00s
+    push_seat_0  frame   5543   72.5%   t_src=  92.38s   t_video=  16.00s
+
+demo_3  (take=take_20260807_134542, frames=7481, success=True, src_len=124.68s, video_len=16.60s)
+    grasp_bottle_1 frame   2218   29.6%   t_src=  36.97s   t_video=   4.27s
+    place_bottle_1 frame   4783   63.9%   t_src=  79.72s   t_video=  10.60s
+    push_seat_1  frame   5346   71.5%   t_src=  89.10s   t_video=  13.50s
+
+demo_4  (take=take_20260807_134741, frames=6182, success=True, src_len=103.03s, video_len=13.40s)
+    grasp_bottle_0 frame   1916   31.0%   t_src=  31.93s   t_video=   2.93s
+    place_bottle_0 frame   3493   56.5%   t_src=  58.22s   t_video=   7.65s
+    push_seat_0  frame   4144   67.0%   t_src=  69.07s   t_video=  10.53s
+
+demo_5  (take=take_20260807_135001, frames=5322, success=True, src_len=88.70s, video_len=11.60s)
+    grasp_bottle_0 frame   1700   31.9%   t_src=  28.33s   t_video=   2.47s
+    place_bottle_0 frame   2741   51.5%   t_src=  45.68s   t_video=   6.20s
+    push_seat_0  frame   3356   63.1%   t_src=  55.93s   t_video=   8.72s
+
+demo_6  (take=take_20260807_135143, frames=7467, success=True, src_len=124.45s, video_len=12.93s)
+    grasp_bottle_0 frame   1937   25.9%   t_src=  32.28s   t_video=   3.07s
+    place_bottle_0 frame   4249   56.9%   t_src=  70.82s   t_video=   6.92s
+    push_seat_0  frame   4944   66.2%   t_src=  82.40s   t_video=  10.00s
+
+demo_7  (take=take_20260807_135337, frames=7073, success=True, src_len=117.88s, video_len=14.80s)
+    grasp_bottle_1 frame   1924   27.2%   t_src=  32.07s   t_video=   2.80s
+    place_bottle_1 frame   4504   63.7%   t_src=  75.07s   t_video=   9.83s
+    push_seat_1  frame   5049   71.4%   t_src=  84.15s   t_video=  12.15s
+
+demo_8  (take=take_20260807_135728, frames=7601, success=True, src_len=126.68s, video_len=14.73s)
+    grasp_bottle_1 frame   1668   21.9%   t_src=  27.80s   t_video=   2.18s
+    place_bottle_1 frame   4069   53.5%   t_src=  67.82s   t_video=   7.20s
+    push_seat_1  frame   5579   73.4%   t_src=  92.98s   t_video=  12.00s
+
+demo_9  (take=take_20260807_140303, frames=7316, success=True, src_len=121.93s, video_len=13.07s)
+    grasp_bottle_0 frame   1594   21.8%   t_src=  26.57s   t_video=   2.93s
+    place_bottle_0 frame   3796   51.9%   t_src=  63.27s   t_video=   6.97s
+    push_seat_0  frame   4354   59.5%   t_src=  72.57s   t_video=   9.50s
+
+demo_10  (take=take_20260807_140506, frames=6324, success=True, src_len=105.40s, video_len=13.47s)
+    grasp_bottle_0 frame   1614   25.5%   t_src=  26.90s   t_video=   2.57s
+    place_bottle_0 frame   3528   55.8%   t_src=  58.80s   t_video=   7.50s
+    push_seat_0  frame   4037   63.8%   t_src=  67.28s   t_video=  10.00s
+
+demo_11  (take=take_20260807_140912, frames=6202, success=True, src_len=103.37s, video_len=13.67s)
+    grasp_bottle_2 frame   1578   25.4%   t_src=  26.30s   t_video=   2.67s
+    place_bottle_2 frame   3627   58.5%   t_src=  60.45s   t_video=   7.50s
+    push_seat_2  frame   3977   64.1%   t_src=  66.28s   t_video=   9.50s
+
+demo_12  (take=take_20260807_141306, frames=6177, success=True, src_len=102.95s, video_len=12.53s)
+    grasp_bottle_0 frame   1954   31.6%   t_src=  32.57s   t_video=   3.48s
+    place_bottle_0 frame   3331   53.9%   t_src=  55.52s   t_video=   7.00s
+    push_seat_0  frame   3818   61.8%   t_src=  63.63s   t_video=   9.27s
+
+demo_13  (take=take_20260807_141506, frames=7904, success=True, src_len=131.73s, video_len=15.53s)
+    grasp_bottle_2 frame   2598   32.9%   t_src=  43.30s   t_video=   3.97s
+    place_bottle_2 frame   4690   59.3%   t_src=  78.17s   t_video=   9.00s
+    push_seat_2  frame   5332   67.5%   t_src=  88.87s   t_video=  11.50s
