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report.json

@@ -209313,52 +209313,68 @@
       "clip_id": "puzzle#51",
       "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.",
       "n_frames": 379,
-      "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": 19.13,
+        "ik_L_cm": 0.95,
+        "ori_R_deg": 12.8,
+        "ori_L_deg": 3.7,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 379
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_puzzle__file-000051/retargeted.hdf5"
     },
     {
       "clip_id": "puzzle#92",
@@ -264036,52 +264052,68 @@
       "clip_id": "stationery#588",
       "task": "Pick up the sticky notes from the clear drawer with the right hand and place them on the black oval case.",
       "n_frames": 373,
-      "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": 4.71,
+        "ik_L_cm": 21.39,
+        "ori_R_deg": 6.6,
+        "ori_L_deg": 12.9,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 373
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_stationery__file-000588/retargeted.hdf5"
     },
     {
       "clip_id": "stationery#73",
@@ -333700,52 +333732,68 @@
       "clip_id": "food#243",
       "task": "Pick up the white egg from the egg carton with the right hand and place it on the red plate.",
       "n_frames": 401,
-      "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": 3.35,
+        "ik_L_cm": 0.01,
+        "ori_R_deg": 14.1,
+        "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": 401
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_food__file-000243/retargeted.hdf5"
     },
     {
       "clip_id": "plush_toys#247",
@@ -358340,52 +358388,68 @@
       "clip_id": "blocks_shapes#393",
       "task": "Pick up the green wooden piece from the metal table with the right hand and place it in the white dustpan.",
       "n_frames": 167,
-      "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": 33.27,
+        "ik_L_cm": 6.45,
+        "ori_R_deg": 24.2,
+        "ori_L_deg": 3.8,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "WARN",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 167
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000393/retargeted.hdf5"
     },
     {
       "clip_id": "household#97",
@@ -358659,52 +358723,68 @@
       "clip_id": "food#793",
       "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.",
       "n_frames": 159,
-      "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": 11.24,
+        "ik_L_cm": 16.11,
+        "ori_R_deg": 31.6,
+        "ori_L_deg": 16.9,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "FAIL",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 159
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_food__file-000793/retargeted.hdf5"
     },
     {
       "clip_id": "household#192",
@@ -362864,52 +362944,68 @@
       "clip_id": "food#667",
       "task": "Pick up the pink donut from the metal table with the right hand and place it in the white dustpan.",
       "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": 18.32,
+        "ik_L_cm": 13.78,
+        "ori_R_deg": 15.0,
+        "ori_L_deg": 14.5,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "WARN",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 130
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_food__file-000667/retargeted.hdf5"
     },
     {
       "clip_id": "household#417",
@@ -376114,52 +376210,68 @@
       "clip_id": "dice_balls#631",
       "task": "Pick up the tennis ball from the silver tray with the right hand and place it in the orange bowl.",
       "n_frames": 299,
-      "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": 6.18,
+        "ik_L_cm": 0.02,
+        "ori_R_deg": 11.1,
+        "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": 299
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_dice_balls__file-000631/retargeted.hdf5"
     },
     {
       "clip_id": "dice_balls#406",
@@ -377438,52 +377550,68 @@
       "clip_id": "food#920",
       "task": "Pick up the mango from the table with the right hand and place it on the blue plate.",
       "n_frames": 172,
-      "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": 11.69,
+        "ik_L_cm": 13.09,
+        "ori_R_deg": 3.8,
+        "ori_L_deg": 11.1,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 172
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_food__file-000920/retargeted.hdf5"
     },
     {
       "clip_id": "plush_toys#398",
@@ -377623,52 +377751,68 @@
       "clip_id": "plush_toys#496",
       "task": "Pick up the pink duck from the table with the left hand and place it onto the blue plate.",
       "n_frames": 170,
-      "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": 5.77,
+        "ik_L_cm": 17.14,
+        "ori_R_deg": 4.0,
+        "ori_L_deg": 12.5,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
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+        "qa_components": {
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+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 170
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_plush_toys__file-000496/retargeted.hdf5"
