diff --git "a/report.json" "b/report.json" --- "a/report.json" +++ "b/report.json" @@ -24618,52 +24618,68 @@ "clip_id": "blocks_shapes#1030", "task": "Pick up a green block from the metal table and place it into the Tupperware.", "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": 6.28, + "ik_L_cm": 0.01, + "ori_R_deg": 22.8, + "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": 112 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001030/retargeted.hdf5" }, { "clip_id": "tools#808", @@ -117243,52 +117259,68 @@ "clip_id": "tools#283", "task": "Pick up the wooden bolt from the gray tray with the right hand and place it into the pink bowl.", "n_frames": 301, - "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": 11.36, + "ik_L_cm": 0.02, + "ori_R_deg": 10.5, + "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": 301 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000283/retargeted.hdf5" }, { "clip_id": "tools#372", @@ -118484,52 +118516,68 @@ "clip_id": "tools#586", "task": "Pick up the wooden bolt from the gray tray with the right hand and place it into the pink bowl.", "n_frames": 285, - "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": 5.73, + "ik_L_cm": 0.02, + "ori_R_deg": 14.0, + "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": 285 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000586/retargeted.hdf5" }, { "clip_id": "tools#728", @@ -140721,52 +140769,68 @@ "clip_id": "household#0", "task": "Pick up the pink plate from the wood table with the right hand and place it on the gray Tupperware.", "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": 6.1, + "ik_L_cm": 0.01, + "ori_R_deg": 10.3, + "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": 139 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000000/retargeted.hdf5" }, { "clip_id": "stationery#90", @@ -143021,52 +143085,68 @@ "clip_id": "stationery#13", "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", "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": 7.62, + "ik_L_cm": 0.78, + "ori_R_deg": 14.4, + "ori_L_deg": 1.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 121 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000013/retargeted.hdf5" }, { "clip_id": "household#409", @@ -143978,57 +144058,6 @@ "clip_id": "stationery#671", "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", "n_frames": 113, - "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": "tools#527", - "task": "Pick up the blue toy hammer from the table with the left hand and place it in the blue bowl.", - "n_frames": 113, "status": "done", "stages": [ { @@ -144073,29 +144102,96 @@ } ], "metrics": { - "ik_R_cm": 0.04, - "ik_L_cm": 4.62, - "ori_R_deg": 0.0, - "ori_L_deg": 12.8, + "ik_R_cm": 11.59, + "ik_L_cm": 7.73, + "ori_R_deg": 45.5, + "ori_L_deg": 16.6, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 113 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000527/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000671/retargeted.hdf5" }, { - "clip_id": "household#214", - "task": "Pick up the sanitizer from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 112, + "clip_id": "tools#527", + "task": "Pick up the blue toy hammer from the table with the left hand and place it in the blue bowl.", + "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": 0.04, + "ik_L_cm": 4.62, + "ori_R_deg": 0.0, + "ori_L_deg": 12.8, + "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": "/workspace/transform/retargeted/clip_tools__file-000527/retargeted.hdf5" + }, + { + "clip_id": "household#214", + "task": "Pick up the sanitizer from the light blue bowl with the right hand and place it on the tray.", + "n_frames": 112, "status": "done", "stages": [ { @@ -145034,52 +145130,68 @@ "clip_id": "tools#813", "task": "Pick up the blue toy hammer from the table with the left hand and place it in the blue 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": 0.01, + "ik_L_cm": 5.57, + "ori_R_deg": 0.0, + "ori_L_deg": 36.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 109 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000813/retargeted.hdf5" }, { "clip_id": "household#144", @@ -146929,52 +147041,68 @@ "clip_id": "stationery#703", "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", "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": 9.08, + "ik_L_cm": 0.41, + "ori_R_deg": 19.8, + "ori_L_deg": 0.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 101 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000703/retargeted.hdf5" }, { "clip_id": "household#284", @@ -147886,124 +148014,140 @@ "clip_id": "blocks_shapes#794", "task": "Pick up the wood block from the gray plate with the right hand and place it on the tupperwear.", "n_frames": 97, - "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#601", - "task": "Pick up the clear bottle from the wooden table with the right hand and place it on the metal tray.", - "n_frames": 97, - "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": 0.08, - "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": 97 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000601/retargeted.hdf5" - }, - { - "clip_id": "stationery#621", - "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", - "n_frames": 97, + "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": 2.5, + "ik_L_cm": 1.4, + "ori_R_deg": 3.2, + "ori_L_deg": 2.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 97 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000794/retargeted.hdf5" + }, + { + "clip_id": "household#601", + "task": "Pick up the clear bottle from the wooden table with the right hand and place it on the metal tray.", + "n_frames": 97, + "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": 0.08, + "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": 97 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000601/retargeted.hdf5" + }, + { + "clip_id": "stationery#621", + "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", + "n_frames": 97, "status": "done", "stages": [ { @@ -148792,52 +148936,68 @@ "clip_id": "household#689", "task": "Pick up the pink plate from the wood table with the right hand and place it on the gray Tupperware.", "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": 5.42, + "ik_L_cm": 0.01, + "ori_R_deg": 4.5, + "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": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000689/retargeted.hdf5" }, { "clip_id": "stationery#698", @@ -162316,52 +162476,68 @@ "clip_id": "electronics#997", "task": "Pick up a black mouse from the metal table and place it in the black case.", "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": 7.56, + "ik_L_cm": 0.01, + "ori_R_deg": 3.2, + "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": 149 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000997/retargeted.hdf5" }, { "clip_id": "electronics#594", @@ -167347,57 +167523,73 @@ "clip_id": "plush_toys#70", "task": "Pick up the duck from the orange bowl with the right hand and place it on the clear tupperwear.", "n_frames": 102, - "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#669", - "task": "Pick up a brown piece of bread from the baking tray and place it in a Tupperware.", - "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": 10.06, + "ik_L_cm": 14.69, + "ori_R_deg": 7.0, + "ori_L_deg": 8.9, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 102 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000070/retargeted.hdf5" + }, + { + "clip_id": "food#669", + "task": "Pick up a brown piece of bread from the baking tray and place it in a Tupperware.", + "n_frames": 99, "status": "done", "stages": [ { @@ -183550,52 +183742,68 @@ "clip_id": "electronics#844", "task": "Pick up a grey remote from a speaker case and place it in a black box.", "n_frames": 134, - "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": 3.07, + "ik_L_cm": 0.01, + "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": 134 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000844/retargeted.hdf5" }, { "clip_id": "dice_balls#577", @@ -190134,57 +190342,6 @@ "clip_id": "electronics#221", "task": "Pick up the iPhone from the clear tupperwear with the right hand and place it on the orange bowl.", "n_frames": 104, - "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#565", - "task": "Pick up the brown egg from the clear tupperwear with the right hand and place it into the orange bowl.", - "n_frames": 104, "status": "done", "stages": [ { @@ -190229,95 +190386,28 @@ } ], "metrics": { - "ik_R_cm": 0.25, - "ik_L_cm": 4.6, - "ori_R_deg": 0.1, - "ori_L_deg": 6.4, + "ik_R_cm": 1.1, + "ik_L_cm": 11.01, + "ori_R_deg": 4.3, + "ori_L_deg": 24.2, "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": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_food__file-000565/retargeted.hdf5" - }, - { - "clip_id": "stationery#303", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", - "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": 1.73, - "ik_L_cm": 0.02, - "ori_R_deg": 