diff --git "a/report.json" "b/report.json" --- "a/report.json" +++ "b/report.json" @@ -1396,52 +1396,68 @@ "clip_id": "tools#894", "task": "Pick up the black screwdriver from the metal table and place it in the speaker case.", "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": 6.96, + "ik_L_cm": 0.04, + "ori_R_deg": 23.5, + "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": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000894/retargeted.hdf5" }, { "clip_id": "tools#634", @@ -15239,52 +15255,68 @@ "clip_id": "tools#483", "task": "Pick up a blue screw from the table and place it in the yellow bowl.", "n_frames": 99, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.02, + "ik_L_cm": 7.45, + "ori_R_deg": 0.0, + "ori_L_deg": 6.9, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 99 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000483/retargeted.hdf5" }, { "clip_id": "tools#932", @@ -20474,52 +20506,68 @@ "clip_id": "household#248", "task": "Pick up the clear Tupperware from the orange bowl with the right hand and place it onto the clear Tupperware.", "n_frames": 118, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.48, + "ik_L_cm": 0.84, + "ori_R_deg": 5.3, + "ori_L_deg": 1.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 118 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000248/retargeted.hdf5" }, { "clip_id": "household#901", @@ -98177,52 +98225,68 @@ "clip_id": "electronics#557", "task": "Pick up a white AirPods case from the metal table and place it in the dresser.", "n_frames": 99, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 7.01, + "ik_L_cm": 5.61, + "ori_R_deg": 1.5, + "ori_L_deg": 7.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 99 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000557/retargeted.hdf5" }, { "clip_id": "electronics#707", @@ -98882,52 +98946,68 @@ "clip_id": "electronics#1071", "task": "Pick up the AirPod case from the clear tupperwear with the right hand and place it on the yellow bowl.", "n_frames": 98, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.22, + "ik_L_cm": 2.39, + "ori_R_deg": 7.7, + "ori_L_deg": 3.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-001071/retargeted.hdf5" }, { "clip_id": "tools#511", @@ -106137,57 +106217,6 @@ "clip_id": "electronics#130", "task": "Pick up a white usb from the cup and place it in the bowl.", "n_frames": 80, - "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#630", - "task": "Pick up a white usb from the cup and place it in the bowl.", - "n_frames": 80, "status": "done", "stages": [ { @@ -106232,9 +106261,9 @@ } ], "metrics": { - "ik_R_cm": 26.65, + "ik_R_cm": 10.06, "ik_L_cm": 0.01, - "ori_R_deg": 39.7, + "ori_R_deg": 12.0, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -106242,18 +106271,18 @@ "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "FAIL", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, "n_frames": 80 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-000630/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-000130/retargeted.hdf5" }, { - "clip_id": "electronics#1032", - "task": "Pick up a white AirPods case from the metal table and place it in the dresser.", + "clip_id": "electronics#630", + "task": "Pick up a white usb from the cup and place it in the bowl.", "n_frames": 80, "status": "done", "stages": [ @@ -106299,9 +106328,9 @@ } ], "metrics": { - "ik_R_cm": 12.25, + "ik_R_cm": 26.65, "ik_L_cm": 0.01, - "ori_R_deg": 16.1, + "ori_R_deg": 39.7, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -106309,18 +106338,18 @@ "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "WARN", + "orientation": "FAIL", "arms": "PASS", "motion": "FAIL" }, "n_frames": 80 }, "error": null, - "output": "/workspace/transform/retargeted/clip_electronics__file-001032/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-000630/retargeted.hdf5" }, { - "clip_id": "tools#108", - "task": "Pick up a green wrench from the metal table and place it in the tool box.", + "clip_id": "electronics#1032", + "task": "Pick up a white AirPods case from the metal table and place it in the dresser.", "n_frames": 80, "status": "done", "stages": [ @@ -106366,9 +106395,9 @@ } ], "metrics": { - "ik_R_cm": 12.0, - "ik_L_cm": 0.02, - "ori_R_deg": 26.0, + "ik_R_cm": 12.25, + "ik_L_cm": 0.01, + "ori_R_deg": 16.1, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", @@ -106383,10 +106412,77 @@ "n_frames": 80 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000108/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_electronics__file-001032/retargeted.hdf5" }, { - "clip_id": "tools#818", + "clip_id": "tools#108", + "task": "Pick up a green wrench from the metal table and place it in the tool box.", + "n_frames": 80, + "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": 12.0, + "ik_L_cm": 0.02, + "ori_R_deg": 