     },
     {
       "clip_id": "dice_balls#151",
@@ -380756,52 +380900,68 @@
       "clip_id": "food#461",
       "task": "Pick up the tan baguette from the wood table with the right hand and place it into the yellow bowl.",
       "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": 27.57,
+        "ik_L_cm": 3.34,
+        "ori_R_deg": 30.4,
+        "ori_L_deg": 11.4,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "FAIL",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 142
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_food__file-000461/retargeted.hdf5"
     },
     {
       "clip_id": "household#71",
@@ -384023,52 +384183,68 @@
       "clip_id": "blocks_shapes#79",
       "task": "Pick up the green block from the blue bowl with the right hand and place it in the gray bowl.",
       "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": 9.5,
+        "ik_L_cm": 16.43,
+        "ori_R_deg": 5.0,
+        "ori_L_deg": 10.7,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 127
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000079/retargeted.hdf5"
     },
     {
       "clip_id": "dice_balls#950",
@@ -386151,52 +386327,68 @@
       "clip_id": "plush_toys#205",
       "task": "Pick up the white plushie from the table with the right hand and place it onto the blue plate.",
       "n_frames": 117,
-      "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": 13.4,
+        "ik_L_cm": 25.95,
+        "ori_R_deg": 14.8,
+        "ori_L_deg": 72.6,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "FAIL",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 117
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_plush_toys__file-000205/retargeted.hdf5"
     },
     {
       "clip_id": "plush_toys#1117",
@@ -386604,52 +386796,68 @@
       "clip_id": "household#474",
       "task": "Pick up the small plate 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": 9.51,
+        "ik_L_cm": 12.97,
+        "ori_R_deg": 8.6,
+        "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_household__file-000474/retargeted.hdf5"
     },
     {
       "clip_id": "plush_toys#100",
@@ -387191,52 +387399,68 @@
       "clip_id": "blocks_shapes#89",
       "task": "Pick up the green block from the blue bowl with the right hand and place it in the gray bowl.",
       "n_frames": 109,
-      "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": 12.2,
+        "ik_L_cm": 8.61,
+        "ori_R_deg": 30.7,
+        "ori_L_deg": 1.6,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "FAIL",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 109
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000089/retargeted.hdf5"
     },
     {
       "clip_id": "plush_toys#520",
@@ -388381,52 +388605,68 @@
       "clip_id": "blocks_shapes#148",
       "task": "Pick up the green block from the blue bowl with the right hand and place it in 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": 19.93,
+        "ik_L_cm": 4.51,
+        "ori_R_deg": 24.3,
+        "ori_L_deg": 7.3,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "WARN",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 102
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000148/retargeted.hdf5"
     },
     {
       "clip_id": "food#329",
@@ -388901,52 +389141,68 @@
       "clip_id": "plush_toys#297",
       "task": "Pick up the pink duck from the table with the left hand and place it onto the blue plate.",
       "n_frames": 101,
-      "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": 1.63,
+        "ik_L_cm": 17.73,
+        "ori_R_deg": 6.1,
+        "ori_L_deg": 10.8,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "PASS",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 101
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_plush_toys__file-000297/retargeted.hdf5"
     },
     {
       "clip_id": "food#633",
@@ -391029,52 +391285,68 @@
       "clip_id": "plush_toys#856",
       "task": "Pick up the pink duck from the table with the left hand and place it onto the blue plate.",
       "n_frames": 94,
-      "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": 11.33,
+        "ik_L_cm": 12.25,
+        "ori_R_deg": 19.2,
+        "ori_L_deg": 5.8,
+        "collision": "clean",
+        "qa": "FAIL",
+        "qa_motion": "FAIL",
+        "dof": 14,
+        "qa_components": {
+          "tracking": "FAIL",
+          "orientation": "WARN",
+          "arms": "PASS",
+          "motion": "FAIL"
+        },
+        "n_frames": 94
+      },
       "error": null,
-      "output": null
+      "output": "/workspace/transform/retargeted/clip_plush_toys__file-000856/retargeted.hdf5"
     },
     {
       "clip_id": "household#418",
@@ -402199,6 +402471,16 @@
       "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000731/retargeted.hdf5"
     }
   ],
-  "match_report": null,
-  "done": false
+  "match_report": {
+    "teleop_hz": 30,
+    "ego_hz": 30,
+    "fps_variance": 0,
+    "action_hz_match": true,
+    "ik_mean_cm": 4.22,
+    "traj_similarity": 0.58,
+    "collision_clean_rate": 1.0,
+    "clips_done": 6007,
+    "clips_failed": 0
+  },
+  "done": true
 }