{
  "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": [
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                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": [
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                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": [
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                0.00215,
                -0.01327
              ],
              "gripper_cmd": -1.0,
              "gripper_closed": true,
              "bottle_in_tray": [
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              ],
              "kind": "via"
            },
            {
              "frame": 3400,
              "eef_in_ref": [
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              ],
              "eef_quat_in_ref": [
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                0.99452,
                0.01271,
                -6e-05
              ],
              "gripper_cmd": -1.0,
              "gripper_closed": true,
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              "kind": "via"
            },
            {
              "frame": 3417,
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              "gripper_cmd": -1.0,
              "gripper_closed": true,
              "bottle_in_tray": [
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              ],
              "kind": "keyframe:bottle_0_placed"
            },
            {
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              ],
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              ],
              "gripper_cmd": 1.0,
              "gripper_closed": true,
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              ],
              "kind": "via"
            },
            {
              "frame": 3444,
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              ],
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              ],
              "gripper_cmd": 1.0,
              "gripper_closed": false,
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              ],
              "kind": "via"
            },
            {
              "frame": 3490,
              "eef_in_ref": [
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              ],
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                -0.00507
              ],
              "gripper_cmd": 1.0,
              "gripper_closed": false,
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              "kind": "via"
            },
            {
              "frame": 3751,
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                0.06309
              ],
              "eef_quat_in_ref": [
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                -0.08377
              ],
              "gripper_cmd": 1.0,
              "gripper_closed": false,
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                0.02683
              ],
              "kind": "via"
            },
            {
              "frame": 3802,
              "eef_in_ref": [
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              ],
              "eef_quat_in_ref": [
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                -0.08667
              ],
              "gripper_cmd": -1.0,
              "gripper_closed": true,
              "bottle_in_tray": [
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              ],
              "kind": "via"
            },
            {
              "frame": 3846,
              "eef_in_ref": [
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              ],
              "eef_quat_in_ref": [
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              ],
              "gripper_cmd": -1.0,
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              "bottle_in_tray": [
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              ],
              "kind": "window_end"
            }
          ]
        },
        {
          "name": "push_seat_0",
          "reference_object": "insert_box",
          "reference_object_pose": {
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              -0.16996,
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              0.002
            ],
            "quat": [
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              -0.0,
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            ]
          },
          "signal": "push_seat_0",
          "keyframe_frame": 4275,
          "window": [
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          ],
          "interpolate_gap_from_previous": [
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          ],
          "release_in_gap": false,
          "num_waypoints": 12,
          "waypoints": [
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              "eef_in_ref": [
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              ],
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              "kind": "window_start"
            },
            {
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              "gripper_cmd": -1.0,
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              "kind": "via"
            },
            {
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              "gripper_cmd": -1.0,
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              "kind": "via"
            },
            {
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              "gripper_cmd": -1.0,
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              "kind": "via"
            },
            {
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              "kind": "keyframe:push_seat_0"
            },
            {
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              "gripper_cmd": -1.0,
              "gripper_closed": true,
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              "kind": "via"
            },
            {
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              "gripper_cmd": -1.0,
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              "kind": "via"
            },
            {
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              "kind": "via"
            },
            {
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              "kind": "via"
            },
            {
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              "kind": "via"
            },
            {
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              "kind": "via"
            },
            {
              "frame": 4775,
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              "eef_quat_in_ref": [
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              "gripper_cmd": -1.0,
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              "bottle_in_tray": [
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              ],
              "kind": "window_end"
            }
          ]
        }
      ],
      "seat_diagnostic": {
        "per_payload": [
          {
            "payload": "insert_bottle_0",
            "frame": 6689,
            "center_in_box": [
              0.02512,
              0.02083,
              0.02106
            ],
            "nearest_slot": 0,
            "slot_dist": 0.00139,
            "in_slot": true,
            "seated": true,
            "placed_frame": 3417,
            "press_frame": 4275,
            "moved": true
          },
          {
            "payload": "insert_bottle_1",
            "frame": 6689,
            "center_in_box": [
              0.39384,
              0.20412,
              0.00506
            ],
            "nearest_slot": 3,
            "slot_dist": 0.37721,
            "in_slot": false,
            "seated": true,
            "placed_frame": null,
            "press_frame": null,
            "moved": false
          },
          {
            "payload": "insert_bottle_2",
            "frame": 6689,
            "center_in_box": [
              0.30953,
              0.10954,
              0.00506
            ],
            "nearest_slot": 3,
            "slot_dist": 0.28351,
            "in_slot": false,
            "seated": true,
            "placed_frame": null,
            "press_frame": null,
            "moved": false
          },
          {
            "payload": "insert_bottle_3",
            "frame": 6689,
            "center_in_box": [
              0.39599,
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              0.00506
            ],
            "nearest_slot": 2,
            "slot_dist": 0.37001,
            "in_slot": false,
            "seated": true,
            "placed_frame": null,
            "press_frame": null,
            "moved": false
          }
        ],
        "slots_filled": 1,
        "n_slots": 4,
        "min_seated": 4,
        "seated_ok": true,
        "all_seated": false,
        "n_moved": 1
      }
    },
    "demo_1": {
      "num_samples": 5733,
      "success": true,
      "signal_frames": {
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