26.0, + "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": 80 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_tools__file-000108/retargeted.hdf5" + }, + { + "clip_id": "tools#818", "task": "Pick up a green wrench from the metal table and place it in the tool box.", "n_frames": 80, "status": "done", @@ -116391,52 +116487,68 @@ "clip_id": "tools#1003", "task": "Pick up the wooden bolt from the gray tray with the right hand and place it into the pink bowl.", "n_frames": 342, - "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": 3.58, + "ik_L_cm": 0.01, + "ori_R_deg": 16.0, + "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": 342 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-001003/retargeted.hdf5" }, { "clip_id": "tools#404", @@ -118557,52 +118669,68 @@ "clip_id": "tools#21", "task": "Pick up the wooden bolt from the gray tray with the right hand and place it into the pink bowl.", "n_frames": 273, - "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": 1.99, + "ik_L_cm": 0.0, + "ori_R_deg": 4.1, + "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": 273 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000021/retargeted.hdf5" }, { "clip_id": "dice_balls#480", @@ -126482,52 +126610,68 @@ "clip_id": "tools#354", "task": "Pick up the beige and red screw from the table with the right hand and place it into the green bowl.", "n_frames": 92, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.2, + "ik_L_cm": 17.83, + "ori_R_deg": 0.1, + "ori_L_deg": 27.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 92 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000354/retargeted.hdf5" }, { "clip_id": "electronics#112", @@ -127924,52 +128068,68 @@ "clip_id": "stationery#502", "task": "Pick up a white box of staples from the drawer and place it in a box.", "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": 6.93, + "ik_L_cm": 0.01, + "ori_R_deg": 7.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 88 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000502/retargeted.hdf5" }, { "clip_id": "tools#385", @@ -140612,57 +140772,73 @@ "clip_id": "stationery#90", "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", "n_frames": 139, - "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#868", - "task": "Pick up the sanitizer from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 138, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 9.96, + "ik_L_cm": 15.02, + "ori_R_deg": 4.3, + "ori_L_deg": 8.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 139 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000090/retargeted.hdf5" + }, + { + "clip_id": "household#868", + "task": "Pick up the sanitizer from the light blue bowl with the right hand and place it on the tray.", + "n_frames": 138, "status": "done", "stages": [ { @@ -143349,52 +143525,68 @@ "clip_id": "stationery#151", "task": "Pick up the red sharpie from the orange bowl with the right hand and place it onto the clear tupperwear.", "n_frames": 118, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 9.65, + "ik_L_cm": 8.12, + "ori_R_deg": 1.5, + "ori_L_deg": 17.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 118 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000151/retargeted.hdf5" }, { "clip_id": "blocks_shapes#109", @@ -143837,52 +144029,68 @@ "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": "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": 0.04, + "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": null + "output": "/workspace/transform/retargeted/clip_tools__file-000527/retargeted.hdf5" }, { "clip_id": "household#214", @@ -144558,52 +144766,68 @@ "clip_id": "blocks_shapes#644", "task": "Pick up the wood block from the gray plate with the right hand and place it on the tupperwear.", "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": 14.37, + "ik_L_cm": 14.31, + "ori_R_deg": 12.6, + "ori_L_deg": 29.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 109 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000644/retargeted.hdf5" }, { "clip_id": "plush_toys#241", @@ -161422,52 +161646,68 @@ "clip_id": "electronics#670", "task": "Pick up a black mouse from the metal table and place it in the black case.", "n_frames": 156, - "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": 0.01, + "ori_R_deg": 6.