diff --git "a/report.json" "b/report.json" --- "a/report.json" +++ "b/report.json" @@ -19661,52 +19661,68 @@ "clip_id": "household#890", "task": "Pick up the clear Tupperware from the orange bowl with the right hand and place it onto the clear Tupperware.", "n_frames": 131, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.72, + "ik_L_cm": 10.1, + "ori_R_deg": 1.0, + "ori_L_deg": 16.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 131 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000890/retargeted.hdf5" }, { "clip_id": "household#942", @@ -204244,52 +204260,68 @@ "clip_id": "household#606", "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", "n_frames": 339, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.91, + "ik_L_cm": 0.01, + "ori_R_deg": 3.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 339 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000606/retargeted.hdf5" }, { "clip_id": "puzzle#91", @@ -246092,191 +246124,6 @@ "clip_id": "household#511", "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", "n_frames": 120, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "household#945", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 120, - "status": "done", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "done" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "done" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "done" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "done" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "done" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "done" - }, - { - "key": "qa", - "label": "Quality check", - "status": "done" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "done" - } - ], - "metrics": { - "ik_R_cm": 6.54, - "ik_L_cm": 0.01, - "ori_R_deg": 4.1, - "ori_L_deg": 0.0, - "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", - "dof": 14, - "qa_components": { - "tracking": "FAIL", - "orientation": "PASS", - "arms": "PASS", - "motion": "FAIL" - }, - "n_frames": 120 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000945/retargeted.hdf5" - }, - { - "clip_id": "household#1049", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 120, - "status": "done", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "done" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "done" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "done" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "done" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "done" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "done" - }, - { - "key": "qa", - "label": "Quality check", - "status": "done" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "done" - } - ], - "metrics": { - "ik_R_cm": 1.02, - "ik_L_cm": 0.11, - "ori_R_deg": 1.0, - "ori_L_deg": 0.0, - "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", - "dof": 14, - "qa_components": { - "tracking": "PASS", - "orientation": "PASS", - "arms": "PASS", - "motion": "WARN" - }, - "n_frames": 120 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-001049/retargeted.hdf5" - }, - { - "clip_id": "dice_balls#1031", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 119, "status": "done", "stages": [ { @@ -246321,29 +246168,29 @@ } ], "metrics": { - "ik_R_cm": 10.83, - "ik_L_cm": 17.39, - "ori_R_deg": 10.0, - "ori_L_deg": 17.5, + "ik_R_cm": 14.95, + "ik_L_cm": 1.08, + "ori_R_deg": 32.2, + "ori_L_deg": 1.5, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 119 + "n_frames": 120 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-001031/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000511/retargeted.hdf5" }, { - "clip_id": "stationery#265", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 119, + "clip_id": "household#945", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 120, "status": "done", "stages": [ { @@ -246388,9 +246235,9 @@ } ], "metrics": { - "ik_R_cm": 9.48, - "ik_L_cm": 0.0, - "ori_R_deg": 21.8, + "ik_R_cm": 6.54, + "ik_L_cm": 0.01, + "ori_R_deg": 4.1, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -246398,19 +246245,19 @@ "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 119 + "n_frames": 120 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000265/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000945/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#765", - "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", - "n_frames": 118, + "clip_id": "household#1049", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 120, "status": "done", "stages": [ { @@ -246455,29 +246302,29 @@ } ], "metrics": { - "ik_R_cm": 0.07, - "ik_L_cm": 5.89, - "ori_R_deg": 0.0, - "ori_L_deg": 8.1, + "ik_R_cm": 1.02, + "ik_L_cm": 0.11, + "ori_R_deg": 1.0, + "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 118 + "n_frames": 120 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000765/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-001049/retargeted.hdf5" }, { - "clip_id": "dice_balls#430", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 118, + "clip_id": "dice_balls#1031", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 119, "status": "done", "stages": [ { @@ -246522,29 +246369,29 @@ } ], "metrics": { - "ik_R_cm": 4.41, - "ik_L_cm": 0.01, - "ori_R_deg": 2.0, - "ori_L_deg": 0.0, + "ik_R_cm": 10.83, + "ik_L_cm": 17.39, + "ori_R_deg": 10.0, + "ori_L_deg": 17.5, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 118 + "n_frames": 119 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000430/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-001031/retargeted.hdf5" }, { - "clip_id": "dice_balls#617", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 118, + "clip_id": "stationery#265", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 119, "status": "done", "stages": [ { @@ -246589,28 +246436,28 @@ } ], "metrics": { - "ik_R_cm": 4.45, - "ik_L_cm": 0.01, - "ori_R_deg": 2.5, + "ik_R_cm": 9.48, + "ik_L_cm": 0.0, + "ori_R_deg": 21.8, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 118 + "n_frames": 119 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000617/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000265/retargeted.hdf5" }, { - "clip_id": "food#532", - "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "clip_id": "blocks_shapes#765", + "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", "n_frames": 118, "status": "done", "stages": [ @@ -246656,16 +246503,16 @@ } ], "metrics": { - "ik_R_cm": 2.75, - "ik_L_cm": 0.05, - "ori_R_deg": 1.8, - "ori_L_deg": 0.1, + "ik_R_cm": 0.07, + "ik_L_cm": 5.89, + "ori_R_deg": 0.0, + "ori_L_deg": 8.1, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "WARN" @@ -246673,79 +246520,12 @@ "n_frames": 118 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000532/retargeted.hdf5" - }, - { - "clip_id": "blocks_shapes#101", - "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", - "n_frames": 117, - "status": "done", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "done" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "done" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "done" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "done" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "done" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "done" - }, - { - "key": "qa", - "label": "Quality check", - "status": "done" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "done" - } - ], - "metrics": { - "ik_R_cm": 0.34, - "ik_L_cm": 10.27, - "ori_R_deg": 0.4, - "ori_L_deg": 13.0, - "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", - "dof": 14, - "qa_components": { - "tracking": "FAIL", - "orientation": "PASS", - "arms": "PASS", - "motion": "FAIL" - }, - "n_frames": 117 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000101/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000765/retargeted.hdf5" }, { - "clip_id": "dice_balls#419", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 117, + "clip_id": "dice_balls#430", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", + "n_frames": 118, "status": "done", "stages": [ { @@ -246790,29 +246570,29 @@ } ], "metrics": { - "ik_R_cm": 7.82, + "ik_R_cm": 4.41, "ik_L_cm": 0.01, - "ori_R_deg": 31.5, + "ori_R_deg": 2.0, "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "FAIL", + "tracking": "WARN", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 117 + "n_frames": 118 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000419/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000430/retargeted.hdf5" }, { - "clip_id": "food#338", - "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", - "n_frames": 117, + "clip_id": "dice_balls#617", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", + "n_frames": 118, "status": "done", "stages": [ { @@ -246857,29 +246637,29 @@ } ], "metrics": { - "ik_R_cm": 3.46, + "ik_R_cm": 4.45, "ik_L_cm": 0.01, - "ori_R_deg": 4.2, + "ori_R_deg": 2.5, "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 117 + "n_frames": 118 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000338/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000617/retargeted.hdf5" }, { - "clip_id": "household#628", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 117, + "clip_id": "food#532", + "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 118, "status": "done", "stages": [ { @@ -246924,28 +246704,28 @@ } ], "metrics": { - "ik_R_cm": 1.22, - "ik_L_cm": 0.01, - "ori_R_deg": 0.8, - "ori_L_deg": 0.0, + "ik_R_cm": 2.75, + "ik_L_cm": 0.05, + "ori_R_deg": 1.8, + "ori_L_deg": 0.1, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "PASS", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 117 + "n_frames": 118 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000628/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000532/retargeted.hdf5" }, { - "clip_id": "household#867", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "clip_id": "blocks_shapes#101", + "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", "n_frames": 117, "status": "done", "stages": [ @@ -246991,16 +246771,16 @@ } ], "metrics": { - "ik_R_cm": 1.14, - "ik_L_cm": 0.14, - "ori_R_deg": 1.1, - "ori_L_deg": 0.2, + "ik_R_cm": 0.34, + "ik_L_cm": 10.27, + "ori_R_deg": 0.4, + "ori_L_deg": 13.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -247008,11 +246788,11 @@ "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000867/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000101/retargeted.hdf5" }, { - "clip_id": "stationery#607", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "dice_balls#419", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", "n_frames": 117, "status": "done", "stages": [ @@ -247058,29 +246838,29 @@ } ], "metrics": { - "ik_R_cm": 11.33, - "ik_L_cm": 17.45, - "ori_R_deg": 4.8, - "ori_L_deg": 15.0, + "ik_R_cm": 7.82, + "ik_L_cm": 0.01, + "ori_R_deg": 31.5, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000607/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000419/retargeted.hdf5" }, { - "clip_id": "dice_balls#783", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 116, + "clip_id": "food#338", + "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 117, "status": "done", "stages": [ { @@ -247125,29 +246905,29 @@ } ], "metrics": { - "ik_R_cm": 6.41, - "ik_L_cm": 0.06, - "ori_R_deg": 34.4, + "ik_R_cm": 3.46, + "ik_L_cm": 0.01, + "ori_R_deg": 4.2, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "FAIL", + "tracking": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 116 + "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000783/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000338/retargeted.hdf5" }, { - "clip_id": "household#854", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 116, + "clip_id": "household#628", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 117, "status": "done", "stages": [ { @@ -247192,10 +246972,10 @@ } ], "metrics": { - "ik_R_cm": 1.47, - "ik_L_cm": 0.66, - "ori_R_deg": 0.9, - "ori_L_deg": 1.4, + "ik_R_cm": 1.22, + "ik_L_cm": 0.01, + "ori_R_deg": 0.8, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -247206,15 +246986,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 116 + "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000854/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000628/retargeted.hdf5" }, { - "clip_id": "stationery#12", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 115, + "clip_id": "household#867", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 117, "status": "done", "stages": [ { @@ -247259,29 +247039,29 @@ } ], "metrics": { - "ik_R_cm": 8.26, - "ik_L_cm": 0.0, - "ori_R_deg": 6.1, - "ori_L_deg": 0.0, + "ik_R_cm": 1.14, + "ik_L_cm": 0.14, + "ori_R_deg": 1.1, + "ori_L_deg": 0.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 115 + "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000012/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000867/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#212", - "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", - "n_frames": 114, + "clip_id": "stationery#607", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 117, "status": "done", "stages": [ { @@ -247326,29 +247106,29 @@ } ], "metrics": { - "ik_R_cm": 5.5, - "ik_L_cm": 6.75, - "ori_R_deg": 10.0, - "ori_L_deg": 9.2, + "ik_R_cm": 11.33, + "ik_L_cm": 17.45, + "ori_R_deg": 4.8, + "ori_L_deg": 15.