0.2, - "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": 104 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000303/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-000221/retargeted.hdf5" }, { - "clip_id": "stationery#392", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "food#565", + "task": "Pick up the brown egg from the clear tupperwear with the right hand and place it into the orange bowl.", "n_frames": 104, "status": "done", "stages": [ @@ -190363,28 +190453,28 @@ } ], "metrics": { - "ik_R_cm": 10.07, - "ik_L_cm": 0.01, - "ori_R_deg": 18.5, - "ori_L_deg": 0.0, + "ik_R_cm": 0.25, + "ik_L_cm": 4.6, + "ori_R_deg": 0.1, + "ori_L_deg": 6.4, "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": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000392/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000565/retargeted.hdf5" }, { - "clip_id": "tools#602", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#303", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 104, "status": "done", "stages": [ @@ -190430,16 +190520,16 @@ } ], "metrics": { - "ik_R_cm": 4.69, - "ik_L_cm": 0.0, - "ori_R_deg": 0.3, + "ik_R_cm": 1.73, + "ik_L_cm": 0.02, + "ori_R_deg": 0.2, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", + "qa": "PASS", "qa_motion": "PASS", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "PASS" @@ -190447,11 +190537,11 @@ "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000602/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000303/retargeted.hdf5" }, { - "clip_id": "tools#739", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#392", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 104, "status": "done", "stages": [ @@ -190497,29 +190587,29 @@ } ], "metrics": { - "ik_R_cm": 4.64, + "ik_R_cm": 10.07, "ik_L_cm": 0.01, - "ori_R_deg": 6.7, + "ori_R_deg": 18.5, "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": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000739/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000392/retargeted.hdf5" }, { - "clip_id": "dice_balls#43", - "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", - "n_frames": 103, + "clip_id": "tools#602", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 104, "status": "done", "stages": [ { @@ -190564,29 +190654,29 @@ } ], "metrics": { - "ik_R_cm": 1.29, - "ik_L_cm": 0.02, - "ori_R_deg": 1.3, + "ik_R_cm": 4.69, + "ik_L_cm": 0.0, + "ori_R_deg": 0.3, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", - "qa_motion": "WARN", + "qa_motion": "PASS", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "PASS" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000043/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_tools__file-000602/retargeted.hdf5" }, { - "clip_id": "electronics#172", - "task": "Pick up a grey remote from a speaker case and place it in a black box.", - "n_frames": 103, + "clip_id": "tools#739", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 104, "status": "done", "stages": [ { @@ -190631,79 +190721,95 @@ } ], "metrics": { - "ik_R_cm": 3.99, + "ik_R_cm": 4.64, "ik_L_cm": 0.01, - "ori_R_deg": 0.2, + "ori_R_deg": 6.7, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", - "qa_motion": "PASS", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "PASS" + "motion": "WARN" }, - "n_frames": 103 + "n_frames": 104 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-000172/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_tools__file-000739/retargeted.hdf5" }, { - "clip_id": "plush_toys#996", - "task": "Pick up the white duck from the tupperwear with the right hand and place it on the gray bowl.", + "clip_id": "dice_balls#43", + "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "n_frames": 103, - "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": 1.29, + "ik_L_cm": 0.02, + "ori_R_deg": 1.3, + "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": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000043/retargeted.hdf5" }, { - "clip_id": "stationery#509", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "electronics#172", + "task": "Pick up a grey remote from a speaker case and place it in a black box.", "n_frames": 103, "status": "done", "stages": [ @@ -190749,16 +190855,16 @@ } ], "metrics": { - "ik_R_cm": 0.95, - "ik_L_cm": 0.07, + "ik_R_cm": 3.99, + "ik_L_cm": 0.01, "ori_R_deg": 0.2, - "ori_L_deg": 0.1, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "PASS", + "qa": "WARN", "qa_motion": "PASS", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "PASS" @@ -190766,78 +190872,62 @@ "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000509/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-000172/retargeted.hdf5" }, { - "clip_id": "stationery#733", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "plush_toys#996", + "task": "Pick up the white duck from the tupperwear with the right hand and place it on the gray bowl.", "n_frames": 103, - "status": "done", + "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": 0.81, - "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": 103 - }, + "metrics": {}, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000733/retargeted.hdf5" + "output": null }, { - "clip_id": "tools#297", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#509", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 103, "status": "done", "stages": [ @@ -190883,28 +190973,28 @@ } ], "metrics": { - "ik_R_cm": 5.03, - "ik_L_cm": 0.02, - "ori_R_deg": 34.8, - "ori_L_deg": 0.0, + "ik_R_cm": 0.95, + "ik_L_cm": 0.07, + "ori_R_deg": 0.2, + "ori_L_deg": 0.1, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "PASS", + "qa_motion": "PASS", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "FAIL", + "tracking": "PASS", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "PASS" }, "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000297/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000509/retargeted.hdf5" }, { - "clip_id": "tools#500", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#733", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 103, "status": "done", "stages": [ @@ -190950,9 +191040,9 @@ } ], "metrics": { - "ik_R_cm": 2.47, + "ik_R_cm": 0.81, "ik_L_cm": 0.01, - "ori_R_deg": 0.7, + "ori_R_deg": 0.1, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", @@ -190967,12 +191057,12 @@ "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000500/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000733/retargeted.hdf5" }, { - "clip_id": "dice_balls#216", - "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", - "n_frames": 102, + "clip_id": "tools#297", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 103, "status": "done", "stages": [ { @@ -191017,29 +191107,29 @@ } ], "metrics": { - "ik_R_cm": 18.5, + "ik_R_cm": 5.03, "ik_L_cm": 0.02, - "ori_R_deg": 26.9, + "ori_R_deg": 34.8, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 102 + "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000216/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_tools__file-000297/retargeted.hdf5" }, { - "clip_id": "electronics#723", - "task": "Pick up a grey remote from a speaker case and place it in a black box.", - "n_frames": 102, + "clip_id": "tools#500", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 103, "status": "done", "stages": [ { @@ -191084,28 +191174,28 @@ } ], "metrics": { - "ik_R_cm": 8.55, - "ik_L_cm": 0.02, - "ori_R_deg": 30.9, + "ik_R_cm": 2.47, + "ik_L_cm": 0.01, + "ori_R_deg": 0.7, "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": "PASS", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 102 + "n_frames": 103 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-000723/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_tools__file-000500/retargeted.hdf5" }, { - "clip_id": "stationery#334", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "dice_balls#216", + "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "n_frames": 102, "status": "done", "stages": [ @@ -191151,28 +191241,28 @@ } ], "metrics": { - "ik_R_cm": 1.66, - "ik_L_cm": 0.01, - "ori_R_deg": 0.3, + "ik_R_cm": 18.5, + "ik_L_cm": 0.02, + "ori_R_deg": 26.9, "ori_L_deg": 0.0, "collision": "clean", - "qa": "PASS", - "qa_motion": "PASS", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", - "motion": "PASS" + "motion": "FAIL" }, "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000334/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000216/retargeted.hdf5" }, { - "clip_id": "stationery#644", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "electronics#723", + "task": "Pick up a grey remote from a speaker case and place it in a black box.", "n_frames": 102, "status": "done", "stages": [ @@ -191218,27 +191308,27 @@ } ], "metrics": { - "ik_R_cm": 3.56, - "ik_L_cm": 0.01, - "ori_R_deg": 1.3, + "ik_R_cm": 8.55, + "ik_L_cm": 0.02, + "ori_R_deg": 30.9, "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": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000644/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-000723/retargeted.hdf5" }, { - "clip_id": "stationery#675", + "clip_id": "stationery#334", "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 