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 156 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000670/retargeted.hdf5" }, { "clip_id": "electronics#1145", @@ -163620,57 +163860,73 @@ "clip_id": "electronics#352", "task": "Pick up a black mouse from the metal table and place it in the black case.", "n_frames": 137, - "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#924", - "task": "Pick up a black mouse from the metal table and place it in the black case.", - "n_frames": 136, + "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": 1.46, + "ik_L_cm": 0.02, + "ori_R_deg": 3.5, + "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": 137 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_electronics__file-000352/retargeted.hdf5" + }, + { + "clip_id": "electronics#924", + "task": "Pick up a black mouse from the metal table and place it in the black case.", + "n_frames": 136, "status": "done", "stages": [ { @@ -167662,52 +167918,68 @@ "clip_id": "plush_toys#590", "task": "Pick up the white duck from the wooden table with the right hand and place it on the tupperwear.", "n_frames": 96, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.89, + "ik_L_cm": 18.55, + "ori_R_deg": 2.8, + "ori_L_deg": 35.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 96 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_plush_toys__file-000590/retargeted.hdf5" }, { "clip_id": "food#739", @@ -168166,52 +168438,68 @@ "clip_id": "food#36", "task": "Pick up the lime from the gray bowl with the right hand and place it on the tupperwear.", "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": 3.39, + "ik_L_cm": 1.73, + "ori_R_deg": 5.6, + "ori_L_deg": 2.4, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 90 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000036/retargeted.hdf5" }, { "clip_id": "food#388", @@ -168686,52 +168974,68 @@ "clip_id": "food#478", "task": "Pick up the lime from the gray bowl with the right hand and place it on the tupperwear.", "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": 9.3, + "ik_L_cm": 12.54, + "ori_R_deg": 11.3, + "ori_L_deg": 7.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 85 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000478/retargeted.hdf5" }, { "clip_id": "plush_toys#1038", @@ -172792,52 +173096,68 @@ "clip_id": "electronics#135", "task": "Pick up the white remote from the black plate with the right hand and place it on the metal bowl.", "n_frames": 65, - "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": 5.26, + "ik_L_cm": 0.99, + "ori_R_deg": 5.2, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 65 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000135/retargeted.hdf5" }, { "clip_id": "blocks_shapes#788", @@ -178681,57 +179001,73 @@ "clip_id": "blocks_shapes#890", "task": "Pick up an orange triangle block from the dark blue bowl and place it in the container lid.", "n_frames": 172, - "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#1079", - "task": "Pick up a grey remote from a speaker case and place it in a black box.", - "n_frames": 170, + "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": 2.58, + "ik_L_cm": 6.43, + "ori_R_deg": 3.0, + "ori_L_deg": 7.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 172 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000890/retargeted.hdf5" + }, + { + "clip_id": "electronics#1079", + "task": "Pick up a grey remote from a speaker case and place it in a black box.", + "n_frames": 170, "status": "done", "stages": [ { @@ -189463,52 +189799,68 @@ "clip_id": "tools#62", "task": "Pick up a blue brush from the metal table and place it on the baking tray.", "n_frames": 106, - "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": 3.73, + "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": 106 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000062/retargeted.hdf5" }, { "clip_id": "tools#417", @@ -190621,52 +190973,68 @@ "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": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 18.5, + "ik_L_cm": 0.02, + "ori_R_deg": 26.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000216/retargeted.hdf5" }, { "clip_id": "electronics#723", @@ -195221,52 +195589,68 @@ "clip_id": "household#977", "task": "Pick up the small cup from the tupperwear with the right hand and place it on the yellow bowl.", "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": 3.86, + "ik_L_cm": 4.14, + "ori_R_deg": 8.2, + "ori_L_deg": 12.5, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 85 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000977/retargeted.hdf5" }, { "clip_id": "tools#648", @@ -196781,52 +197165,68 @@ "clip_id": "dice_balls#493", "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "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": 13.19, + "ik_L_cm": 1.22, + "ori_R_deg": 41.0, + "ori_L_deg": 0.