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 114 + "n_frames": 117 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000212/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000607/retargeted.hdf5" }, { - "clip_id": "dice_balls#124", + "clip_id": "dice_balls#783", "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 114, + "n_frames": 116, "status": "done", "stages": [ { @@ -247393,29 +247173,29 @@ } ], "metrics": { - "ik_R_cm": 9.78, - "ik_L_cm": 0.04, - "ori_R_deg": 8.6, - "ori_L_deg": 0.1, + "ik_R_cm": 6.41, + "ik_L_cm": 0.06, + "ori_R_deg": 34.4, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 114 + "n_frames": 116 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000124/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000783/retargeted.hdf5" }, { - "clip_id": "stationery#646", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 114, + "clip_id": "household#854", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 116, "status": "done", "stages": [ { @@ -247460,29 +247240,29 @@ } ], "metrics": { - "ik_R_cm": 12.06, - "ik_L_cm": 1.16, - "ori_R_deg": 16.8, - "ori_L_deg": 1.3, + "ik_R_cm": 1.47, + "ik_L_cm": 0.66, + "ori_R_deg": 0.9, + "ori_L_deg": 1.4, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "PASS", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 114 + "n_frames": 116 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000646/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000854/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#533", - "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", - "n_frames": 113, + "clip_id": "stationery#12", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 115, "status": "done", "stages": [ { @@ -247527,78 +247307,11 @@ } ], "metrics": { - "ik_R_cm": 0.57, + "ik_R_cm": 8.26, "ik_L_cm": 0.0, - "ori_R_deg": 0.5, + "ori_R_deg": 6.1, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", - "dof": 14, - "qa_components": { - "tracking": "PASS", - "orientation": "PASS", - "arms": "PASS", - "motion": "WARN" - }, - "n_frames": 113 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000533/retargeted.hdf5" - }, - { - "clip_id": "blocks_shapes#1176", - "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", - "n_frames": 113, - "status": "done", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "done" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "done" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "done" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "done" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "done" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "done" - }, - { - "key": "qa", - "label": "Quality check", - "status": "done" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "done" - } - ], - "metrics": { - "ik_R_cm": 5.37, - "ik_L_cm": 10.16, - "ori_R_deg": 4.7, - "ori_L_deg": 14.1, - "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, @@ -247608,15 +247321,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 113 + "n_frames": 115 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001176/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000012/retargeted.hdf5" }, { - "clip_id": "dice_balls#657", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 113, + "clip_id": "blocks_shapes#212", + "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", + "n_frames": 114, "status": "done", "stages": [ { @@ -247661,29 +247374,29 @@ } ], "metrics": { - "ik_R_cm": 3.42, - "ik_L_cm": 0.02, - "ori_R_deg": 2.5, - "ori_L_deg": 0.0, + "ik_R_cm": 5.5, + "ik_L_cm": 6.75, + "ori_R_deg": 10.0, + "ori_L_deg": 9.2, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 113 + "n_frames": 114 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000657/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000212/retargeted.hdf5" }, { - "clip_id": "dice_balls#790", + "clip_id": "dice_balls#124", "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 113, + "n_frames": 114, "status": "done", "stages": [ { @@ -247728,10 +247441,10 @@ } ], "metrics": { - "ik_R_cm": 6.61, - "ik_L_cm": 0.01, - "ori_R_deg": 7.2, - "ori_L_deg": 0.0, + "ik_R_cm": 9.78, + "ik_L_cm": 0.04, + "ori_R_deg": 8.6, + "ori_L_deg": 0.1, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -247742,15 +247455,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 113 + "n_frames": 114 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000790/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000124/retargeted.hdf5" }, { - "clip_id": "food#229", - "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", - "n_frames": 113, + "clip_id": "stationery#646", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 114, "status": "done", "stages": [ { @@ -247795,28 +247508,28 @@ } ], "metrics": { - "ik_R_cm": 1.56, - "ik_L_cm": 0.31, - "ori_R_deg": 3.3, - "ori_L_deg": 0.4, + "ik_R_cm": 12.06, + "ik_L_cm": 1.16, + "ori_R_deg": 16.8, + "ori_L_deg": 1.3, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 113 + "n_frames": 114 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000229/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000646/retargeted.hdf5" }, { - "clip_id": "stationery#103", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "blocks_shapes#533", + "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", "n_frames": 113, "status": "done", "stages": [ @@ -247862,29 +247575,29 @@ } ], "metrics": { - "ik_R_cm": 2.39, - "ik_L_cm": 0.18, - "ori_R_deg": 46.3, - "ori_L_deg": 0.2, + "ik_R_cm": 0.57, + "ik_L_cm": 0.0, + "ori_R_deg": 0.5, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "PASS", - "orientation": "FAIL", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000103/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000533/retargeted.hdf5" }, { - "clip_id": "dice_balls#591", - "task": "Pick up the orange ball from the table with the right hand and place it into the blue bowl.", - "n_frames": 112, + "clip_id": "blocks_shapes#1176", + "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", + "n_frames": 113, "status": "done", "stages": [ { @@ -247929,80 +247642,96 @@ } ], "metrics": { - "ik_R_cm": 6.97, - "ik_L_cm": 0.0, - "ori_R_deg": 31.3, - "ori_L_deg": 0.0, + "ik_R_cm": 5.37, + "ik_L_cm": 10.16, + "ori_R_deg": 4.7, + "ori_L_deg": 14.1, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "FAIL", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 112 + "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000591/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001176/retargeted.hdf5" }, { - "clip_id": "food#97", - "task": "Pick up the white egg from the table with the right hand and place it into the yellow bowl.", - "n_frames": 112, - "status": "running", + "clip_id": "dice_balls#657", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", + "n_frames": 113, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.42, + "ik_L_cm": 0.02, + "ori_R_deg": 2.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000657/retargeted.hdf5" }, { - "clip_id": "household#165", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 112, + "clip_id": "dice_balls#790", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 113, "status": "done", "stages": [ { @@ -248047,29 +247776,29 @@ } ], "metrics": { - "ik_R_cm": 2.65, - "ik_L_cm": 0.36, - "ori_R_deg": 2.9, + "ik_R_cm": 6.61, + "ik_L_cm": 0.01, + "ori_R_deg": 7.2, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 112 + "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000165/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000790/retargeted.hdf5" }, { - "clip_id": "household#614", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 112, + "clip_id": "food#229", + "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 113, "status": "done", "stages": [ { @@ -248114,29 +247843,29 @@ } ], "metrics": { - "ik_R_cm": 18.2, - "ik_L_cm": 3.57, - "ori_R_deg": 30.5, - "ori_L_deg": 2.2, + "ik_R_cm": 1.56, + "ik_L_cm": 0.31, + "ori_R_deg": 3.3, + "ori_L_deg": 0.4, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "FAIL", + "tracking": "PASS", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 112 + "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000614/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000229/retargeted.hdf5" }, { - "clip_id": "stationery#578", + "clip_id": "stationery#103", "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 112, + "n_frames": 113, "status": "done", "stages": [ { @@ -248181,29 +247910,29 @@ } ], "metrics": { - "ik_R_cm": 4.26, - "ik_L_cm": 0.0, - "ori_R_deg": 45.9, - "ori_L_deg": 0.0, + "ik_R_cm": 2.39, + "ik_L_cm": 0.18, + "ori_R_deg": 46.3, + "ori_L_deg": 0.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 112 + "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000578/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000103/retargeted.hdf5" }, { - "clip_id": "dice_balls#193", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 111, + "clip_id": "dice_balls#591", + "task": "Pick up the orange ball from the table with the right hand and place it into the blue bowl.", + "n_frames": 112, "status": "done", "stages": [ { @@ -248248,29 +247977,80 @@ } ], "metrics": { - "ik_R_cm": 7.09, - "ik_L_cm": 0.13, - "ori_R_deg": 10.2, - "ori_L_deg": 0.1, + "ik_R_cm": 6.97, + "ik_L_cm": 0.0, + "ori_R_deg": 31.3, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 111 + "n_frames": 112 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000193/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000591/retargeted.hdf5" }, { - "clip_id": "food#813", + "clip_id": "food#97", "task": "Pick up the white egg from the table with the right hand and place it into the yellow bowl.", - "n_frames": 111, + "n_frames": 112, + "status": "running", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "running" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "pending" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "pending" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "pending" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "pending" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "pending" + }, + { + "key": "qa", + "label": "Quality check", + "status": "pending" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "pending" + } + ], + "metrics": {}, + "error": null, + "output": null + }, + { + "clip_id": "household#165", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 112, "status": "done", "stages": [ { @@ -248315,29 +248095,29 @@ } ], "metrics": { - "ik_R_cm": 15.17, - "ik_L_cm": 0.02, - "ori_R_deg": 12.0, + "ik_R_cm": 2.65, + "ik_L_cm": 0.36, + "ori_R_deg": 2.9, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 111 + "n_frames": 112 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000813/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000165/retargeted.hdf5" }, { - "clip_id": "household#717", + "clip_id": "household#614", "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 111, + "n_frames": 112, "status": "done", "stages": [ { @@ -248382,29 +248162,29 @@ } ], "metrics": { - "ik_R_cm": 28.7, - "ik_L_cm": 24.78, - "ori_R_deg": 26.0, - "ori_L_deg": 25.9, + "ik_R_cm": 18.2, + "ik_L_cm": 3.57, + "ori_R_deg": 30.5, + "ori_L_deg": 2.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 111 + "n_frames": 112 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000717/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000614/retargeted.hdf5" }, { - "clip_id": "dice_balls#237", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 110, + "clip_id": "stationery#578", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 112, "status": "done", "stages": [ { @@ -248449,29 +248229,29 @@ } ], "metrics": { - "ik_R_cm": 0.86, - "ik_L_cm": 0.01, - "ori_R_deg": 0.1, + "ik_R_cm": 4.26, + "ik_L_cm": 0.0, + "ori_R_deg": 45.9, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "WARN", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 110 + "n_frames": 112 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000237/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000578/retargeted.hdf5" }, { - "clip_id": "food#601", - "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", - "n_frames": 110, + "clip_id": "dice_balls#193", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 111, "status": "done", "stages": [ { @@ -248516,29 +248296,29 @@ } ], "metrics": { - "ik_R_cm": 0.68, - "ik_L_cm": 2.81, - "ori_R_deg": 0.2, - "ori_L_deg": 4.0, + "ik_R_cm": 7.09, + "ik_L_cm": 0.13, + "ori_R_deg": 10.2, + "ori_L_deg": 0.1, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 110 + "n_frames": 111 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000601/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000193/retargeted.hdf5" }, { - "clip_id": "stationery#89", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 110, + "clip_id": "food#813", + "task": "Pick up the white egg from the table with the right hand and place it into the yellow bowl.", + "n_frames": 111, "status": "done", "stages": [ { @@ -248583,29 +248363,29 @@ } ], "metrics": { - "ik_R_cm": 5.41, - "ik_L_cm": 0.18, - "ori_R_deg": 4.3, - "ori_L_deg": 0.2, + "ik_R_cm": 15.17, + "ik_L_cm": 0.02, + "ori_R_deg": 12.0, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 110 + "n_frames": 111 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000089/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000813/retargeted.hdf5" }, { - "clip_id": "stationery#234", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 110, + "clip_id": "household#717", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 111, "status": "done", "stages": [ { @@ -248650,29 +248430,96 @@ } ], "metrics": { - "ik_R_cm": 11.95, - "ik_L_cm": 0.0, - "ori_R_deg": 11.5, - "ori_L_deg": 0.0, + "ik_R_cm": 28.7, + "ik_L_cm": 24.78, + "ori_R_deg": 26.0, + "ori_L_deg": 25.9, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, + "n_frames": 111 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000717/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#237", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", + "n_frames": 110, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.86, + "ik_L_cm": 0.01, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, "n_frames": 110 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000234/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000237/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1039", - "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", - "n_frames": 109, + "clip_id": "food#601", + "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 110, "status": "done", "stages": [ { @@ -248717,29 +248564,29 @@ } ], "metrics": { - "ik_R_cm": 0.27, - "ik_L_cm": 7.13, + "ik_R_cm": 0.68, + "ik_L_cm": 2.81, "ori_R_deg": 0.2, - "ori_L_deg": 9.7, + "ori_L_deg": 4.