102, "status": "done", @@ -191285,16 +191375,16 @@ } ], "metrics": { - "ik_R_cm": 4.36, - "ik_L_cm": 0.02, - "ori_R_deg": 0.4, + "ik_R_cm": 1.66, + "ik_L_cm": 0.01, + "ori_R_deg": 0.3, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", + "qa": "PASS", "qa_motion": "PASS", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "PASS" @@ -191302,11 +191392,11 @@ "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000675/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000334/retargeted.hdf5" }, { - "clip_id": "tools#190", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#644", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 102, "status": "done", "stages": [ @@ -191352,29 +191442,29 @@ } ], "metrics": { - "ik_R_cm": 9.16, + "ik_R_cm": 3.56, "ik_L_cm": 0.01, - "ori_R_deg": 23.5, + "ori_R_deg": 1.3, "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", + "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "WARN", + "tracking": "WARN", + "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000190/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000644/retargeted.hdf5" }, { - "clip_id": "dice_balls#694", - "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", - "n_frames": 101, + "clip_id": "stationery#675", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "n_frames": 102, "status": "done", "stages": [ { @@ -191419,29 +191509,29 @@ } ], "metrics": { - "ik_R_cm": 5.4, - "ik_L_cm": 3.55, - "ori_R_deg": 5.3, - "ori_L_deg": 1.7, + "ik_R_cm": 4.36, + "ik_L_cm": 0.02, + "ori_R_deg": 0.4, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "PASS", "dof": 14, "qa_components": { "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "PASS" }, - "n_frames": 101 + "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000694/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000675/retargeted.hdf5" }, { - "clip_id": "electronics#1014", - "task": "Pick up a grey remote from a speaker case and place it in a black box.", - "n_frames": 101, + "clip_id": "tools#190", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 102, "status": "done", "stages": [ { @@ -191486,28 +191576,28 @@ } ], "metrics": { - "ik_R_cm": 21.74, - "ik_L_cm": 0.02, - "ori_R_deg": 16.3, + "ik_R_cm": 9.16, + "ik_L_cm": 0.01, + "ori_R_deg": 23.5, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", - "qa_motion": "FAIL", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "FAIL", "orientation": "WARN", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 101 + "n_frames": 102 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-001014/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_tools__file-000190/retargeted.hdf5" }, { - "clip_id": "stationery#351", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "dice_balls#694", + "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "n_frames": 101, "status": "done", "stages": [ @@ -191553,78 +191643,94 @@ } ], "metrics": { - "ik_R_cm": 8.97, - "ik_L_cm": 0.01, - "ori_R_deg": 21.0, - "ori_L_deg": 0.0, + "ik_R_cm": 5.4, + "ik_L_cm": 3.55, + "ori_R_deg": 5.3, + "ori_L_deg": 1.7, "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": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000351/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000694/retargeted.hdf5" }, { - "clip_id": "stationery#718", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "clip_id": "electronics#1014", + "task": "Pick up a grey remote from a speaker case and place it in a black box.", "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": 21.74, + "ik_L_cm": 0.02, + "ori_R_deg": 16.3, + "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": 101 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-001014/retargeted.hdf5" }, { - "clip_id": "stationery#777", + "clip_id": "stationery#351", "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 101, "status": "done", @@ -191671,28 +191777,28 @@ } ], "metrics": { - "ik_R_cm": 11.8, + "ik_R_cm": 8.97, "ik_L_cm": 0.01, - "ori_R_deg": 14.4, + "ori_R_deg": 21.0, "ori_L_deg": 0.0, "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": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000777/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000351/retargeted.hdf5" }, { - "clip_id": "tools#989", - "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "clip_id": "stationery#718", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", "n_frames": 101, "status": "done", "stages": [ @@ -191738,29 +191844,29 @@ } ], "metrics": { - "ik_R_cm": 3.02, + "ik_R_cm": 3.61, "ik_L_cm": 0.01, - "ori_R_deg": 21.4, + "ori_R_deg": 0.6, "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", - "qa_motion": "FAIL", + "qa": "WARN", + "qa_motion": "PASS", "dof": 14, "qa_components": { "tracking": "WARN", - "orientation": "WARN", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "PASS" }, "n_frames": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000989/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000718/retargeted.hdf5" }, { - "clip_id": "dice_balls#604", - "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", - "n_frames": 100, + "clip_id": "stationery#777", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "n_frames": 101, "status": "done", "stages": [ { @@ -191805,80 +191911,214 @@ } ], "metrics": { - "ik_R_cm": 6.54, - "ik_L_cm": 13.48, - "ori_R_deg": 15.7, - "ori_L_deg": 14.0, + "ik_R_cm": 11.8, + "ik_L_cm": 0.01, + "ori_R_deg": 14.4, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", - "qa_motion": "FAIL", + "qa_motion": "WARN", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "PASS", "arms": "PASS", - "motion": "FAIL" + "motion": "WARN" }, - "n_frames": 100 + "n_frames": 101 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000604/retargeted.hdf5" - }, - { - "clip_id": "stationery#727", - "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", - "n_frames": 100, - "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_stationery__file-000777/retargeted.hdf5" }, { - "clip_id": "tools#463", + "clip_id": "tools#989", "task": "Pick up a blue brush from the metal table and place it on the baking tray.", - "n_frames": 100, + "n_frames": 101, + "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": 3.02, + "ik_L_cm": 0.01, + "ori_R_deg": 21.4, + "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": 101 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_tools__file-000989/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#604", + "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", + "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": 6.54, + "ik_L_cm": 13.48, + "ori_R_deg": 15.7, + "ori_L_deg": 14.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 100 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000604/retargeted.hdf5" + }, + { + "clip_id": "stationery#727", + "task": "Pick up a white box of tape from the metal table and place it on the baking tray.", + "n_frames": 100, + "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": "tools#463", + "task": "Pick up a blue brush from the metal table and place it on the baking tray.", + "n_frames": 100, "status": "done", "stages": [ { @@ -192482,52 +192722,68 @@ "clip_id": "dice_balls#84", "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "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": 1.53, + "ik_L_cm": 7.3, + "ori_R_deg": 2.4, + "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": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000084/retargeted.hdf5" }, { "clip_id": "plush_toys#26", @@ -196661,52 +196917,68 @@ "clip_id": "household#572", "task": "Pick up the small cup from the tupperwear with the right hand and place it on the yellow bowl.", "n_frames": 83, - "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": 0.24, + "ik_L_cm": 1.11, + "ori_R_deg": 15.7, + "ori_L_deg": 2.9, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 83 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000572/retargeted.hdf5" }, { "clip_id": "household#952", @@ -201325,52 +201597,68 @@ "clip_id": "puzzle#4", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 327, - "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": 2.21, + "ik_L_cm": 0.29, + "ori_R_deg": 1.9, + "ori_L_deg": 0.3, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 327 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000004/retargeted.hdf5" }, { "clip_id": "puzzle#118", @@ -202425,52 +202713,68 @@ "clip_id": "puzzle#87", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 311, - "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": 5.98, + "ik_L_cm": 0.77, + "ori_R_deg": 0.9, + "ori_L_deg": 1.