+
+demo_14  (take=take_20260807_141648, frames=5637, success=True, src_len=93.95s, video_len=11.13s)
+    grasp_bottle_0 frame   1563   27.7%   t_src=  26.05s   t_video=   2.27s
+    place_bottle_0 frame   3157   56.0%   t_src=  52.62s   t_video=   5.33s
+    push_seat_0  frame   3748   66.5%   t_src=  62.47s   t_video=   8.30s
+
+demo_15  (take=take_20260807_141852, frames=7647, success=True, src_len=127.45s, video_len=14.53s)
+    grasp_bottle_1 frame   2148   28.1%   t_src=  35.80s   t_video=   3.93s
+    place_bottle_1 frame   4606   60.2%   t_src=  76.77s   t_video=   8.80s
+    push_seat_1  frame   5400   70.6%   t_src=  90.00s   t_video=  12.00s
+
+demo_16  (take=take_20260807_142443_x, frames=8256, success=True, src_len=137.60s, video_len=17.53s)
+    grasp_bottle_0 frame   2368   28.7%   t_src=  39.47s   t_video=   4.83s
+    place_bottle_0 frame   3952   47.9%   t_src=  65.87s   t_video=   9.10s
+    push_seat_0  frame   4834   58.6%   t_src=  80.57s   t_video=  12.58s
+
+demo_17  (take=take_20260807_142630_x, frames=5916, success=True, src_len=98.60s, video_len=11.53s)
+    grasp_bottle_1 frame   1688   28.5%   t_src=  28.13s   t_video=   2.53s
+    place_bottle_1 frame   3238   54.7%   t_src=  53.97s   t_video=   6.38s
+    push_seat_1  frame   3753   63.4%   t_src=  62.55s   t_video=   8.77s
+
+demo_18  (take=take_20260807_143106, frames=7499, success=True, src_len=124.98s, video_len=12.93s)
+    grasp_bottle_0 frame   2036   27.2%   t_src=  33.93s   t_video=   2.83s
+    place_bottle_0 frame   4003   53.4%   t_src=  66.72s   t_video=   7.50s
+    push_seat_0  frame   4431   59.1%   t_src=  73.85s   t_video=   9.00s
+
+demo_19  (take=take_20260807_143232, frames=5566, success=True, src_len=92.77s, video_len=11.13s)
+    grasp_bottle_0 frame   1630   29.3%   t_src=  27.17s   t_video=   2.13s
+    place_bottle_0 frame   2870   51.6%   t_src=  47.83s   t_video=   5.47s
+    push_seat_0  frame   3566   64.1%   t_src=  59.43s   t_video=   8.50s
+
+demo_20  (take=take_20260807_152848, frames=6493, success=True, src_len=108.22s, video_len=12.60s)
+    grasp_bottle_1 frame   2119   32.6%   t_src=  35.32s   t_video=   2.87s
+    place_bottle_1 frame   3862   59.5%   t_src=  64.37s   t_video=   6.67s
+    push_seat_1  frame   4412   68.0%   t_src=  73.53s   t_video=   9.80s
+
+demo_21  (take=take_20260807_153318, frames=7309, success=True, src_len=121.82s, video_len=14.53s)
+    grasp_bottle_0 frame   1882   25.7%   t_src=  31.37s   t_video=   3.47s
+    place_bottle_0 frame   3744   51.2%   t_src=  62.40s   t_video=   8.07s
+    push_seat_0  frame   4286   58.6%   t_src=  71.43s   t_video=  10.47s
+
+demo_22  (take=take_20260807_153617, frames=6446, success=True, src_len=107.43s, video_len=13.00s)
+    grasp_bottle_0 frame   2127   33.0%   t_src=  35.45s   t_video=   4.07s
+    place_bottle_0 frame   4268   66.2%   t_src=  71.13s   t_video=   8.48s
+    push_seat_0  frame   4758   73.8%   t_src=  79.30s   t_video=  10.95s
+
+demo_23  (take=take_20260807_153939, frames=6299, success=True, src_len=104.98s, video_len=12.93s)
+    grasp_bottle_1 frame   1812   28.8%   t_src=  30.20s   t_video=   3.18s
+    place_bottle_1 frame   3660   58.1%   t_src=  61.00s   t_video=   7.40s
+    push_seat_1  frame   4353   69.1%   t_src=  72.55s   t_video=  10.30s
+
+demo_24  (take=take_20260807_154238, frames=5535, success=True, src_len=92.25s, video_len=13.47s)
+    grasp_bottle_1 frame   1839   33.2%   t_src=  30.65s   t_video=   3.28s
+    place_bottle_1 frame   3143   56.8%   t_src=  52.38s   t_video=   7.00s
+    push_seat_1  frame   3619   65.4%   t_src=  60.32s   t_video=   9.50s

insert_bottles/0807_1/keyframe_overrides.yaml