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 109 + "n_frames": 110 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001039/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000601/retargeted.hdf5" }, { - "clip_id": "dice_balls#294", - "task": "Pick up a yellow dice from the jar lid and place it in the green cup.", - "n_frames": 109, + "clip_id": "stationery#89", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 110, "status": "done", "stages": [ { @@ -248784,29 +248631,29 @@ } ], "metrics": { - "ik_R_cm": 7.06, - "ik_L_cm": 0.04, - "ori_R_deg": 29.9, - "ori_L_deg": 0.0, + "ik_R_cm": 5.41, + "ik_L_cm": 0.18, + "ori_R_deg": 4.3, + "ori_L_deg": 0.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 109 + "n_frames": 110 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000294/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000089/retargeted.hdf5" }, { - "clip_id": "dice_balls#456", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 109, + "clip_id": "stationery#234", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 110, "status": "done", "stages": [ { @@ -248851,28 +248698,28 @@ } ], "metrics": { - "ik_R_cm": 4.81, + "ik_R_cm": 11.95, "ik_L_cm": 0.0, - "ori_R_deg": 12.6, + "ori_R_deg": 11.5, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 109 + "n_frames": 110 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000456/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000234/retargeted.hdf5" }, { - "clip_id": "stationery#97", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "blocks_shapes#1039", + "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", "n_frames": 109, "status": "done", "stages": [ @@ -248918,29 +248765,29 @@ } ], "metrics": { - "ik_R_cm": 3.38, - "ik_L_cm": 0.02, - "ori_R_deg": 1.0, - "ori_L_deg": 0.0, + "ik_R_cm": 0.27, + "ik_L_cm": 7.13, + "ori_R_deg": 0.2, + "ori_L_deg": 9.7, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 109 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000097/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001039/retargeted.hdf5" }, { - "clip_id": "dice_balls#668", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 108, + "clip_id": "dice_balls#294", + "task": "Pick up a yellow dice from the jar lid and place it in the green cup.", + "n_frames": 109, "status": "done", "stages": [ { @@ -248985,29 +248832,29 @@ } ], "metrics": { - "ik_R_cm": 5.44, - "ik_L_cm": 4.44, - "ori_R_deg": 5.1, - "ori_L_deg": 4.9, + "ik_R_cm": 7.06, + "ik_L_cm": 0.04, + "ori_R_deg": 29.9, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 108 + "n_frames": 109 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000668/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000294/retargeted.hdf5" }, { - "clip_id": "household#171", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 108, + "clip_id": "dice_balls#456", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 109, "status": "done", "stages": [ { @@ -249052,29 +248899,29 @@ } ], "metrics": { - "ik_R_cm": 4.16, - "ik_L_cm": 16.43, - "ori_R_deg": 3.3, - "ori_L_deg": 18.5, + "ik_R_cm": 4.81, + "ik_L_cm": 0.0, + "ori_R_deg": 12.6, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 108 + "n_frames": 109 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000171/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000456/retargeted.hdf5" }, { - "clip_id": "household#410", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 108, + "clip_id": "stationery#97", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 109, "status": "done", "stages": [ { @@ -249119,29 +248966,29 @@ } ], "metrics": { - "ik_R_cm": 4.4, - "ik_L_cm": 4.62, - "ori_R_deg": 5.2, - "ori_L_deg": 8.1, + "ik_R_cm": 3.38, + "ik_L_cm": 0.02, + "ori_R_deg": 1.0, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 108 + "n_frames": 109 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000410/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000097/retargeted.hdf5" }, { - "clip_id": "household#398", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 107, + "clip_id": "dice_balls#668", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 108, "status": "done", "stages": [ { @@ -249186,29 +249033,29 @@ } ], "metrics": { - "ik_R_cm": 1.48, - "ik_L_cm": 0.6, - "ori_R_deg": 1.2, - "ori_L_deg": 8.6, + "ik_R_cm": 5.44, + "ik_L_cm": 4.44, + "ori_R_deg": 5.1, + "ori_L_deg": 4.9, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 107 + "n_frames": 108 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000398/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000668/retargeted.hdf5" }, { - "clip_id": "household#633", + "clip_id": "household#171", "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 107, + "n_frames": 108, "status": "done", "stages": [ { @@ -249253,29 +249100,29 @@ } ], "metrics": { - "ik_R_cm": 10.6, - "ik_L_cm": 0.01, - "ori_R_deg": 12.5, - "ori_L_deg": 0.0, + "ik_R_cm": 4.16, + "ik_L_cm": 16.43, + "ori_R_deg": 3.3, + "ori_L_deg": 18.5, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 107 + "n_frames": 108 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000633/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000171/retargeted.hdf5" }, { - "clip_id": "household#915", + "clip_id": "household#410", "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 107, + "n_frames": 108, "status": "done", "stages": [ { @@ -249320,29 +249167,29 @@ } ], "metrics": { - "ik_R_cm": 2.51, - "ik_L_cm": 0.05, - "ori_R_deg": 1.4, - "ori_L_deg": 0.3, + "ik_R_cm": 4.4, + "ik_L_cm": 4.62, + "ori_R_deg": 5.2, + "ori_L_deg": 8.1, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 107 + "n_frames": 108 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000915/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000410/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#626", - "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", - "n_frames": 106, + "clip_id": "household#398", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 107, "status": "done", "stages": [ { @@ -249387,29 +249234,29 @@ } ], "metrics": { - "ik_R_cm": 2.48, - "ik_L_cm": 3.47, + "ik_R_cm": 1.48, + "ik_L_cm": 0.6, "ori_R_deg": 1.2, - "ori_L_deg": 4.5, + "ori_L_deg": 8.6, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 106 + "n_frames": 107 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000626/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000398/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#671", - "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", - "n_frames": 106, + "clip_id": "household#633", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 107, "status": "done", "stages": [ { @@ -249454,29 +249301,29 @@ } ], "metrics": { - "ik_R_cm": 0.06, - "ik_L_cm": 4.14, - "ori_R_deg": 0.0, - "ori_L_deg": 5.5, + "ik_R_cm": 10.6, + "ik_L_cm": 0.01, + "ori_R_deg": 12.5, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 106 + "n_frames": 107 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000671/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000633/retargeted.hdf5" }, { - "clip_id": "dice_balls#496", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 106, + "clip_id": "household#915", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 107, "status": "done", "stages": [ { @@ -249521,79 +249368,28 @@ } ], "metrics": { - "ik_R_cm": 2.6, - "ik_L_cm": 4.39, - "ori_R_deg": 38.8, - "ori_L_deg": 7.7, + "ik_R_cm": 2.51, + "ik_L_cm": 0.05, + "ori_R_deg": 1.4, + "ori_L_deg": 0.3, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "FAIL", + "tracking": "PASS", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 106 + "n_frames": 107 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000496/retargeted.hdf5" - }, - { - "clip_id": "dice_balls#800", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 106, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000915/retargeted.hdf5" }, { - "clip_id": "stationery#154", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "blocks_shapes#626", + "task": "Pick up the blue block from the table with the right hand and place it onto the green plate.", "n_frames": 106, "status": "done", "stages": [ @@ -249639,10 +249435,10 @@ } ], "metrics": { - "ik_R_cm": 3.33, - "ik_L_cm": 0.0, - "ori_R_deg": 4.2, - "ori_L_deg": 0.0, + "ik_R_cm": 2.48, + "ik_L_cm": 3.47, + "ori_R_deg": 1.2, + "ori_L_deg": 4.5, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", @@ -249656,12 +249452,12 @@ "n_frames": 106 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000154/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000626/retargeted.hdf5" }, { - "clip_id": "dice_balls#618", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 105, + "clip_id": "blocks_shapes#671", + "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", + "n_frames": 106, "status": "done", "stages": [ { @@ -249706,29 +249502,29 @@ } ], "metrics": { - "ik_R_cm": 8.57, - "ik_L_cm": 1.83, - "ori_R_deg": 5.2, - "ori_L_deg": 2.2, + "ik_R_cm": 0.06, + "ik_L_cm": 4.14, + "ori_R_deg": 0.0, + "ori_L_deg": 5.5, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 105 + "n_frames": 106 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000618/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000671/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1076", - "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", - "n_frames": 104, + "clip_id": "dice_balls#496", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 106, "status": "done", "stages": [ { @@ -249773,96 +249569,80 @@ } ], "metrics": { - "ik_R_cm": 0.08, - "ik_L_cm": 25.53, - "ori_R_deg": 0.0, - "ori_L_deg": 46.2, + "ik_R_cm": 2.6, + "ik_L_cm": 4.39, + "ori_R_deg": 38.8, + "ori_L_deg": 7.7, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "WARN", "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 104 + "n_frames": 106 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001076/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000496/retargeted.hdf5" }, { - "clip_id": "dice_balls#336", + "clip_id": "dice_balls#800", "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 104, - "status": "done", + "n_frames": 106, + "status": "running", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "done" + "status": "running" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "done" + "status": "pending" }, { "key": "base", "label": "Placing the robot", - "status": "done" + "status": "pending" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "done" + "status": "pending" }, { "key": "collision", "label": "Checking arm collisions", - "status": "done" + "status": "pending" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "done" + "status": "pending" }, { "key": "qa", "label": "Quality check", - "status": "done" + "status": "pending" }, { "key": "output", "label": "Saving robot trajectory", - "status": "done" + "status": "pending" } ], - "metrics": { - "ik_R_cm": 3.02, - "ik_L_cm": 27.2, - "ori_R_deg": 1.9, - "ori_L_deg": 32.0, - "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", - "dof": 14, - "qa_components": { - "tracking": "FAIL", - "orientation": "FAIL", - "arms": "PASS", - "motion": "FAIL" - }, - "n_frames": 104 - }, + "metrics": {}, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000336/retargeted.hdf5" + "output": null }, { - "clip_id": "household#232", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 104, + "clip_id": "stationery#154", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 106, "status": "done", "stages": [ { @@ -249907,29 +249687,29 @@ } ], "metrics": { - "ik_R_cm": 1.56, + "ik_R_cm": 3.33, "ik_L_cm": 0.0, - "ori_R_deg": 0.8, + "ori_R_deg": 4.2, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 104 + "n_frames": 106 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000232/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000154/retargeted.hdf5" }, { - "clip_id": "household#934", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", - "n_frames": 104, + "clip_id": "dice_balls#618", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 105, "status": "done", "stages": [ { @@ -249974,10 +249754,10 @@ } ], "metrics": { - "ik_R_cm": 8.6, - "ik_L_cm": 0.0, - "ori_R_deg": 8.3, - "ori_L_deg": 0.0, + "ik_R_cm": 8.57, + "ik_L_cm": 1.83, + "ori_R_deg": 5.2, + "ori_L_deg": 2.