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 311 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000087/retargeted.hdf5" }, { "clip_id": "puzzle#99", @@ -202578,52 +202882,68 @@ "clip_id": "puzzle#133", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 344, - "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": 1.7, + "ik_L_cm": 0.31, + "ori_R_deg": 3.1, + "ori_L_deg": 0.4, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 344 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000133/retargeted.hdf5" }, { "clip_id": "household#98", @@ -204013,159 +204333,6 @@ "clip_id": "puzzle#60", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 295, - "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": "puzzle#124", - "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 295, - "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": "dice_balls#314", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 294, - "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": "puzzle#55", - "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 293, "status": "done", "stages": [ { @@ -204210,10 +204377,10 @@ } ], "metrics": { - "ik_R_cm": 0.17, - "ik_L_cm": 0.75, + "ik_R_cm": 0.24, + "ik_L_cm": 0.66, "ori_R_deg": 0.6, - "ori_L_deg": 0.9, + "ori_L_deg": 1.6, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", @@ -204224,15 +204391,15 @@ "arms": "PASS", "motion": "WARN" }, - "n_frames": 293 + "n_frames": 295 }, "error": null, - "output": "/workspace/transform/retargeted/clip_puzzle__file-000055/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_puzzle__file-000060/retargeted.hdf5" }, { - "clip_id": "puzzle#134", + "clip_id": "puzzle#124", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 293, + "n_frames": 295, "status": "running", "stages": [ { @@ -204281,9 +204448,9 @@ "output": null }, { - "clip_id": "puzzle#129", - "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 361, + "clip_id": "dice_balls#314", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 294, "status": "running", "stages": [ { @@ -204332,9 +204499,9 @@ "output": null }, { - "clip_id": "household#710", - "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", - "n_frames": 291, + "clip_id": "puzzle#55", + "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", + "n_frames": 293, "status": "done", "stages": [ { @@ -204379,29 +204546,29 @@ } ], "metrics": { - "ik_R_cm": 4.15, - "ik_L_cm": 0.01, - "ori_R_deg": 7.3, - "ori_L_deg": 0.0, + "ik_R_cm": 0.17, + "ik_L_cm": 0.75, + "ori_R_deg": 0.6, + "ori_L_deg": 0.9, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 291 + "n_frames": 293 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000710/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_puzzle__file-000055/retargeted.hdf5" }, { - "clip_id": "puzzle#74", + "clip_id": "puzzle#134", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 290, + "n_frames": 293, "status": "running", "stages": [ { @@ -204450,76 +204617,60 @@ "output": null }, { - "clip_id": "household#732", - "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", - "n_frames": 366, - "status": "done", + "clip_id": "puzzle#129", + "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", + "n_frames": 361, + "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": 4.9, - "ik_L_cm": 0.0, - "ori_R_deg": 4.8, - "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": 366 - }, + "metrics": {}, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000732/retargeted.hdf5" + "output": null }, { - "clip_id": "dice_balls#835", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 287, + "clip_id": "household#710", + "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", + "n_frames": 291, "status": "done", "stages": [ { @@ -204564,147 +204715,147 @@ } ], "metrics": { - "ik_R_cm": 0.0, - "ik_L_cm": 8.38, - "ori_R_deg": 0.0, - "ori_L_deg": 8.1, + "ik_R_cm": 4.15, + "ik_L_cm": 0.01, + "ori_R_deg": 7.3, + "ori_L_deg": 0.0, "collision": "clean", - "qa": "FAIL", + "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "FAIL", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 287 + "n_frames": 291 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000835/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_household__file-000710/retargeted.hdf5" }, { - "clip_id": "dice_balls#910", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 284, - "status": "done", + "clip_id": "puzzle#74", + "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", + "n_frames": 290, + "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": 0.01, - "ik_L_cm": 5.06, - "ori_R_deg": 0.0, - "ori_L_deg": 4.5, - "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", - "dof": 14, - "qa_components": { - "tracking": "WARN", - "orientation": "PASS", - "arms": "PASS", - "motion": "WARN" - }, - "n_frames": 284 - }, + "metrics": {}, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000910/retargeted.hdf5" + "output": null }, { - "clip_id": "household#240", + "clip_id": "household#732", "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", - "n_frames": 370, - "status": "running", + "n_frames": 366, + "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": 4.9, + "ik_L_cm": 0.0, + "ori_R_deg": 4.8, + "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": 366 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000732/retargeted.hdf5" }, { - "clip_id": "household#880", - "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", - "n_frames": 370, + "clip_id": "dice_balls#835", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 287, "status": "done", "stages": [ { @@ -204749,80 +204900,265 @@ } ], "metrics": { - "ik_R_cm": 2.14, - "ik_L_cm": 0.0, - "ori_R_deg": 2.4, - "ori_L_deg": 0.0, + "ik_R_cm": 0.0, + "ik_L_cm": 8.38, + "ori_R_deg": 0.0, + "ori_L_deg": 8.1, "collision": "clean", - "qa": "WARN", + "qa": "FAIL", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 370 + "n_frames": 287 }, "error": null, - "output": "/workspace/transform/retargeted/clip_household__file-000880/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000835/retargeted.hdf5" }, { - "clip_id": "household#648", - "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", - "n_frames": 371, - "status": "running", + "clip_id": "dice_balls#910", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 284, + "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": 0.01, + "ik_L_cm": 5.06, + "ori_R_deg": 0.0, + "ori_L_deg": 4.5, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 284 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000910/retargeted.hdf5" }, { - "clip_id": "dice_balls#973", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 282, + "clip_id": "household#240", + "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", + "n_frames": 370, + "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#880", + "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", + "n_frames": 370, + "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": 2.14, + "ik_L_cm": 0.0, + "ori_R_deg": 2.4, + "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": 370 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000880/retargeted.hdf5" + }, + { + "clip_id": "household#648", + "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", + "n_frames": 371, + "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": "dice_balls#973", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 282, "status": "running", "stages": [ { @@ -206121,52 +206457,68 @@ "clip_id": "dice_balls#95", "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", "n_frames": 267, - "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": 0.01, + "ik_L_cm": 15.08, + "ori_R_deg": 0.0, + "ori_L_deg": 28.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 267 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000095/retargeted.hdf5" }, { "clip_id": "puzzle#30", @@ -206797,52 +207149,68 @@ "clip_id": "puzzle#49", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 251, - "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": 1.02, + "ik_L_cm": 0.96, + "ori_R_deg": 1.2, + "ori_L_deg": 3.6, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 251 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000049/retargeted.hdf5" }, { "clip_id": "blocks_shapes#558", @@ -212688,52 +213056,68 @@ "clip_id": "dice_balls#982", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in 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": 6.62, + "ik_L_cm": 3.28, + "ori_R_deg": 16.6, + "ori_L_deg": 4.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 112 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000982/retargeted.hdf5" }, { "clip_id": "food#141", @@ -213562,52 +213946,68 @@ "clip_id": "food#263", "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", "n_frames": 108, - "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": 2.48, + "ik_L_cm": 8.66, + "ori_R_deg": 2.6, + "ori_L_deg": 8.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 108 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000263/retargeted.hdf5" }, { "clip_id": "stationery#729", @@ -213680,52 +214080,68 @@ "clip_id": "electronics#934", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 5.69, + "ik_L_cm": 28.21, + "ori_R_deg": 13.2, + "ori_L_deg": 24.