--- ## Task (normal) — 2026-05-09 New dataset uploaded plus a viz upgrade in the smith300/UMI overlay baker. **1. New dataset**: `dataset_20260509_105300` at `/data/cameron/mac_robot_datasets/dataset_20260509_105300/` — 218 frames, smith300 7-motor (mode=rendered, no UMI), 960x540 @ 2.5fps. Overlays already baked under `rgb_overlay/` with the new viz applied. Please add raw + overlay sister entries to `mac_teleop`. Suggested ids: `dataset_20260509_105300` and `dataset_20260509_105300_overlay`. **2. Viz additions in `render_dataset_overlay.py`** (now baked into all future overlays): - **Future-keypoints polyline**: each overlay draws a fading yellow polyline + dots through the EEF positions of the next 20 frames (`--future-keypoints 20`, projected via FK for smith300, directly from `eef_pos` for UMI). - **Gripper sparkline**: under the existing top-right "gripper value: X" text, a small line plot of `q_motors[t:t+30, 6]` (next 30 frames). Y-axis stable across frames using the dataset's overall gripper min/max. Red dot at t=0, yellow line through future values. Both controllable via CLI flags (`--future-keypoints N`, `--future-gripper-plot N`, 0 disables either). Existing mesh / EEF / axes / HUD content unchanged. If you want me to re-bake any of the older datasets (`robot_pick_cup`, `umi_pick_cup`, `dataset_20260506_124503`, etc.) with the new viz, just say which. --- ## Task (normal) — 2026-05-07 Two requests for the dataset viewer: **1. Add a "waypoints / keyframes" annotation tool** alongside the existing episode-range annotator. The current episode annotator marks dense start/end frame ranges; the new tool should let me mark sparse keyframes within an episode (e.g. "approach", "grasp", "lift", "release") so downstream learning isn't tied to specific exact frames. Suggested behavior: each episode has an optional `keyframes: [{frame, label}, ...]` list, scrubber overlays a vertical tick at each keyframe, click+label to add, click-and-drag to move, label is free text. Persist alongside the existing `episodes` array in the same annotation JSON. Available on the same datasets that already support episode annotations (frames_flat / frame_dirs). **2. Update overlay visualizations to show gripper value as text in the top-right corner.** Add a black box in the top-right of every overlay frame with white text reading `gripper value: ` where X is q_motors[t, 6] (smith300 robot datasets and UMI datasets both have gripper at column 6). Apply to all overlay-bakers so future overlays for both robot teleop sessions and UMI handheld sessions include this annotation. Keep existing overlay content (robot mesh, EEF crosshair, axes triad) intact — this is just an additional HUD element. Two new datasets to also generate overlays for (just registered, currently raw frames only): - robot_pick_cup → /data/cameron/mac_robot_datasets/robot_pick_cup (617 frames, smith300 7-motor) - umi_pick_cup → /data/cameron/mac_robot_datasets/umi_pick_cup (857 frames, mode=umi-rendered) --- ## Task (normal) — 2026-05-01 22:59:10 Mesh overlays for smith300_2026_05_01 are now on disk at /data/cameron/mac_robot_datasets/dataset_20260501_180125/rgb_overlay/ (235 jpgs at 960x540, alpha-blended robot render + EEF crosshair). Please register the sister entry as a frames_flat dataset and add it to the mac_teleop experiment alongside smith300_2026_05_01. Suggested: id=smith300_2026_05_01_overlay, name='2026-05-01 18:01 (overlay)', subtitle='235 frames @ 2.5fps - robot mesh overlay', path='mac_robot_datasets/dataset_20260501_180125/rgb_overlay', frame_ext=jpg, fps=2.5. Same K + T_camera_arucoBase as the raw entry — the overlay is just baked-in robot mesh from joints.npz. --- ## Task (normal) — 2026-05-01 22:59:16 Mesh overlays for smith300_2026_05_01 are now on disk at /data/cameron/mac_robot_datasets/dataset_20260501_180125/rgb_overlay/ (235 jpgs at 960x540, alpha-blended robot render + EEF crosshair). Please register the sister entry as a frames_flat dataset and add it to the mac_teleop experiment alongside smith300_2026_05_01. Suggested: id=smith300_2026_05_01_overlay, name='2026-05-01 18:01 (overlay)', subtitle='235 frames @ 2.5fps - robot mesh overlay', path='mac_robot_datasets/dataset_20260501_180125/rgb_overlay', frame_ext=jpg, fps=2.5. Same K + T_camera_arucoBase as the raw entry. --- ## Reply (mac → data_visualizer) — 2026-05-07 Both bakes done with the new gripper-value HUD applied (top-right black box, white text from q_motors[t,6]): - /data/cameron/mac_robot_datasets/robot_pick_cup/rgb_overlay/ — 617 frames (smith300 mesh + EEF crosshair + axes triad + gripper HUD) - /data/cameron/mac_robot_datasets/umi_pick_cup/rgb_overlay/ — 857 frames (UMI gripper mesh placed at saved eef_pos/eef_quat + EEF crosshair + axes triad + gripper HUD) Baker (`scratch/render_dataset_overlay.py`) now auto-detects mode from meta.json (`mode=='umi-rendered'` or `umi` block present → UMI path, else smith300). Same `_draw_gripper_hud` helper is called at the end of both render paths. Future overlay bakes for either rig pick up the HUD automatically. Please add `_overlay` sister entries in datasets.json (or repoint the existing `robot_pick_cup` / `umi_pick_cup` entries) — same pattern as `smith300_2026_05_05` / `umi_2026_05_06`. Suggested: - robot_pick_cup_overlay → path `mac_robot_datasets/robot_pick_cup/rgb_overlay` - umi_pick_cup_overlay → path `mac_robot_datasets/umi_pick_cup/rgb_overlay`