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 81 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000493/retargeted.hdf5" }, { "clip_id": "dice_balls#639", @@ -197872,57 +198272,73 @@ "clip_id": "household#940", "task": "Pick up the small cup from the tupperwear with the right hand and place it on the yellow bowl.", "n_frames": 78, - "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#606", - "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", - "n_frames": 77, + "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": 0.29, + "ik_L_cm": 18.75, + "ori_R_deg": 4.4, + "ori_L_deg": 19.6, + "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": "/workspace/transform/retargeted/clip_household__file-000940/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#606", + "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", + "n_frames": 77, "status": "done", "stages": [ { @@ -198695,52 +199111,68 @@ "clip_id": "dice_balls#466", "task": "Pick up the green dice from the metal table with the right hand and place it onto the yellow plate.", "n_frames": 74, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.6, + "ik_L_cm": 13.12, + "ori_R_deg": 0.1, + "ori_L_deg": 31.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 74 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000466/retargeted.hdf5" }, { "clip_id": "dice_balls#500", @@ -200574,52 +201006,68 @@ "clip_id": "blocks_shapes#922", "task": "Pick up the big white block from the table with the right hand and place it into the yellow bowl.", "n_frames": 61, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.96, + "ik_L_cm": 19.33, + "ori_R_deg": 26.6, + "ori_L_deg": 26.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 61 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000922/retargeted.hdf5" }, { "clip_id": "dice_balls#953", @@ -202503,103 +202951,135 @@ "clip_id": "puzzle#63", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 348, - "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": 0.4, + "ik_L_cm": 0.53, + "ori_R_deg": 1.6, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 348 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000063/retargeted.hdf5" }, { "clip_id": "household#700", "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", "n_frames": 305, - "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": 3.14, + "ik_L_cm": 0.0, + "ori_R_deg": 10.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 305 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000700/retargeted.hdf5" }, { "clip_id": "household#752", @@ -202927,57 +203407,73 @@ "clip_id": "puzzle#25", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 300, - "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#52", - "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 300, + "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": 0.4, + "ik_L_cm": 0.44, + "ori_R_deg": 0.2, + "ori_L_deg": 2.4, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 300 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_puzzle__file-000025/retargeted.hdf5" + }, + { + "clip_id": "puzzle#52", + "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", + "n_frames": 300, "status": "done", "stages": [ { @@ -203096,52 +203592,68 @@ "clip_id": "puzzle#67", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 300, - "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": 32.57, + "ik_L_cm": 4.52, + "ori_R_deg": 38.6, + "ori_L_deg": 4.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 300 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000067/retargeted.hdf5" }, { "clip_id": "puzzle#82", @@ -204464,108 +204976,6 @@ "clip_id": "puzzle#122", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 280, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "blocks_shapes#86", - "task": "Pick up the green block from the table with the right hand and place it into the blue bowl.", - "n_frames": 374, - "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#229", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 278, "status": "done", "stages": [ { @@ -204610,95 +205020,213 @@ } ], "metrics": { - "ik_R_cm": 0.01, - "ik_L_cm": 5.14, - "ori_R_deg": 0.0, - "ori_L_deg": 3.1, + "ik_R_cm": 0.83, + "ik_L_cm": 0.76, + "ori_R_deg": 0.5, + "ori_L_deg": 0.5, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 278 + "n_frames": 280 }, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000229/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_puzzle__file-000122/retargeted.hdf5" }, { - "clip_id": "dice_balls#784", - "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", - "n_frames": 278, - "status": "done", + "clip_id": "blocks_shapes#86", + "task": "Pick up the green block from the table with the right hand and place it into the blue bowl.", + "n_frames": 374, + "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": 5.27, - "ori_R_deg": 0.0, - "ori_L_deg": 30.1, - "collision": "clean", - "qa": "FAIL", - "qa_motion": "WARN", - "dof": 14, - "qa_components": { - "tracking": "WARN", - "orientation": "FAIL", - "arms": "PASS", - "motion": "WARN" - }, - "n_frames": 278 - }, + "metrics": {}, "error": null, - "output": "/workspace/transform/retargeted/clip_dice_balls__file-000784/retargeted.hdf5" + "output": null }, { - "clip_id": "household#177", - "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", + "clip_id": "dice_balls#229", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 278, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.01, + "ik_L_cm": 5.14, + "ori_R_deg": 0.0, + "ori_L_deg": 3.