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -249988,14 +249768,14 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 104 + "n_frames": 105 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000934/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000618/retargeted.hdf5" }, { - "clip_id": "stationery#552", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "blocks_shapes#1076", + "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", "n_frames": 104, "status": "done", "stages": [ @@ -250041,29 +249821,29 @@ } ], "metrics": { - "ik_R_cm": 9.6, - "ik_L_cm": 0.02, - "ori_R_deg": 7.5, - "ori_L_deg": 0.0, + "ik_R_cm": 0.08, + "ik_L_cm": 25.53, + "ori_R_deg": 0.0, + "ori_L_deg": 46.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000552/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001076/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#429", - "task": "Pick up the orange semicircle shape from the table with the right hand and place it onto the green plate.", - "n_frames": 103, + "clip_id": "dice_balls#336", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 104, "status": "done", "stages": [ { @@ -250108,29 +249888,29 @@ } ], "metrics": { - "ik_R_cm": 6.03, - "ik_L_cm": 0.01, - "ori_R_deg": 5.9, - "ori_L_deg": 0.0, + "ik_R_cm": 3.02, + "ik_L_cm": 27.2, + "ori_R_deg": 1.9, + "ori_L_deg": 32.0, "collision": "clean", "qa": "FAIL", - "qa_motion": "WARN", + "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000429/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000336/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1258", - "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", - "n_frames": 103, + "clip_id": "household#232", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 104, "status": "done", "stages": [ { @@ -250175,29 +249955,29 @@ } ], "metrics": { - "ik_R_cm": 0.15, - "ik_L_cm": 14.81, - "ori_R_deg": 0.1, - "ori_L_deg": 16.7, + "ik_R_cm": 1.56, + "ik_L_cm": 0.0, + "ori_R_deg": 0.8, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "PASS", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001258/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000232/retargeted.hdf5" }, { - "clip_id": "dice_balls#512", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 103, + "clip_id": "household#934", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "n_frames": 104, "status": "done", "stages": [ { @@ -250242,29 +250022,29 @@ } ], "metrics": { - "ik_R_cm": 5.29, - "ik_L_cm": 19.01, - "ori_R_deg": 2.3, - "ori_L_deg": 17.6, + "ik_R_cm": 8.6, + "ik_L_cm": 0.0, + "ori_R_deg": 8.3, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000512/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000934/retargeted.hdf5" }, { - "clip_id": "dice_balls#989", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 103, + "clip_id": "stationery#552", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 104, "status": "done", "stages": [ { @@ -250309,28 +250089,28 @@ } ], "metrics": { - "ik_R_cm": 2.03, - "ik_L_cm": 0.01, - "ori_R_deg": 0.6, + "ik_R_cm": 9.6, + "ik_L_cm": 0.02, + "ori_R_deg": 7.5, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000989/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000552/retargeted.hdf5" }, { - "clip_id": "household#343", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "clip_id": "blocks_shapes#429", + "task": "Pick up the orange semicircle shape from the table with the right hand and place it onto the green plate.", "n_frames": 103, "status": "done", "stages": [ @@ -250376,28 +250156,28 @@ } ], "metrics": { - "ik_R_cm": 2.78, + "ik_R_cm": 6.03, "ik_L_cm": 0.01, - "ori_R_deg": 3.7, + "ori_R_deg": 5.9, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", - "qa_motion": "FAIL", + "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000343/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000429/retargeted.hdf5" }, { - "clip_id": "stationery#39", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "blocks_shapes#1258", + "task": "Pick up the red block from the table with the right hand and place it in the blue bowl.", "n_frames": 103, "status": "done", "stages": [ @@ -250443,10 +250223,10 @@ } ], "metrics": { - "ik_R_cm": 8.4, - "ik_L_cm": 0.1, - "ori_R_deg": 22.1, - "ori_L_deg": 0.1, + "ik_R_cm": 0.15, + "ik_L_cm": 14.81, + "ori_R_deg": 0.1, + "ori_L_deg": 16.7, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -250460,11 +250240,11 @@ "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000039/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001258/retargeted.hdf5" }, { - "clip_id": "stationery#53", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "dice_balls#512", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", "n_frames": 103, "status": "done", "stages": [ @@ -250510,29 +250290,29 @@ } ], "metrics": { - "ik_R_cm": 8.04, - "ik_L_cm": 1.82, - "ori_R_deg": 6.2, - "ori_L_deg": 2.0, + "ik_R_cm": 5.29, + "ik_L_cm": 19.01, + "ori_R_deg": 2.3, + "ori_L_deg": 17.6, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000053/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000512/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#974", - "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", - "n_frames": 102, + "clip_id": "dice_balls#989", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", + "n_frames": 103, "status": "done", "stages": [ { @@ -250577,10 +250357,10 @@ } ], "metrics": { - "ik_R_cm": 0.17, - "ik_L_cm": 1.56, - "ori_R_deg": 0.2, - "ori_L_deg": 1.9, + "ik_R_cm": 2.03, + "ik_L_cm": 0.01, + "ori_R_deg": 0.6, + "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", @@ -250591,15 +250371,15 @@ "arms": "PASS", "motion": "WARN" }, - "n_frames": 102 + "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000974/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000989/retargeted.hdf5" }, { - "clip_id": "household#246", + "clip_id": "household#343", "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", - "n_frames": 102, + "n_frames": 103, "status": "done", "stages": [ { @@ -250644,29 +250424,29 @@ } ], "metrics": { - "ik_R_cm": 5.29, - "ik_L_cm": 0.24, - "ori_R_deg": 4.2, - "ori_L_deg": 11.2, + "ik_R_cm": 2.78, + "ik_L_cm": 0.01, + "ori_R_deg": 3.7, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 102 + "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000246/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000343/retargeted.hdf5" }, { - "clip_id": "stationery#539", + "clip_id": "stationery#39", "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 102, + "n_frames": 103, "status": "done", "stages": [ { @@ -250711,29 +250491,29 @@ } ], "metrics": { - "ik_R_cm": 5.29, - "ik_L_cm": 0.02, - "ori_R_deg": 32.1, - "ori_L_deg": 0.0, + "ik_R_cm": 8.4, + "ik_L_cm": 0.1, + "ori_R_deg": 22.1, + "ori_L_deg": 0.1, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "FAIL", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 102 + "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000539/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000039/retargeted.hdf5" }, { - "clip_id": "stationery#766", + "clip_id": "stationery#53", "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 102, + "n_frames": 103, "status": "done", "stages": [ { @@ -250778,10 +250558,10 @@ } ], "metrics": { - "ik_R_cm": 10.8, - "ik_L_cm": 0.0, - "ori_R_deg": 9.4, - "ori_L_deg": 0.0, + "ik_R_cm": 8.04, + "ik_L_cm": 1.82, + "ori_R_deg": 6.2, + "ori_L_deg": 2.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -250792,15 +250572,82 @@ "arms": "PASS", "motion": "FAIL" }, + "n_frames": 103 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000053/retargeted.hdf5" + }, + { + "clip_id": "blocks_shapes#974", + "task": "Pick up the blue hexagon shape from the table with the right hand and place it onto the blue plate.", + "n_frames": 102, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.17, + "ik_L_cm": 1.56, + "ori_R_deg": 0.2, + "ori_L_deg": 1.9, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000766/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000974/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#63", - "task": "Pick up the orange semicircle shape from the table with the right hand and place it onto the green plate.", - "n_frames": 101, + "clip_id": "household#246", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 102, "status": "done", "stages": [ { @@ -250845,10 +250692,10 @@ } ], "metrics": { - "ik_R_cm": 0.13, - "ik_L_cm": 4.97, - "ori_R_deg": 0.0, - "ori_L_deg": 6.2, + "ik_R_cm": 5.29, + "ik_L_cm": 0.24, + "ori_R_deg": 4.2, + "ori_L_deg": 11.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -250859,15 +250706,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 101 + "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000063/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000246/retargeted.hdf5" }, { - "clip_id": "stationery#349", + "clip_id": "stationery#539", "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 101, + "n_frames": 102, "status": "done", "stages": [ { @@ -250912,29 +250759,29 @@ } ], "metrics": { - "ik_R_cm": 6.07, - "ik_L_cm": 0.01, - "ori_R_deg": 9.3, + "ik_R_cm": 5.29, + "ik_L_cm": 0.02, + "ori_R_deg": 32.1, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "PASS", + "tracking": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 101 + "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000349/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000539/retargeted.hdf5" }, { - "clip_id": "stationery#879", + "clip_id": "stationery#766", "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", - "n_frames": 101, + "n_frames": 102, "status": "done", "stages": [ { @@ -250979,29 +250826,29 @@ } ], "metrics": { - "ik_R_cm": 5.36, - "ik_L_cm": 30.17, - "ori_R_deg": 31.2, - "ori_L_deg": 33.3, + "ik_R_cm": 10.8, + "ik_L_cm": 0.0, + "ori_R_deg": 9.4, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "FAIL", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 101 + "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000879/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000766/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#555", + "clip_id": "blocks_shapes#63", "task": "Pick up the orange semicircle shape from the table with the right hand and place it onto the green plate.", - "n_frames": 100, + "n_frames": 101, "status": "done", "stages": [ { @@ -251046,10 +250893,10 @@ } ], "metrics": { - "ik_R_cm": 1.68, - "ik_L_cm": 5.21, - "ori_R_deg": 0.4, - "ori_L_deg": 6.6, + "ik_R_cm": 0.13, + "ik_L_cm": 4.97, + "ori_R_deg": 0.0, + "ori_L_deg": 6.2, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", @@ -251060,15 +250907,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 100 + "n_frames": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000555/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000063/retargeted.hdf5" }, { - "clip_id": "dice_balls#147", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 100, + "clip_id": "stationery#349", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 101, "status": "done", "stages": [ { @@ -251113,9 +250960,9 @@ } ], "metrics": { - "ik_R_cm": 7.78, + "ik_R_cm": 6.07, "ik_L_cm": 0.01, - "ori_R_deg": 11.0, + "ori_R_deg": 9.3, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -251127,15 +250974,15 @@ "arms": "PASS", "motion": "FAIL" }, - "n_frames": 100 + "n_frames": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000147/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000349/retargeted.hdf5" }, { - "clip_id": "dice_balls#471", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 100, + "clip_id": "stationery#879", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 101, "status": "done", "stages": [ { @@ -251180,28 +251027,28 @@ } ], "metrics": { - "ik_R_cm": 6.37, - "ik_L_cm": 10.59, - "ori_R_deg": 3.1, - "ori_L_deg": 7.8, + "ik_R_cm": 5.36, + "ik_L_cm": 30.17, + "ori_R_deg": 31.2, + "ori_L_deg": 33.3, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 100 + "n_frames": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000471/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000879/retargeted.hdf5" }, { - "clip_id": "dice_balls#510", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "clip_id": "blocks_shapes#555", + "task": "Pick up the orange semicircle shape from the table with the right hand and place it onto the green plate.", "n_frames": 100, "status": "done", "stages": [ @@ -251247,16 +251094,16 @@ } ], "metrics": { - "ik_R_cm": 4.61, - "ik_L_cm": 11.09, - "ori_R_deg": 8.0, - "ori_L_deg": 8.7, + "ik_R_cm": 1.68, + "ik_L_cm": 5.21, + "ori_R_deg": 0.4, + "ori_L_deg": 6.6, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251264,11 +251111,11 @@ "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000510/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000555/retargeted.hdf5" }, { - "clip_id": "household#72", - "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", + "clip_id": "dice_balls#147", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", "n_frames": 100, "status": "done", "stages": [ @@ -251314,16 +251161,16 @@ } ], "metrics": { - "ik_R_cm": 1.28, + "ik_R_cm": 7.78, "ik_L_cm": 0.01, - "ori_R_deg": 0.9, + "ori_R_deg": 11.0, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251331,11 +251178,11 @@ "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000072/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000147/retargeted.hdf5" }, { - "clip_id": "household#78", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "clip_id": "dice_balls#471", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", "n_frames": 100, "status": "done", "stages": [ @@ -251381,16 +251228,16 @@ } ], "metrics": { - "ik_R_cm": 3.75, - "ik_L_cm": 0.09, - "ori_R_deg": 3.3, - "ori_L_deg": 0.9, + "ik_R_cm": 6.37, + "ik_L_cm": 