@@ -0,0 +1,181 @@
+take_20260807_121510:
+  grasp_bottle_0:           1736   # detector
+  bottle_0_placed:          3417   # yours
+  push_seat_0:              4275   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_122440:
+  grasp_bottle_0:           2112   # detector
+  bottle_0_placed:          5115   # yours
+  push_seat_0:              5543   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_134542:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           2218   # detector
+  bottle_1_placed:          4783   # yours
+  push_seat_1:              5346   # yours
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_135143:
+  grasp_bottle_0:           1937   # detector
+  bottle_0_placed:          4249   # detector
+  push_seat_0:              4944   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_135728:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           1668   # detector
+  bottle_1_placed:          4069   # yours
+  push_seat_1:              5579   # yours
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_140303:
+  grasp_bottle_0:           1594   # detector
+  bottle_0_placed:          3796   # detector
+  push_seat_0:              4354   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_140506:
+  grasp_bottle_0:           1614   # detector
+  bottle_0_placed:          3528   # yours
+  push_seat_0:              4037   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_140912:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           1578   # detector
+  bottle_2_placed:          3627   # detector
+  push_seat_2:              3977   # yours
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_141506:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           2598   # detector
+  bottle_2_placed:          4690   # yours
+  push_seat_2:              5332   # yours
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_141852:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           2148   # detector
+  bottle_1_placed:          4606   # yours
+  push_seat_1:              5400   # yours
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_143106:
+  grasp_bottle_0:           2036   # detector
+  bottle_0_placed:          4003   # yours
+  push_seat_0:              4431   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_143232:
+  grasp_bottle_0:           1630   # detector
+  bottle_0_placed:          2870   # detector
+  push_seat_0:              3566   # yours
+  grasp_bottle_1:           null   # no keyframe -> subtask dropped
+  bottle_1_placed:          null   # no keyframe -> subtask dropped
+  push_seat_1:              null   # no keyframe -> subtask dropped
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped
+
+take_20260807_154238:
+  grasp_bottle_0:           null   # no keyframe -> subtask dropped
+  bottle_0_placed:          null   # no keyframe -> subtask dropped
+  push_seat_0:              null   # no keyframe -> subtask dropped
+  grasp_bottle_1:           1839   # detector
+  bottle_1_placed:          3143   # yours
+  push_seat_1:              3619   # yours
+  grasp_bottle_2:           null   # no keyframe -> subtask dropped
+  bottle_2_placed:          null   # no keyframe -> subtask dropped
+  push_seat_2:              null   # no keyframe -> subtask dropped
+  grasp_bottle_3:           null   # no keyframe -> subtask dropped
+  bottle_3_placed:          null   # no keyframe -> subtask dropped
+  push_seat_3:              null   # no keyframe -> subtask dropped

insert_bottles/0807_1/src.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:594a0f1ab5533aa448c0a5e0403dfb1bcfe473a6d695beb6979c70a3cc288ac8
+size 39805876