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 278 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000229/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#784", + "task": "Pick up the blue dice from the turquoise basket with the left hand and place it into the silver bowl.", + "n_frames": 278, + "status": "done", + "stages": [ + { + "key": "load", + "label": "Reading human demo", + "status": "done" + }, + { + "key": "retarget", + "label": "Retargeting motion to robot", + "status": "done" + }, + { + "key": "base", + "label": "Placing the robot", + "status": "done" + }, + { + "key": "ik", + "label": "Solving arm joints (IK)", + "status": "done" + }, + { + "key": "collision", + "label": "Checking arm collisions", + "status": "done" + }, + { + "key": "smooth", + "label": "Smoothing trajectory", + "status": "done" + }, + { + "key": "qa", + "label": "Quality check", + "status": "done" + }, + { + "key": "output", + "label": "Saving robot trajectory", + "status": "done" + } + ], + "metrics": { + "ik_R_cm": 0.01, + "ik_L_cm": 5.27, + "ori_R_deg": 0.0, + "ori_L_deg": 30.1, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "FAIL", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 278 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000784/retargeted.hdf5" + }, + { + "clip_id": "household#177", + "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", "n_frames": 278, "status": "done", "stages": [ @@ -204952,52 +205480,68 @@ "clip_id": "household#870", "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", "n_frames": 276, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 14.85, + "ik_L_cm": 0.54, + "ori_R_deg": 44.4, + "ori_L_deg": 0.8, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 276 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_household__file-000870/retargeted.hdf5" }, { "clip_id": "dice_balls#431", @@ -205915,108 +206459,140 @@ "clip_id": "puzzle#147", "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", "n_frames": 257, - "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": 0.38, + "ik_L_cm": 0.98, + "ori_R_deg": 0.6, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 257 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_puzzle__file-000147/retargeted.hdf5" }, { "clip_id": "household#225", "task": "Pick up the hand sanitizer bottle from the pink bowl with the right hand and place it on the gray tray.", "n_frames": 398, - "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#13", - "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", - "n_frames": 254, + "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": 5.06, + "ik_L_cm": 0.0, + "ori_R_deg": 4.4, + "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": 398 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_household__file-000225/retargeted.hdf5" + }, + { + "clip_id": "puzzle#13", + "task": "Pick up the puzzle pieces from the wooden table with the right hand and assemble the puzzle.", + "n_frames": 254, "status": "running", "stages": [ { @@ -208029,57 +208605,6 @@ "clip_id": "blocks_shapes#1093", "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", "n_frames": 155, - "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#237", - "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 155, "status": "done", "stages": [ { @@ -208124,29 +208649,29 @@ } ], "metrics": { - "ik_R_cm": 7.47, - "ik_L_cm": 0.1, - "ori_R_deg": 12.2, - "ori_L_deg": 0.1, + "ik_R_cm": 4.83, + "ik_L_cm": 0.01, + "ori_R_deg": 42.9, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", - "qa_motion": "WARN", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "FAIL", - "orientation": "PASS", + "tracking": "WARN", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 155 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000237/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001093/retargeted.hdf5" }, { - "clip_id": "stationery#580", + "clip_id": "stationery#237", "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 154, + "n_frames": 155, "status": "done", "stages": [ { @@ -208191,147 +208716,214 @@ } ], "metrics": { - "ik_R_cm": 8.58, - "ik_L_cm": 0.47, - "ori_R_deg": 5.5, - "ori_L_deg": 1.3, + "ik_R_cm": 7.47, + "ik_L_cm": 0.1, + "ori_R_deg": 12.2, + "ori_L_deg": 0.1, "collision": "clean", "qa": "FAIL", - "qa_motion": "FAIL", - "dof": 14, - "qa_components": { - "tracking": "FAIL", - "orientation": "PASS", - "arms": "PASS", - "motion": "FAIL" - }, - "n_frames": 154 - }, - "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000580/retargeted.hdf5" - }, - { - "clip_id": "blocks_shapes#478", - "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", - "n_frames": 