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000934/retargeted.hdf5" }, { "clip_id": "food#958", @@ -215594,57 +216010,6 @@ "clip_id": "dice_balls#713", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 99, - "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#379", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 99, "status": "done", "stages": [ { @@ -215689,27 +216054,27 @@ } ], "metrics": { - "ik_R_cm": 3.86, - "ik_L_cm": 0.01, - "ori_R_deg": 8.0, - "ori_L_deg": 0.0, + "ik_R_cm": 4.59, + "ik_L_cm": 5.77, + "ori_R_deg": 11.0, + "ori_L_deg": 9.8, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 99 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-000379/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000713/retargeted.hdf5" }, { - "clip_id": "electronics#1133", + "clip_id": "electronics#379", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 99, "status": "done", @@ -215756,140 +216121,207 @@ } ], "metrics": { - "ik_R_cm": 3.67, - "ik_L_cm": 0.01, - "ori_R_deg": 0.5, - "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": 99 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-001133/retargeted.hdf5" - }, - { - "clip_id": "stationery#169", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", - "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": 0.23, - "ik_L_cm": 0.01, - "ori_R_deg": 0.0, - "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": 99 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000169/retargeted.hdf5" - }, - { - "clip_id": "blocks_shapes#812", - "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", - "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": 3.86, + "ik_L_cm": 0.01, + "ori_R_deg": 8.0, + "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": 99 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000379/retargeted.hdf5" + }, + { + "clip_id": "electronics#1133", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "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": 3.67, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, + "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": 99 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-001133/retargeted.hdf5" + }, + { + "clip_id": "stationery#169", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "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": 0.23, + "ik_L_cm": 0.01, + "ori_R_deg": 0.0, + "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": 99 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000169/retargeted.hdf5" + }, + { + "clip_id": "blocks_shapes#812", + "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", + "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": 4.03, "ik_L_cm": 0.01, "ori_R_deg": 21.7, @@ -216216,52 +216648,68 @@ "clip_id": "dice_balls#926", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "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": 5.15, + "ik_L_cm": 2.34, + "ori_R_deg": 8.6, + "ori_L_deg": 3.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 97 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000926/retargeted.hdf5" }, { "clip_id": "electronics#14", @@ -216471,52 +216919,68 @@ "clip_id": "stationery#209", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 7.36, + "ik_L_cm": 0.01, + "ori_R_deg": 25.5, + "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": 97 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000209/retargeted.hdf5" }, { "clip_id": "stationery#876", @@ -217077,52 +217541,68 @@ "clip_id": "stationery#387", "task": "Pick up a white and red box of tape from the metal table and place it on a 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": 10.86, + "ik_L_cm": 0.06, + "ori_R_deg": 27.3, + "ori_L_deg": 0.1, + "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_stationery__file-000387/retargeted.hdf5" }, { "clip_id": "stationery#515", @@ -217195,103 +217675,135 @@ "clip_id": "stationery#784", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 8.12, + "ik_L_cm": 0.01, + "ori_R_deg": 29.5, + "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": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000784/retargeted.hdf5" }, { "clip_id": "stationery#822", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 13.84, + "ik_L_cm": 0.01, + "ori_R_deg": 32.6, + "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": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000822/retargeted.hdf5" }, { "clip_id": "stationery#866", @@ -217348,52 +217860,68 @@ "clip_id": "blocks_shapes#1035", "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", "n_frames": 93, - "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": 25.71, + "ik_L_cm": 0.0, + "ori_R_deg": 39.2, + "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": 93 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001035/retargeted.hdf5" }, { "clip_id": "dice_balls#73", @@ -217871,205 +218399,269 @@ "clip_id": "food#796", "task": "Pick up the donut from the tupperwear with the right hand and place it on the gray plate.", "n_frames": 91, - "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": 3.04, + "ik_L_cm": 4.06, + "ori_R_deg": 4.1, + "ori_L_deg": 5.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 91 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000796/retargeted.hdf5" }, { "clip_id": "stationery#474", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 91, - "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": 5.66, + "ik_L_cm": 0.01, + "ori_R_deg": 5.8, + "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": 91 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000474/retargeted.hdf5" }, { "clip_id": "electronics#335", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 10.67, + "ik_L_cm": 0.01, + "ori_R_deg": 33.0, + "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": 90 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000335/retargeted.hdf5" }, { "clip_id": "electronics#471", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 0.85, + "ik_L_cm": 22.67, + "ori_R_deg": 0.6, + "ori_L_deg": 21.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 90 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000471/retargeted.hdf5" }, { "clip_id": "blocks_shapes#643", @@ -218126,103 +218718,135 @@ "clip_id": "food#968", "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", "n_frames": 88, - "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": 9.98, + "ik_L_cm": 0.01, + "ori_R_deg": 24.8, + "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": 88 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000968/retargeted.hdf5" }, { "clip_id": "electronics#15", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 1.83, + "ik_L_cm": 18.46, + "ori_R_deg": 0.9, + "ori_L_deg": 22.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000015/retargeted.hdf5" }, { "clip_id": "electronics#307", @@ -218295,103 +218919,135 @@ "clip_id": "electronics#1131", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 6.47, + "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": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-001131/retargeted.hdf5" }, { "clip_id": "stationery#21", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 3.56, + "ik_L_cm": 0.02, + "ori_R_deg": 30.7, + "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": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000021/retargeted.hdf5" }, { "clip_id": "stationery#136", @@ -218598,52 +219254,68 @@ "clip_id": "electronics#912", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 3.41, + "ik_L_cm": 0.01, + "ori_R_deg": 2.3, + "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_electronics__file-000912/retargeted.hdf5" }, { "clip_id": "electronics#1060", @@ -218700,103 +219372,135 @@ "clip_id": "stationery#527", "task": "Pick up a white and red box of tape from the metal table and place it on a 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": 10.24, + "ik_L_cm": 0.01, + "ori_R_deg": 6.3, + "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": 86 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000527/retargeted.hdf5" }, { "clip_id": "stationery#611", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 8.59, + "ik_L_cm": 0.01, + "ori_R_deg": 21.9, + "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_stationery__file-000611/retargeted.hdf5" }, { "clip_id": "stationery#797", @@ -218904,52 +219608,68 @@ "clip_id": "electronics#63", "task": "Pick up the black mouse 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": 4.57, + "ik_L_cm": 0.02, + "ori_R_deg": 27.2, + "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": 85 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000063/retargeted.hdf5" }, { "clip_id": "electronics#195", @@ -219226,52 +219946,68 @@ "clip_id": "stationery#859", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 7.7, + "ik_L_cm": 0.01, + "ori_R_deg": 24.4, + "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": 85 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000859/retargeted.hdf5" }, { "clip_id": "dice_balls#702", @@ -219379,52 +220115,68 @@ "clip_id": "electronics#141", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 84, - "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": 