10.59, + "ori_R_deg": 3.1, + "ori_L_deg": 7.8, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251398,11 +251245,11 @@ "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000078/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000471/retargeted.hdf5" }, { - "clip_id": "household#1058", - "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "clip_id": "dice_balls#510", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", "n_frames": 100, "status": "done", "stages": [ @@ -251448,16 +251295,16 @@ } ], "metrics": { - "ik_R_cm": 1.65, - "ik_L_cm": 0.07, - "ori_R_deg": 0.7, - "ori_L_deg": 0.4, + "ik_R_cm": 4.61, + "ik_L_cm": 11.09, + "ori_R_deg": 8.0, + "ori_L_deg": 8.7, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251465,11 +251312,11 @@ "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-001058/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000510/retargeted.hdf5" }, { - "clip_id": "stationery#867", - "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "clip_id": "household#72", + "task": "Pick up the metal lid from the wood table with the right hand and place it on the gray bowl.", "n_frames": 100, "status": "done", "stages": [ @@ -251515,16 +251362,16 @@ } ], "metrics": { - "ik_R_cm": 7.47, + "ik_R_cm": 1.28, "ik_L_cm": 0.01, - "ori_R_deg": 4.8, + "ori_R_deg": 0.9, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251532,12 +251379,12 @@ "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000867/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000072/retargeted.hdf5" }, { - "clip_id": "dice_balls#40", - "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", - "n_frames": 99, + "clip_id": "household#78", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 100, "status": "done", "stages": [ { @@ -251582,29 +251429,96 @@ } ], "metrics": { - "ik_R_cm": 2.87, - "ik_L_cm": 0.01, - "ori_R_deg": 2.1, - "ori_L_deg": 0.0, + "ik_R_cm": 3.75, + "ik_L_cm": 0.09, + "ori_R_deg": 3.3, + "ori_L_deg": 0.9, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 100 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000078/retargeted.hdf5" + }, + { + "clip_id": "household#1058", + "task": "Pick up the small cup from the wooden table with the right hand and place it on the tupperwear.", + "n_frames": 100, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 1.65, + "ik_L_cm": 0.07, + "ori_R_deg": 0.7, + "ori_L_deg": 0.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "PASS", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 99 + "n_frames": 100 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000040/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-001058/retargeted.hdf5" }, { - "clip_id": "dice_balls#254", - "task": "Pick up an orange ball from the metal table and place it in the dresser.", - "n_frames": 99, + "clip_id": "stationery#867", + "task": "Pick up the yellow soap dispenser from the table with the right hand and place it in the blue bowl.", + "n_frames": 100, "status": "done", "stages": [ { @@ -251649,9 +251563,9 @@ } ], "metrics": { - "ik_R_cm": 11.16, + "ik_R_cm": 7.47, "ik_L_cm": 0.01, - "ori_R_deg": 14.0, + "ori_R_deg": 4.8, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -251663,14 +251577,81 @@ "arms": "PASS", "motion": "FAIL" }, + "n_frames": 100 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000867/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#40", + "task": "Pick up the rubix from the table with the right hand and place it on the gray bowl.", + "n_frames": 99, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 2.87, + "ik_L_cm": 0.01, + "ori_R_deg": 2.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, "n_frames": 99 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000254/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000040/retargeted.hdf5" }, { - "clip_id": "dice_balls#350", - "task": "Pick up the orange ball from the table with the right hand and place it into the blue bowl.", + "clip_id": "dice_balls#254", + "task": "Pick up an orange ball from the metal table and place it in the dresser.", "n_frames": 99, "status": "done", "stages": [ @@ -251716,16 +251697,16 @@ } ], "metrics": { - "ik_R_cm": 3.18, - "ik_L_cm": 5.47, - "ori_R_deg": 3.5, - "ori_L_deg": 4.5, + "ik_R_cm": 11.16, + "ik_L_cm": 0.01, + "ori_R_deg": 14.0, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "FAIL" @@ -251733,11 +251714,78 @@ "n_frames": 99 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000350/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000254/retargeted.hdf5" }, { - "clip_id": "food#356", - "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", + "clip_id": "dice_balls#350", + "task": "Pick up the orange ball from the table with the right hand and place it into the blue bowl.", + "n_frames": 99, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 3.18, + "ik_L_cm": 5.47, + "ori_R_deg": 3.5, + "ori_L_deg": 4.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 99 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000350/retargeted.hdf5" + }, + { + "clip_id": "food#356", + "task": "Pick up the lime from the gray plate with the right hand and place it on the tupperwear.", "n_frames": 99, "status": "done", "stages": [ @@ -267525,52 +267573,68 @@ "clip_id": "plush_toys#773", "task": "Pick up the yellow hippo from the wooden table with the right hand and place it on the tray.", "n_frames": 137, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.97, + "ik_L_cm": 12.13, + "ori_R_deg": 2.1, + "ori_L_deg": 7.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 137 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000773/retargeted.hdf5" }, { "clip_id": "blocks_shapes#434", @@ -270425,52 +270489,68 @@ "clip_id": "electronics#542", "task": "Pick up a grey iPhone from the metal table and place it on the box lid.", "n_frames": 127, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 9.88, + "ik_L_cm": 0.01, + "ori_R_deg": 29.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 127 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000542/retargeted.hdf5" }, { "clip_id": "electronics#734", @@ -273245,52 +273325,68 @@ "clip_id": "plush_toys#438", "task": "Pick up the purple duck from the table with the right hand and place it onto the blue plate.", "n_frames": 120, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.26, + "ik_L_cm": 9.02, + "ori_R_deg": 0.1, + "ori_L_deg": 12.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 120 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000438/retargeted.hdf5" }, { "clip_id": "stationery#34", @@ -273481,52 +273577,68 @@ "clip_id": "blocks_shapes#318", "task": "Pick up the yellow block from the table with the right hand and place it in the white dustpan.", "n_frames": 119, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 25.65, + "ik_L_cm": 20.49, + "ori_R_deg": 33.3, + "ori_L_deg": 15.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 119 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000318/retargeted.hdf5" }, { "clip_id": "blocks_shapes#544", @@ -274135,57 +274247,73 @@ "clip_id": "blocks_shapes#930", "task": "Pick up the green clove shape from the table with the right hand and place it in the yellow plate.", "n_frames": 118, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "electronics#398", - "task": "Pick up a grey iPhone from the metal table and place it on the box lid.", - "n_frames": 118, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 15.4, + "ik_L_cm": 11.5, + "ori_R_deg": 9.0, + "ori_L_deg": 6.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 118 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000930/retargeted.hdf5" + }, + { + "clip_id": "electronics#398", + "task": "Pick up a grey iPhone from the metal table and place it on the box lid.", + "n_frames": 118, "status": "done", "stages": [ { @@ -298328,52 +298456,68 @@ "clip_id": "blocks_shapes#786", "task": "Pick up the green block from the table with the right hand and place it onto the yellow plate.", "n_frames": 74, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.86, + "ik_L_cm": 0.01, + "ori_R_deg": 4.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000786/retargeted.hdf5" }, { "clip_id": "food#93", @@ -303289,52 +303433,68 @@ "clip_id": "dice_balls#79", "task": "Pick up the yellow dice from the table with the right hand and place it in the green bowl.", "n_frames": 50, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 13.42, + "ik_L_cm": 0.02, + "ori_R_deg": 11.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 50 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000079/retargeted.hdf5" }, { "clip_id": "dice_balls#470", @@ -305854,52 +306014,68 @@ "clip_id": "tools#922", "task": "Pick up the silver lock from the gray bowl with the left hand and place it in the blue bowl.", "n_frames": 175, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.22, + "ik_L_cm": 6.4, + "ori_R_deg": 0.5, + "ori_L_deg": 10.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 175 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000922/retargeted.hdf5" }, { "clip_id": "electronics#204", @@ -310065,52 +310241,68 @@ "clip_id": "food#498", "task": "Pick up the bread slice from the table with the right hand and place it into the blue bowl.", "n_frames": 139, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.44, + "ik_L_cm": 0.0, + "ori_R_deg": 4.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 139 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000498/retargeted.hdf5" }, { "clip_id": "dice_balls#360", @@ -310301,57 +310493,73 @@ "clip_id": "electronics#643", "task": "Pick up a pink iPhone from a brown box and place it into a mini drawer.", "n_frames": 138, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "electronics#980", - "task": "Pick up a pink iPhone from a brown box and place it into a mini drawer.", - "n_frames": 138, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 4.67, + "ik_L_cm": 0.02, + "ori_R_deg": 3.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 138 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000643/retargeted.hdf5" + }, + { + "clip_id": "electronics#980", + "task": "Pick up a pink iPhone from a brown box and place it into a mini drawer.", + "n_frames": 138, "status": "done", "stages": [ { @@ -315571,103 +315779,135 @@ "clip_id": "stationery#307", "task": "Pick up the purple crayon from the table with the right hand and place it into the blue bowl.", "n_frames": 113, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 9.26, + "ik_L_cm": 5.19, + "ori_R_deg": 8.7, + "ori_L_deg": 7.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000307/retargeted.hdf5" }, { "clip_id": "stationery#394", "task": "Pick up the purple crayon from the table with the right hand and place it into the blue bowl.", "n_frames": 113, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.73, + "ik_L_cm": 17.5, + "ori_R_deg": 1.3, + "ori_L_deg": 35.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000394/retargeted.hdf5" }, { "clip_id": "dice_balls#672", @@ -327857,52 +328097,68 @@ "clip_id": "food#71", "task": "Pick up the mango from the table with the right hand and place it on the blue bowl.", "n_frames": 57, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 12.14, + "ik_L_cm": 11.63, + "ori_R_deg": 0.3, + "ori_L_deg": 8.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 57 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000071/retargeted.hdf5" }, { "clip_id": "plush_toys#1003", @@ -328109,52 +328365,68 @@ "clip_id": "electronics#371", "task": "Pick up a grey remote from the metal table and place it in a tub.", "n_frames": 55, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 10.13, + "ik_L_cm": 0.01, + "ori_R_deg": 9.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 55 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000371/retargeted.hdf5" }, { "clip_id": "blocks_shapes#97", @@ -328629,57 +328901,73 @@ "clip_id": "food#543", "task": "Pick up the mango from the table with the right hand and place it on the blue bowl.", "n_frames": 53, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "plush_toys#682", - "task": "Pick up a yellow rubber duck from the metal table and place it in the bowl.", - "n_frames": 53, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 6.62, + "ik_L_cm": 17.99, + "ori_R_deg": 33.6, + "ori_L_deg": 15.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 53 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_food__file-000543/retargeted.hdf5" + }, + { + "clip_id": "plush_toys#682", + "task": "Pick up a yellow rubber duck from the metal table and place it in the bowl.", + "n_frames": 53, "status": "done", "stages": [ { @@ -332218,52 +332506,68 @@ "clip_id": "plush_toys#1114", "task": "Pick up the white duck from the table with the right hand and place it in the white dustpan.", "n_frames": 142, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.15, + "ik_L_cm": 3.52, + "ori_R_deg": 5.9, + "ori_L_deg": 10.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 142 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-001114/retargeted.hdf5" }, { "clip_id": "tools#256", @@ -334212,52 +334516,68 @@ "clip_id": "dice_balls#388", "task": "Pick up the green dice from the table with the right hand and place it in the yellow plate.", "n_frames": 128, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 10.48, + "ik_L_cm": 28.88, + "ori_R_deg": 20.9, + "ori_L_deg": 63.