152, - "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": 3.16, - "ik_L_cm": 0.01, - "ori_R_deg": 1.6, - "ori_L_deg": 0.0, - "collision": "clean", - "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 152 + "n_frames": 155 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000478/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000237/retargeted.hdf5" }, { - "clip_id": "stationery#871", + "clip_id": "stationery#580", "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 151, - "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#420", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 150, + "n_frames": 154, + "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": 8.58, + "ik_L_cm": 0.47, + "ori_R_deg": 5.5, + "ori_L_deg": 1.3, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 154 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000580/retargeted.hdf5" + }, + { + "clip_id": "blocks_shapes#478", + "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", + "n_frames": 152, + "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": 3.16, + "ik_L_cm": 0.01, + "ori_R_deg": 1.6, + "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": 152 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000478/retargeted.hdf5" + }, + { + "clip_id": "stationery#871", + "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", + "n_frames": 151, + "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#420", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 150, "status": "done", "stages": [ { @@ -209091,57 +209683,6 @@ "clip_id": "blocks_shapes#140", "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", "n_frames": 137, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "blocks_shapes#207", - "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", - "n_frames": 137, "status": "done", "stages": [ { @@ -209186,28 +209727,28 @@ } ], "metrics": { - "ik_R_cm": 6.35, - "ik_L_cm": 0.01, - "ori_R_deg": 3.3, - "ori_L_deg": 0.0, + "ik_R_cm": 7.19, + "ik_L_cm": 0.19, + "ori_R_deg": 27.9, + "ori_L_deg": 0.3, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "FAIL", - "orientation": "PASS", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, "n_frames": 137 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000207/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000140/retargeted.hdf5" }, { - "clip_id": "tools#793", - "task": "Pick up a blue brush from the metal table and place it in the cup.", + "clip_id": "blocks_shapes#207", + "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", "n_frames": 137, "status": "done", "stages": [ @@ -209253,29 +209794,96 @@ } ], "metrics": { - "ik_R_cm": 5.53, + "ik_R_cm": 6.35, "ik_L_cm": 0.01, - "ori_R_deg": 29.3, + "ori_R_deg": 3.3, "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", - "orientation": "WARN", + "tracking": "FAIL", + "orientation": "PASS", "arms": "PASS", "motion": "FAIL" }, "n_frames": 137 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000793/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000207/retargeted.hdf5" }, { - "clip_id": "stationery#54", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 136, + "clip_id": "tools#793", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 137, + "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": 5.53, + "ik_L_cm": 0.01, + "ori_R_deg": 29.3, + "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": 137 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_tools__file-000793/retargeted.hdf5" + }, + { + "clip_id": "stationery#54", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 136, "status": "done", "stages": [ { @@ -209847,159 +210455,6 @@ "clip_id": "stationery#654", "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", "n_frames": 130, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "blocks_shapes#1250", - "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", - "n_frames": 129, - "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#893", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 129, - "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#20", - "task": "Pick up a blue brush from the metal table and place it in the cup.", - "n_frames": 129, "status": "done", "stages": [ { @@ -210044,28 +210499,28 @@ } ], "metrics": { - "ik_R_cm": 3.21, - "ik_L_cm": 0.01, - "ori_R_deg": 0.7, - "ori_L_deg": 0.0, + "ik_R_cm": 1.82, + "ik_L_cm": 9.87, + "ori_R_deg": 1.4, + "ori_L_deg": 10.3, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "FAIL", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 129 + "n_frames": 130 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000020/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000654/retargeted.hdf5" }, { - "clip_id": "tools#789", - "task": "Pick up a