5.57, + "ik_L_cm": 0.02, + "ori_R_deg": 3.4, + "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": 84 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000141/retargeted.hdf5" }, { "clip_id": "electronics#356", @@ -219481,159 +220233,207 @@ "clip_id": "electronics#476", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 84, - "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#639", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 84, - "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#775", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 84, - "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": "stationery#449", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 84, + "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": 7.0, + "ik_L_cm": 0.01, + "ori_R_deg": 36.9, + "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": 84 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000476/retargeted.hdf5" + }, + { + "clip_id": "electronics#639", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 84, + "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": 5.85, + "ik_L_cm": 0.01, + "ori_R_deg": 6.4, + "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": 84 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000639/retargeted.hdf5" + }, + { + "clip_id": "electronics#775", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 84, + "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": 1.62, + "ik_L_cm": 0.0, + "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": 84 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000775/retargeted.hdf5" + }, + { + "clip_id": "stationery#449", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 84, "status": "done", "stages": [ { @@ -219870,154 +220670,202 @@ "clip_id": "dice_balls#24", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange 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": 4.44, + "ik_L_cm": 2.15, + "ori_R_deg": 9.4, + "ori_L_deg": 3.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000024/retargeted.hdf5" }, { "clip_id": "electronics#365", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 5.58, + "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": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000365/retargeted.hdf5" }, { "clip_id": "electronics#499", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 5.7, + "ik_L_cm": 0.01, + "ori_R_deg": 21.3, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000499/retargeted.hdf5" }, { "clip_id": "food#426", @@ -220074,52 +220922,68 @@ "clip_id": "stationery#737", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 4.37, + "ik_L_cm": 0.27, + "ori_R_deg": 3.4, + "ori_L_deg": 0.4, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 82 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000737/retargeted.hdf5" }, { "clip_id": "blocks_shapes#351", @@ -220176,409 +221040,537 @@ "clip_id": "dice_balls#956", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange 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": 4.63, + "ik_L_cm": 9.26, + "ori_R_deg": 2.2, + "ori_L_deg": 13.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000956/retargeted.hdf5" }, { "clip_id": "electronics#56", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 5.43, + "ik_L_cm": 0.01, + "ori_R_deg": 20.4, + "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": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000056/retargeted.hdf5" }, { "clip_id": "electronics#171", "task": "Pick up the black mouse from the table with the right hand and place it in 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": 1.23, + "ik_L_cm": 0.0, + "ori_R_deg": 0.8, + "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": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000171/retargeted.hdf5" }, { "clip_id": "stationery#135", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 5.71, + "ik_L_cm": 0.02, + "ori_R_deg": 4.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000135/retargeted.hdf5" }, { "clip_id": "stationery#194", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 9.62, + "ik_L_cm": 0.02, + "ori_R_deg": 15.7, + "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": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000194/retargeted.hdf5" }, { "clip_id": "dice_balls#495", "task": "Pick up a yellow die from the metal table and place it into a tub.", "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": 5.24, + "ik_L_cm": 0.01, + "ori_R_deg": 17.1, + "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": 80 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000495/retargeted.hdf5" }, { "clip_id": "electronics#961", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 4.71, + "ik_L_cm": 0.01, + "ori_R_deg": 11.4, + "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": 80 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000961/retargeted.hdf5" }, { "clip_id": "food#936", "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", "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": 0.86, + "ik_L_cm": 6.87, + "ori_R_deg": 0.3, + "ori_L_deg": 14.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 80 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000936/retargeted.hdf5" }, { "clip_id": "stationery#700", @@ -220702,52 +221694,68 @@ "clip_id": "dice_balls#629", "task": "Pick up a yellow die from the metal table and place it into a tub.", "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": 2.43, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, + "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": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000629/retargeted.hdf5" }, { "clip_id": "electronics#718", @@ -220871,103 +221879,135 @@ "clip_id": "stationery#645", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 0.36, + "ik_L_cm": 0.02, + "ori_R_deg": 0.2, + "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": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000645/retargeted.hdf5" }, { "clip_id": "stationery#724", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 0.93, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, + "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": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000724/retargeted.hdf5" }, { "clip_id": "blocks_shapes#127", @@ -221024,154 +222064,202 @@ "clip_id": "dice_balls#632", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 78, - "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": 3.38, + "ik_L_cm": 0.01, + "ori_R_deg": 15.3, + "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": 78 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000632/retargeted.hdf5" }, { "clip_id": "dice_balls#757", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 78, - "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": 13.81, + "ik_L_cm": 0.21, + "ori_R_deg": 21.6, + "ori_L_deg": 0.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 78 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000757/retargeted.hdf5" }, { "clip_id": "electronics#239", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 78, - "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": 7.28, + "ik_L_cm": 0.0, + "ori_R_deg": 29.5, + "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": 78 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000239/retargeted.hdf5" }, { "clip_id": "electronics#1094", @@ -221330,358 +222418,470 @@ "clip_id": "stationery#755", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 78, - "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": 0.32, + "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": 78 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000755/retargeted.hdf5" }, { "clip_id": "dice_balls#173", "task": "Pick up a yellow die from the metal table and place it into a tub.", "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": 5.95, + "ik_L_cm": 0.02, + "ori_R_deg": 4.5, + "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": 77 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000173/retargeted.hdf5" }, { "clip_id": "electronics#368", "task": "Pick up the black mouse 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": 7.9, + "ik_L_cm": 0.01, + "ori_R_deg": 36.8, + "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": 77 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000368/retargeted.hdf5" }, { "clip_id": "stationery#656", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 4.56, + "ik_L_cm": 0.02, + "ori_R_deg": 0.9, + "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": 77 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000656/retargeted.hdf5" }, { "clip_id": "stationery#670", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 2.42, + "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": 77 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000670/retargeted.hdf5" }, { "clip_id": "electronics#139", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 76, - "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": 