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 128 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000388/retargeted.hdf5" }, { "clip_id": "plush_toys#918", @@ -335236,52 +335556,68 @@ "clip_id": "blocks_shapes#258", "task": "Pick up the wood block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 121, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.13, + "ik_L_cm": 0.01, + "ori_R_deg": 1.4, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 121 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000258/retargeted.hdf5" }, { "clip_id": "plush_toys#156", @@ -340838,52 +341174,68 @@ "clip_id": "stationery#712", "task": "Pick up a black stapler from the metal table and place it in a speaker case.", "n_frames": 98, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.29, + "ik_L_cm": 0.09, + "ori_R_deg": 0.2, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000712/retargeted.hdf5" }, { "clip_id": "tools#447", @@ -348019,57 +348371,73 @@ "clip_id": "household#50", "task": "Pick up the sanitizer from the wooden table with the right hand and place it on the small plate.", "n_frames": 68, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "household#293", - "task": "Pick up the sanitizer from the wooden table with the right hand and place it on the small plate.", - "n_frames": 68, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.17, + "ik_L_cm": 0.14, + "ori_R_deg": 0.0, + "ori_L_deg": 0.2, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 68 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000050/retargeted.hdf5" + }, + { + "clip_id": "household#293", + "task": "Pick up the sanitizer from the wooden table with the right hand and place it on the small plate.", + "n_frames": 68, "status": "done", "stages": [ { @@ -349464,52 +349832,68 @@ "clip_id": "blocks_shapes#733", "task": "Pick up the wood block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 63, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.73, + "ik_L_cm": 2.1, + "ori_R_deg": 1.1, + "ori_L_deg": 1.2, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 63 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000733/retargeted.hdf5" }, { "clip_id": "food#313", @@ -354198,108 +354582,73 @@ "clip_id": "household#245", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 235, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.0, + "ik_L_cm": 7.33, + "ori_R_deg": 0.0, + "ori_L_deg": 6.9, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 235 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000245/retargeted.hdf5" }, { "clip_id": "household#621", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 195, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "household#148", - "task": "Pick up the stick sunscreen from the table and place it in the container.", - "n_frames": 192, "status": "done", "stages": [ { @@ -354345,79 +354694,146 @@ ], "metrics": { "ik_R_cm": 0.01, - "ik_L_cm": 6.64, + "ik_L_cm": 14.63, "ori_R_deg": 0.0, - "ori_L_deg": 7.9, + "ori_L_deg": 20.1, "collision": "clean", "qa": "FAIL", - "qa_motion": "WARN", + "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 192 + "n_frames": 195 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000148/retargeted.hdf5" - }, - { - "clip_id": "household#298", - "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", - "n_frames": 185, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000621/retargeted.hdf5" }, { - "clip_id": "household#156", - "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", - "n_frames": 182, + "clip_id": "household#148", + "task": "Pick up the stick sunscreen from the table and place it in the container.", + "n_frames": 192, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.01, + "ik_L_cm": 6.64, + "ori_R_deg": 0.0, + "ori_L_deg": 7.9, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 192 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000148/retargeted.hdf5" + }, + { + "clip_id": "household#298", + "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", + "n_frames": 185, + "status": "running", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "running" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "pending" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "pending" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "pending" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "pending" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "pending" + }, + { + "key": "qa", + "label": "Quality check", + "status": "pending" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "pending" + } + ], + "metrics": {}, + "error": null, + "output": null + }, + { + "clip_id": "household#156", + "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", + "n_frames": 182, "status": "done", "stages": [ { @@ -355292,52 +355708,68 @@ "clip_id": "household#721", "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 155, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.09, + "ik_L_cm": 0.01, + "ori_R_deg": 52.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 155 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000721/retargeted.hdf5" }, { "clip_id": "household#859", @@ -355579,52 +356011,68 @@ "clip_id": "household#395", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 153, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 13.03, + "ik_L_cm": 0.54, + "ori_R_deg": 24.4, + "ori_L_deg": 0.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 153 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000395/retargeted.hdf5" }, { "clip_id": "household#793", @@ -355882,52 +356330,68 @@ "clip_id": "household#480", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 152, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.13, + "ik_L_cm": 2.12, + "ori_R_deg": 2.2, + "ori_L_deg": 3.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 152 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000480/retargeted.hdf5" }, { "clip_id": "household#1042", @@ -356303,52 +356767,68 @@ "clip_id": "household#638", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 149, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.02, + "ik_L_cm": 0.01, + "ori_R_deg": 2.4, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 149 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000638/retargeted.hdf5" }, { "clip_id": "household#900", @@ -356421,52 +356901,68 @@ "clip_id": "household#108", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 148, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.95, + "ik_L_cm": 1.15, + "ori_R_deg": 6.3, + "ori_L_deg": 1.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 148 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000108/retargeted.hdf5" }, { "clip_id": "household#1003", @@ -357378,52 +357874,68 @@ "clip_id": "household#262", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 140, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.81, + "ik_L_cm": 7.33, + "ori_R_deg": 4.3, + "ori_L_deg": 6.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 140 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000262/retargeted.hdf5" }, { "clip_id": "household#555", @@ -358016,52 +358528,68 @@ "clip_id": "household#663", "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 137, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.38, + "ik_L_cm": 2.25, + "ori_R_deg": 4.0, + "ori_L_deg": 3.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 137 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000663/retargeted.hdf5" }, { "clip_id": "household#828", @@ -358134,52 +358662,68 @@ "clip_id": "plush_toys#177", "task": "Pick up the pink bunny from the yellow plate with the right hand and place it on the tray.", "n_frames": 137, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.3, + "ik_L_cm": 6.82, + "ori_R_deg": 2.9, + "ori_L_deg": 6.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 137 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000177/retargeted.hdf5" }, { "clip_id": "household#105", @@ -358303,52 +358847,68 @@ "clip_id": "household#47", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 135, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.09, + "ik_L_cm": 9.62, + "ori_R_deg": 0.1, + "ori_L_deg": 7.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 135 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000047/retargeted.hdf5" }, { "clip_id": "household#531", @@ -358539,6 +359099,73 @@ "clip_id": "household#576", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 134, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.64, + "ik_L_cm": 6.01, + "ori_R_deg": 1.0, + "ori_L_deg": 9.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 134 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000576/retargeted.hdf5" + }, + { + "clip_id": "household#913", + "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", + "n_frames": 133, "status": "running", "stages": [ { @@ -358587,9 +359214,9 @@ "output": null }, { - "clip_id": "household#913", - "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", - "n_frames": 133, + "clip_id": "household#467", + "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", + "n_frames": 132, "status": "running", "stages": [ { @@ -358638,7 +359265,7 @@ "output": null }, { - "clip_id": "household#467", + "clip_id": "household#487", "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 132, "status": "running", @@ -358689,58 +359316,7 @@ "output": null }, { - "clip_id": "household#487", - "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", - "n_frames": 132, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "household#530", + "clip_id": "household#530", "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 132, "status": "running", @@ -359081,52 +359657,68 @@ "clip_id": "household#943", "task": "Pick up the stick sunscreen from the table and place it in the container.", "n_frames": 130, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.62, + "ik_L_cm": 4.62, + "ori_R_deg": 0.9, + "ori_L_deg": 10.6, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 130 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000943/retargeted.hdf5" }, { "clip_id": "plush_toys#62", @@ -359234,52 +359826,68 @@ "clip_id": "plush_toys#1021", "task": "Pick up the pink bunny from the yellow plate with the right hand and place it on the tray.", "n_frames": 129, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.26, + "ik_L_cm": 3.51, + "ori_R_deg": 1.7, + "ori_L_deg": 5.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 129 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-001021/retargeted.hdf5" }, { "clip_id": "household#615", @@ -359687,52 +360295,68 @@ "clip_id": "food#913", "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", "n_frames": 125, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.74, + "ik_L_cm": 15.29, + "ori_R_deg": 3.8, + "ori_L_deg": 34.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 125 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000913/retargeted.hdf5" }, { "clip_id": "household#377", @@ -359856,52 +360480,68 @@ "clip_id": "plush_toys#809", "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", "n_frames": 125, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.38, + "ik_L_cm": 3.44, + "ori_R_deg": 2.1, + "ori_L_deg": 5.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 125 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000809/retargeted.hdf5" }, { "clip_id": "household#552", @@ -360159,52 +360799,68 @@ "clip_id": "household#664", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 121, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.13, + "ik_L_cm": 0.47, + "ori_R_deg": 6.6, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 121 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000664/retargeted.hdf5" }, { "clip_id": "household#941", @@ -360529,52 +361185,68 @@ "clip_id": "household#289", "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 118, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.43, + "ik_L_cm": 0.01, + "ori_R_deg": 32.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 118 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000289/retargeted.hdf5" }, { "clip_id": "household#441", @@ -361119,154 +361791,202 @@ "clip_id": "stationery#208", "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 115, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.34, + "ik_L_cm": 2.29, + "ori_R_deg": 2.6, + "ori_L_deg": 4.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 115 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000208/retargeted.hdf5" }, { "clip_id": "stationery#450", "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 115, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.72, + "ik_L_cm": 3.38, + "ori_R_deg": 1.2, + "ori_L_deg": 4.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 115 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000450/retargeted.hdf5" }, { "clip_id": "food#954", "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", "n_frames": 114, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.63, + "ik_L_cm": 0.43, + "ori_R_deg": 4.8, + "ori_L_deg": 2.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 114 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000954/retargeted.hdf5" }, { "clip_id": "stationery#174", @@ -361323,52 +362043,68 @@ "clip_id": "food#823", "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", "n_frames": 113, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 24.11, + "ik_L_cm": 0.01, + "ori_R_deg": 34.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000823/retargeted.hdf5" }, { "clip_id": "plush_toys#1054", @@ -361441,103 +362177,135 @@ "clip_id": "stationery#416", "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 113, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.23, + "ik_L_cm": 0.01, + "ori_R_deg": 8.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000416/retargeted.hdf5" }, { "clip_id": "blocks_shapes#520", "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", "n_frames": 112, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.1, + "ik_L_cm": 0.42, + "ori_R_deg": 20.5, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 112 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000520/retargeted.hdf5" }, { "clip_id": "food#343", @@ -361594,103 +362362,135 @@ "clip_id": "stationery#719", "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 112, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.91, + "ik_L_cm": 0.01, + "ori_R_deg": 3.8, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 112 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000719/retargeted.hdf5" }, { "clip_id": "blocks_shapes#138", "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", "n_frames": 111, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.87, + "ik_L_cm": 6.62, + "ori_R_deg": 0.4, + "ori_L_deg": 1.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 111 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000138/retargeted.hdf5" }, { "clip_id": "blocks_shapes#386", @@ -361798,52 +362598,68 @@ "clip_id": "blocks_shapes#604", "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", "n_frames": 110, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.59, + "ik_L_cm": 0.57, + "ori_R_deg": 31.1, + "ori_L_deg": 0.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 110 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000604/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1194", @@ -361964,111 +362780,9 @@ "output": null }, { - "clip_id": "blocks_shapes#758", - "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", - "n_frames": 109, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "household#110", - "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", - "n_frames": 109, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "food#541", - "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", - "n_frames": 108, + "clip_id": "blocks_shapes#758", + "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", + "n_frames": 109, "status": "running", "stages": [ { @@ -362117,9 +362831,76 @@ "output": null }, { - "clip_id": "blocks_shapes#427", - "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", - "n_frames": 107, + "clip_id": "household#110", + "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", + "n_frames": 109, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 3.85, + "ik_L_cm": 0.25, + "ori_R_deg": 6.2, + "ori_L_deg": 0.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 109 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000110/retargeted.hdf5" + }, + { + "clip_id": "food#541", + "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", + "n_frames": 108, "status": "running", "stages": [ { @@ -362168,59 +362949,75 @@ "output": null }, { - "clip_id": "household#604", - "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", + "clip_id": "blocks_shapes#427", + "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 107, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 12.88, + "ik_L_cm": 0.01, + "ori_R_deg": 11.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000427/retargeted.hdf5" }, { - "clip_id": "stationery#98", - "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", + "clip_id": "household#604", + "task": "Pick up the purell from the yellow bowl and place it on the blue plate.", "n_frames": 107, "status": "running", "stages": [ @@ -362270,9 +363067,9 @@ "output": null }, { - "clip_id": "blocks_shapes#845", - "task": "Pick up the jenga block from the light blue bowl with the right hand and place it into the orange bowl.", - "n_frames": 106, + "clip_id": "stationery#98", + "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", + "n_frames": 107, "status": "running", "stages": [ { @@ -362321,59 +363118,75 @@ "output": null }, { - "clip_id": "blocks_shapes#225", - "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", - "n_frames": 105, - "status": "running", + "clip_id": "blocks_shapes#845", + "task": "Pick up the jenga block from the light blue bowl with the right hand and place it into the orange bowl.", + "n_frames": 106, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.14, + "ik_L_cm": 0.03, + "ori_R_deg": 5.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 106 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000845/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#728", - "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", + "clip_id": "blocks_shapes#225", + "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", "n_frames": 105, "status": "running", "stages": [ @@ -362423,110 +363236,142 @@ "output": null }, { - "clip_id": "household#1090", - "task": "Pick up the stick sunscreen from the table and place it in the container.", + "clip_id": "blocks_shapes#728", + "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", "n_frames": 105, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.29, + "ik_L_cm": 6.62, + "ori_R_deg": 1.1, + "ori_L_deg": 6.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 105 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000728/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#236", - "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", - "n_frames": 104, - "status": "running", + "clip_id": "household#1090", + "task": "Pick up the stick sunscreen from the table and place it in the container.", + "n_frames": 105, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.12, + "ik_L_cm": 8.03, + "ori_R_deg": 0.2, + "ori_L_deg": 25.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 105 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-001090/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#342", - "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", + "clip_id": "blocks_shapes#236", + "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 104, "status": "running", "stages": [ @@ -362576,8 +363421,8 @@ "output": null }, { - "clip_id": "plush_toys#376", - "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", + "clip_id": "blocks_shapes#342", + "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", "n_frames": 104, "status": "running", "stages": [ @@ -362626,6 +363471,73 @@ "error": null, "output": null }, + { + "clip_id": "plush_toys#376", + "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", + "n_frames": 104, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 4.42, + "ik_L_cm": 0.01, + "ori_R_deg": 5.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 104 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000376/retargeted.hdf5" + }, { "clip_id": "blocks_shapes#220", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", @@ -362748,52 +363660,68 @@ "clip_id": "blocks_shapes#253", "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", "n_frames": 102, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 10.45, + "ik_L_cm": 0.01, + "ori_R_deg": 31.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000253/retargeted.hdf5" }, { "clip_id": "blocks_shapes#862", @@ -363019,52 +363947,68 @@ "clip_id": "blocks_shapes#802", "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", "n_frames": 99, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.36, + "ik_L_cm": 0.09, + "ori_R_deg": 5.5, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 99 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000802/retargeted.hdf5" }, { "clip_id": "food#945", @@ -363137,103 +364081,135 @@ "clip_id": "plush_toys#85", "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 99, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 7.36, + "ik_L_cm": 0.93, + "ori_R_deg": 17.0, + "ori_L_deg": 2.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 99 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000085/retargeted.hdf5" }, { "clip_id": "stationery#699", "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 99, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 7.85, + "ik_L_cm": 0.35, + "ori_R_deg": 5.2, + "ori_L_deg": 0.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 99 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000699/retargeted.hdf5" }, { "clip_id": "blocks_shapes#201", @@ -363287,106 +364263,138 @@ "output": null }, { - "clip_id": "blocks_shapes#834", - "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", - "n_frames": 98, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { + "clip_id": "blocks_shapes#834", + "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", + "n_frames": 98, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 5.22, + "ik_L_cm": 0.01, + "ori_R_deg": 8.7, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 98 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000834/retargeted.hdf5" + }, + { "clip_id": "food#126", "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", "n_frames": 97, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.23, + "ik_L_cm": 0.01, + "ori_R_deg": 1.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "PASS", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 97 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000126/retargeted.hdf5" }, { "clip_id": "plush_toys#93", @@ -363459,52 +364467,68 @@ "clip_id": "plush_toys#696", "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 96, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 14.16, + "ik_L_cm": 0.01, + "ori_R_deg": 37.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 96 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000696/retargeted.hdf5" }, { "clip_id": "food#295", @@ -363883,52 +364907,68 @@ "clip_id": "blocks_shapes#767", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 92, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.87, + "ik_L_cm": 0.01, + "ori_R_deg": 1.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 92 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000767/retargeted.hdf5" }, { "clip_id": "plush_toys#82", @@ -364036,52 +365076,68 @@ "clip_id": "blocks_shapes#403", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 90, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.12, + "ik_L_cm": 0.01, + "ori_R_deg": 9.7, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 90 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000403/retargeted.hdf5" }, { "clip_id": "plush_toys#440", @@ -364237,59 +365293,8 @@ "output": null }, { - "clip_id": "plush_toys#54", - "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", - "n_frames": 89, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "plush_toys#564", - "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", + "clip_id": "plush_toys#54", + "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 89, "status": "running", "stages": [ @@ -364339,9 +365344,9 @@ "output": null }, { - "clip_id": "blocks_shapes#73", - "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", - "n_frames": 88, + "clip_id": "plush_toys#564", + "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", + "n_frames": 89, "status": "running", "stages": [ { @@ -364390,8 +365395,8 @@ "output": null }, { - "clip_id": "blocks_shapes#784", - "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", + "clip_id": "blocks_shapes#73", + "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", "n_frames": 88, "status": "running", "stages": [ @@ -364441,8 +365446,8 @@ "output": null }, { - "clip_id": "blocks_shapes#797", - "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", + "clip_id": "blocks_shapes#784", + "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", "n_frames": 88, "status": "running", "stages": [ @@ -364492,8 +365497,8 @@ "output": null }, { - "clip_id": "blocks_shapes#1211", - "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", + "clip_id": "blocks_shapes#797", + "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 88, "status": "running", "stages": [ @@ -364543,110 +365548,142 @@ "output": null }, { - "clip_id": "blocks_shapes#299", + "clip_id": "blocks_shapes#1211", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", - "n_frames": 87, - "status": "running", + "n_frames": 88, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.24, + "ik_L_cm": 0.01, + "ori_R_deg": 5.