6.01, + "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": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 76 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000139/retargeted.hdf5" }, { "clip_id": "electronics#170", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 76, - "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": 3.97, + "ik_L_cm": 0.01, + "ori_R_deg": 36.7, + "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": 76 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000170/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1151", @@ -221738,307 +222938,403 @@ "clip_id": "dice_balls#11", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange 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": 2.72, + "ik_L_cm": 0.22, + "ori_R_deg": 3.5, + "ori_L_deg": 0.9, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000011/retargeted.hdf5" }, { "clip_id": "dice_balls#153", "task": "Pick up a yellow die from the metal table and place it into a tub.", "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": 4.86, + "ik_L_cm": 0.01, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000153/retargeted.hdf5" }, { "clip_id": "electronics#8", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 2.05, + "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": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000008/retargeted.hdf5" }, { "clip_id": "electronics#298", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 3.2, + "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": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000298/retargeted.hdf5" }, { "clip_id": "electronics#442", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 7.24, + "ik_L_cm": 0.01, + "ori_R_deg": 17.9, + "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": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000442/retargeted.hdf5" }, { "clip_id": "electronics#971", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 5.88, + "ik_L_cm": 0.01, + "ori_R_deg": 8.5, + "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": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000971/retargeted.hdf5" }, { "clip_id": "electronics#1098", @@ -222095,52 +223391,68 @@ "clip_id": "stationery#768", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 0.26, + "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": 75 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000768/retargeted.hdf5" }, { "clip_id": "blocks_shapes#26", @@ -222248,52 +223560,68 @@ "clip_id": "electronics#392", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 1.65, + "ik_L_cm": 0.01, + "ori_R_deg": 1.3, + "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": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000392/retargeted.hdf5" }, { "clip_id": "electronics#638", @@ -222401,52 +223729,68 @@ "clip_id": "stationery#316", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 0.22, + "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": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000316/retargeted.hdf5" }, { "clip_id": "stationery#395", @@ -222503,52 +223847,68 @@ "clip_id": "stationery#464", "task": "Pick up a white and red box of tape from the metal table and place it on a 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": 0.29, + "ik_L_cm": 0.02, + "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": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000464/retargeted.hdf5" }, { "clip_id": "blocks_shapes#647", @@ -222602,161 +223962,8 @@ "output": null }, { - "clip_id": "electronics#86", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 73, - "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#93", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 73, - "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#391", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 73, - "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": "stationery#428", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "electronics#86", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 73, "status": "running", "stages": [ @@ -222806,8 +224013,8 @@ "output": null }, { - "clip_id": "stationery#475", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "electronics#93", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 73, "status": "running", "stages": [ @@ -222857,162 +224064,210 @@ "output": null }, { - "clip_id": "stationery#694", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "electronics#391", + "task": "Pick up the black mouse 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": 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"key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.56, + "ik_L_cm": 0.02, + "ori_R_deg": 3.0, + "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_stationery__file-000508/retargeted.hdf5" }, { - "clip_id": "electronics#48", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "dice_balls#31", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 71, "status": "running", "stages": [ @@ -223367,59 +224686,75 @@ "output": null }, { - "clip_id": "electronics#1114", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "dice_balls#257", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 71, - "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": 4.17, + "ik_L_cm": 0.01, + "ori_R_deg": 0.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "PASS", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "PASS" + }, + "n_frames": 71 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000257/retargeted.hdf5" }, { - "clip_id": "stationery#773", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#428", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 71, "status": "running", "stages": [ @@ -223469,60 +224804,76 @@ "output": null }, { - "clip_id": "blocks_shapes#1164", - "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", - "n_frames": 70, - "status": "running", + "clip_id": "electronics#48", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 71, + "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": 2.7, + "ik_L_cm": 0.29, + "ori_R_deg": 1.7, + "ori_L_deg": 0.4, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 71 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000048/retargeted.hdf5" }, { - "clip_id": "electronics#641", + "clip_id": "electronics#1114", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 70, + "n_frames": 71, "status": "running", "stages": [ { @@ -223571,59 +224922,75 @@ "output": null }, { - "clip_id": "food#398", - "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", - "n_frames": 70, - "status": "running", + "clip_id": "stationery#773", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 71, + "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": 1.81, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, + "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": 71 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000773/retargeted.hdf5" }, { - "clip_id": "stationery#105", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "blocks_shapes#1164", + "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", "n_frames": 70, "status": "running", "stages": [ @@ -223673,8 +225040,8 @@ "output": null }, { - "clip_id": "stationery#145", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "electronics#641", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 70, "status": "running", "stages": [ @@ -223724,8 +225091,8 @@ "output": null }, { - "clip_id": "stationery#182", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "food#398", + "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", "n_frames": 70, "status": "running", "stages": [ @@ -223775,60 +225142,76 @@ "output": null }, { - "clip_id": "stationery#446", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "stationery#105", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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 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"n_frames": 69, + "clip_id": "stationery#145", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 70, "status": "running", "stages": [ { @@ -223877,110 +225260,142 @@ "output": null }, { - "clip_id": "dice_balls#797", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 69, - "status": "running", + "clip_id": "stationery#182", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 70, + "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": 4.56, + "ik_L_cm": 0.13, + "ori_R_deg": 0.1, + "ori_L_deg": 0.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 70 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000182/retargeted.hdf5" }, { - "clip_id": "dice_balls#836", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 69, - "status": "running", + "clip_id": "stationery#446", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 70, + "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": 0.91, + "ik_L_cm": 0.01, + "ori_R_deg": 0.2, + "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": 70 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000446/retargeted.hdf5" }, { - "clip_id": "electronics#1109", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "dice_balls#593", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 69, "status": "running", "stages": [ @@ -224030,8 +225445,8 @@ "output": null }, { - "clip_id": "stationery#3", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#797", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 69, "status": "running", "stages": [ @@ -224081,111 +225496,76 @@ "output": null }, { - "clip_id": "stationery#691", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "dice_balls#836", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 69, - "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": {}, - "error": null, - "output": null - }, - { - "clip_id": "blocks_shapes#1223", - "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", - "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" + "metrics": { + "ik_R_cm": 7.76, + "ik_L_cm": 0.01, + "ori_R_deg": 4.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, + "n_frames": 69 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000836/retargeted.hdf5" }, { - "clip_id": "dice_balls#4", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 68, + "clip_id": "electronics#1109", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 69, "status": "running", "stages": [ { @@ -224234,9 +225614,9 @@ "output": null }, { - "clip_id": "dice_balls#695", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 68, + "clip_id": "stationery#3", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 69, "status": "running", "stages": [ { @@ -224285,9 +225665,9 @@ "output": null }, { - "clip_id": "electronics#668", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 68, + "clip_id": "stationery#691", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 69, "status": "running", "stages": [ { @@ -224336,8 +225716,8 @@ "output": null }, { - "clip_id": "electronics#984", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "blocks_shapes#1223", + "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", "n_frames": 68, "status": "running", "stages": [ @@ -224387,59 +225767,75 @@ "output": null }, { - "clip_id": "stationery#2", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "dice_balls#4", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "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": 6.61, + "ik_L_cm": 0.01, + "ori_R_deg": 17.7, + "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": 68 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000004/retargeted.hdf5" }, { - "clip_id": "stationery#11", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#695", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 68, "status": "running", "stages": [ @@ -224489,8 +225885,8 @@ "output": null }, { - "clip_id": "stationery#635", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "electronics#668", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 68, "status": "running", "stages": [ @@ -224540,9 +225936,9 @@ "output": null }, { - "clip_id": "blocks_shapes#1146", - "task": "Pick up the red lego from the table with the left hand and place it in the green bowl.", - "n_frames": 67, + "clip_id": "electronics#984", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 68, "status": "running", "stages": [ { @@ -224591,59 +225987,209 @@ "output": null }, { - "clip_id": "dice_balls#320", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 67, - "status": "running", + "clip_id": "stationery#2", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 68, + "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": 1.2, + "ik_L_cm": 0.01, + "ori_R_deg": 0.2, + "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": 68 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000002/retargeted.hdf5" }, { - "clip_id": "dice_balls#563", - "task": "Pick up a yellow die from the metal table and place it into a tub.", + "clip_id": "stationery#11", + "task": "Pick up a white and red box of tape from the metal table and place it on a 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": 0.41, + "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": 68 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000011/retargeted.hdf5" + }, + { + "clip_id": "stationery#635", + "task": "Pick up a white and red box of tape from the metal table and place it on a 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": 3.4, + "ik_L_cm": 0.01, + "ori_R_deg": 0.2, + "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": 68 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000635/retargeted.hdf5" + }, + { + "clip_id": "blocks_shapes#1146", + "task": "Pick up the red lego from the table with the left hand and place it in the green bowl.", "n_frames": 67, "status": "running", "stages": [ @@ -224693,7 +226239,7 @@ "output": null }, { - "clip_id": "dice_balls#696", + "clip_id": "dice_balls#320", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 67, "status": "running", @@ -224744,8 +226290,8 @@ "output": null }, { - "clip_id": "stationery#211", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "dice_balls#563", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 67, "status": "running", "stages": [ @@ -224795,8 +226341,8 @@ "output": null }, { - "clip_id": "stationery#399", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#696", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 67, "status": "running", "stages": [ @@ -224846,7 +226392,7 @@ "output": null }, { - "clip_id": "stationery#499", + "clip_id": "stationery#211", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 67, "status": "running", @@ -224897,7 +226443,7 @@ "output": null }, { - "clip_id": "stationery#630", + "clip_id": "stationery#399", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "n_frames": 67, "status": "running", @@ -224948,8 +226494,8 @@ "output": null }, { - "clip_id": "stationery#878", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "stationery#499", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 67, "status": "running", "stages": [ @@ -224999,9 +226545,9 @@ "output": null }, { - "clip_id": "dice_balls#162", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 66, + "clip_id": "stationery#630", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 67, "status": "running", "stages": [ { @@ -225050,9 +226596,9 @@ "output": null }, { - "clip_id": "stationery#744", + "clip_id": "stationery#878", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", - "n_frames": 66, + "n_frames": 67, "status": "running", "stages": [ { @@ -225101,9 +226647,9 @@ "output": null }, { - "clip_id": "dice_balls#98", + "clip_id": "dice_balls#162", "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 65, + "n_frames": 66, "status": "running", "stages": [ { @@ -225152,7 +226698,74 @@ "output": null }, { - "clip_id": "dice_balls#240", + "clip_id": "stationery#744", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 66, + "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": 0.26, + "ik_L_cm": 0.02, + "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": 66 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000744/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#98", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 65, "status": "running", @@ -225203,7 +226816,7 @@ "output": null }, { - "clip_id": "dice_balls#303", + "clip_id": "dice_balls#240", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 65, "status": "running", @@ -225254,8 +226867,8 @@ "output": null }, { - "clip_id": "stationery#67", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "dice_balls#303", + "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 65, "status": "running", "stages": [ @@ -225304,6 +226917,73 @@ "error": null, "output": null }, + { + "clip_id": "stationery#67", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 65, + "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": 0.55, + "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": 65 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000067/retargeted.hdf5" + }, { "clip_id": "dice_balls#498", "task": "Pick up a yellow die from the metal table and place it into a tub.", @@ -225359,103 +227039,135 @@ "clip_id": "stationery#170", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 2.34, + "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": 64 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000170/retargeted.hdf5" }, { "clip_id": "stationery#323", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 1.52, + "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": 64 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000323/retargeted.hdf5" }, { "clip_id": "stationery#467", @@ -226277,52 +227989,68 @@ "clip_id": "stationery#540", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 60, - "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": 0.21, + "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": 60 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000540/retargeted.hdf5" }, { "clip_id": "stationery#579",