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 88 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001211/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1016", - "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", + "clip_id": "blocks_shapes#299", + "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 87, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.97, + "ik_L_cm": 0.1, + "ori_R_deg": 9.0, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000299/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1114", - "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", + "clip_id": "blocks_shapes#1016", + "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", "n_frames": 87, "status": "running", "stages": [ @@ -364696,8 +365733,8 @@ "output": null }, { - "clip_id": "blocks_shapes#1193", - "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", + "clip_id": "blocks_shapes#1114", + "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 87, "status": "running", "stages": [ @@ -364747,9 +365784,9 @@ "output": null }, { - "clip_id": "blocks_shapes#382", - "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", - "n_frames": 86, + "clip_id": "blocks_shapes#1193", + "task": "Pick up the green block from the orange bowl with the right hand and place it on the yellow plate.", + "n_frames": 87, "status": "running", "stages": [ { @@ -364798,8 +365835,8 @@ "output": null }, { - "clip_id": "blocks_shapes#981", - "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", + "clip_id": "blocks_shapes#382", + "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 86, "status": "running", "stages": [ @@ -364849,59 +365886,75 @@ "output": null }, { - "clip_id": "blocks_shapes#1015", - "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", + "clip_id": "blocks_shapes#981", + "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 86, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 5.2, + "ik_L_cm": 0.03, + "ori_R_deg": 3.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 86 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000981/retargeted.hdf5" }, { - "clip_id": "food#729", - "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", + "clip_id": "blocks_shapes#1015", + "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 86, "status": "running", "stages": [ @@ -364951,111 +366004,143 @@ "output": null }, { - "clip_id": "blocks_shapes#210", - "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", - "n_frames": 85, - "status": "running", + "clip_id": "food#729", + "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.", + "n_frames": 86, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 12.53, + "ik_L_cm": 0.02, + "ori_R_deg": 26.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 86 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000729/retargeted.hdf5" }, { - "clip_id": "stationery#164", - "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", + "clip_id": "blocks_shapes#210", + "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 85, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.34, + "ik_L_cm": 0.01, + "ori_R_deg": 6.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 85 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000210/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#615", - "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", - "n_frames": 84, + "clip_id": "stationery#164", + "task": "Pick up the red sharpie from the light blue bowl with the right hand and place it into the orange bowl.", + "n_frames": 85, "status": "running", "stages": [ { @@ -365104,8 +366189,8 @@ "output": null }, { - "clip_id": "blocks_shapes#737", - "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", + "clip_id": "blocks_shapes#615", + "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", "n_frames": 84, "status": "running", "stages": [ @@ -365155,9 +366240,9 @@ "output": null }, { - "clip_id": "blocks_shapes#614", - "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", - "n_frames": 83, + "clip_id": "blocks_shapes#737", + "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", + "n_frames": 84, "status": "running", "stages": [ { @@ -365206,7 +366291,7 @@ "output": null }, { - "clip_id": "blocks_shapes#735", + "clip_id": "blocks_shapes#614", "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", "n_frames": 83, "status": "running", @@ -365256,158 +366341,273 @@ "error": null, "output": null }, + { + "clip_id": "blocks_shapes#735", + "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", + "n_frames": 83, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.46, + "ik_L_cm": 30.84, + "ori_R_deg": 0.1, + "ori_L_deg": 34.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 83 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000735/retargeted.hdf5" + }, { "clip_id": "blocks_shapes#499", "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.", "n_frames": 82, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.19, + "ik_L_cm": 0.01, + "ori_R_deg": 0.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "PASS", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000499/retargeted.hdf5" }, { "clip_id": "plush_toys#79", "task": "Pick up the yellow fish from the plate and place it into the blue bowl.", "n_frames": 82, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.46, + "ik_L_cm": 0.01, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "PASS", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000079/retargeted.hdf5" }, { "clip_id": "blocks_shapes#205", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 81, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.92, + "ik_L_cm": 0.01, + "ori_R_deg": 3.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000205/retargeted.hdf5" }, { "clip_id": "plush_toys#108", @@ -365515,52 +366715,68 @@ "clip_id": "plush_toys#593", "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 81, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.87, + "ik_L_cm": 13.94, + "ori_R_deg": 0.1, + "ori_L_deg": 19.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000593/retargeted.hdf5" }, { "clip_id": "plush_toys#695", @@ -365668,52 +366884,68 @@ "clip_id": "blocks_shapes#502", "task": "Pick up the jenga block from the light blue bowl with the right hand and place it into the orange bowl.", "n_frames": 80, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.08, + "ik_L_cm": 0.49, + "ori_R_deg": 0.2, + "ori_L_deg": 1.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 80 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000502/retargeted.hdf5" }, { "clip_id": "plush_toys#331", @@ -365821,52 +367053,68 @@ "clip_id": "blocks_shapes#375", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 79, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.76, + "ik_L_cm": 0.01, + "ori_R_deg": 1.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000375/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1074", @@ -365923,52 +367171,68 @@ "clip_id": "blocks_shapes#1131", "task": "Pick up the domino from the table with the right hand and place it on the gray tray.", "n_frames": 79, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 7.67, + "ik_L_cm": 0.0, + "ori_R_deg": 15.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001131/retargeted.hdf5" }, { "clip_id": "plush_toys#821", @@ -366076,52 +367340,68 @@ "clip_id": "blocks_shapes#1230", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 77, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.57, + "ik_L_cm": 0.01, + "ori_R_deg": 38.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 77 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001230/retargeted.hdf5" }, { "clip_id": "plush_toys#814", @@ -366382,52 +367662,68 @@ "clip_id": "blocks_shapes#1054", "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 75, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 12.84, + "ik_L_cm": 0.03, + "ori_R_deg": 23.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001054/retargeted.hdf5" }, { "clip_id": "stationery#457", @@ -366535,52 +367831,68 @@ "clip_id": "blocks_shapes#1200", "task": "Pick up the big yellow block from the table with the right hand and place it on the gray bowl.", "n_frames": 74, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.72, + "ik_L_cm": 0.0, + "ori_R_deg": 3.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001200/retargeted.hdf5" }, { "clip_id": "plush_toys#790", @@ -366637,103 +367949,135 @@ "clip_id": "blocks_shapes#221", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 73, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.22, + "ik_L_cm": 0.01, + "ori_R_deg": 6.4, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 73 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000221/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1002", "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 73, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.91, + "ik_L_cm": 0.01, + "ori_R_deg": 3.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 73 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001002/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1061", @@ -366841,205 +368185,269 @@ "clip_id": "blocks_shapes#156", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 72, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.76, + "ik_L_cm": 0.01, + "ori_R_deg": 2.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 72 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000156/retargeted.hdf5" }, { "clip_id": "blocks_shapes#590", "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 72, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.45, + "ik_L_cm": 0.1, + "ori_R_deg": 3.3, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 72 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000590/retargeted.hdf5" }, { "clip_id": "blocks_shapes#870", "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 72, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.17, + "ik_L_cm": 0.04, + "ori_R_deg": 5.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 72 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000870/retargeted.hdf5" }, { "clip_id": "plush_toys#11", "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 70, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.66, + "ik_L_cm": 0.01, + "ori_R_deg": 7.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 70 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000011/retargeted.hdf5" }, { "clip_id": "blocks_shapes#70", @@ -367351,52 +368759,68 @@ "clip_id": "blocks_shapes#857", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 68, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.59, + "ik_L_cm": 0.01, + "ori_R_deg": 29.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 68 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000857/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1202", @@ -367657,103 +369081,135 @@ "clip_id": "blocks_shapes#557", "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 67, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 9.35, + "ik_L_cm": 0.1, + "ori_R_deg": 15.0, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 67 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000557/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1036", "task": "Pick up the green block from the table with the right hand and place it in the gray tray.", "n_frames": 66, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.19, + "ik_L_cm": 0.01, + "ori_R_deg": 2.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 66 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001036/retargeted.hdf5" }, { "clip_id": "plush_toys#160", @@ -367963,52 +369419,68 @@ "clip_id": "plush_toys#126", "task": "Pick up the yellow duck from the table with the right hand and place it into the green bowl.", "n_frames": 64, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.21, + "ik_L_cm": 0.11, + "ori_R_deg": 5.8, + "ori_L_deg": 0.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 64 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000126/retargeted.hdf5" }, { "clip_id": "plush_toys#214", @@ -368065,103 +369537,135 @@ "clip_id": "blocks_shapes#517", "task": "Pick up the big blue block from the table with the right hand and place it on the gray bowl.", "n_frames": 61, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.62, + "ik_L_cm": 0.01, + "ori_R_deg": 1.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 61 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000517/retargeted.hdf5" }, { "clip_id": "blocks_shapes#899", "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 61, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.29, + "ik_L_cm": 0.01, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 61 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000899/retargeted.hdf5" }, { "clip_id": "plush_toys#311", @@ -368320,52 +369824,68 @@ "clip_id": "blocks_shapes#1019", "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 59, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.18, + "ik_L_cm": 0.02, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "PASS", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 59 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001019/retargeted.hdf5" }, { "clip_id": "plush_toys#92", @@ -368524,103 +370044,135 @@ "clip_id": "blocks_shapes#1118", "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 55, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.41, + "ik_L_cm": 0.01, + "ori_R_deg": 1.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 55 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001118/retargeted.hdf5" }, { "clip_id": "blocks_shapes#363", "task": "Pick up the green block from the wood table with the right hand and place it on the yellow plate.", "n_frames": 53, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.91, + "ik_L_cm": 0.04, + "ori_R_deg": 2.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 53 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000363/retargeted.hdf5" }, { "clip_id": "plush_toys#448", @@ -368983,52 +370535,68 @@ "clip_id": "household#931", "task": "Pick up a coffee lid from a turquoise basket and place it in the gray tray.", "n_frames": 41, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.11, + "ik_L_cm": 0.33, + "ori_R_deg": 0.1, + "ori_L_deg": 0.5, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 41 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000931/retargeted.hdf5" }, { "clip_id": "food#113",