blue brush from the metal table and place it in the cup.", + "clip_id": "blocks_shapes#1250", + "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", "n_frames": 129, "status": "done", "stages": [ @@ -210111,29 +210566,29 @@ } ], "metrics": { - "ik_R_cm": 5.4, - "ik_L_cm": 0.01, - "ori_R_deg": 12.6, - "ori_L_deg": 0.0, + "ik_R_cm": 2.27, + "ik_L_cm": 1.39, + "ori_R_deg": 1.6, + "ori_L_deg": 2.1, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 129 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000789/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001250/retargeted.hdf5" }, { - "clip_id": "stationery#271", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", - "n_frames": 128, + "clip_id": "stationery#893", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 129, "status": "done", "stages": [ { @@ -210178,182 +210633,230 @@ } ], "metrics": { - "ik_R_cm": 0.1, + "ik_R_cm": 7.7, "ik_L_cm": 0.01, - "ori_R_deg": 0.0, + "ori_R_deg": 38.6, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 128 + "n_frames": 129 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000271/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000893/retargeted.hdf5" }, { - "clip_id": "stationery#897", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 128, - "status": "running", + "clip_id": "tools#20", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 129, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.21, + "ik_L_cm": 0.01, + "ori_R_deg": 0.7, + "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": 129 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000020/retargeted.hdf5" }, { - "clip_id": "stationery#398", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 127, - "status": "running", + "clip_id": "tools#789", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 129, + "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": 5.4, + "ik_L_cm": 0.01, + "ori_R_deg": 12.6, + "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": 129 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000789/retargeted.hdf5" }, { - "clip_id": "stationery#683", - "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 127, - "status": "running", + "clip_id": "stationery#271", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 128, + "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": 0.1, + "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": 128 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000271/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1", - "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", - "n_frames": 125, + "clip_id": "stationery#897", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 128, "status": "done", "stages": [ { @@ -210398,29 +210901,29 @@ } ], "metrics": { - "ik_R_cm": 0.08, - "ik_L_cm": 0.22, - "ori_R_deg": 0.0, - "ori_L_deg": 0.3, + "ik_R_cm": 5.08, + "ik_L_cm": 0.01, + "ori_R_deg": 28.6, + "ori_L_deg": 0.0, "collision": "clean", "qa": "FAIL", "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "WARN", + "orientation": "WARN", "arms": "PASS", "motion": "FAIL" }, - "n_frames": 125 + "n_frames": 128 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000001/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000897/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#677", - "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", - "n_frames": 125, + "clip_id": "stationery#398", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 127, "status": "done", "stages": [ { @@ -210465,29 +210968,29 @@ } ], "metrics": { - "ik_R_cm": 0.79, + "ik_R_cm": 8.66, "ik_L_cm": 0.01, - "ori_R_deg": 0.2, + "ori_R_deg": 20.6, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", + "qa": "FAIL", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "WARN", "arms": "PASS", "motion": "WARN" }, - "n_frames": 125 + "n_frames": 127 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000677/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000398/retargeted.hdf5" }, { - "clip_id": "stationery#517", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 125, + "clip_id": "stationery#683", + "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", + "n_frames": 127, "status": "running", "stages": [ { @@ -210536,9 +211039,9 @@ "output": null }, { - "clip_id": "stationery#121", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", - "n_frames": 124, + "clip_id": "blocks_shapes#1", + "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", + "n_frames": 125, "status": "done", "stages": [ { @@ -210583,80 +211086,29 @@ } ], "metrics": { - "ik_R_cm": 2.67, - "ik_L_cm": 0.01, - "ori_R_deg": 0.5, - "ori_L_deg": 0.0, + "ik_R_cm": 0.08, + "ik_L_cm": 0.22, + "ori_R_deg": 0.0, + "ori_L_deg": 0.3, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { "tracking": "PASS", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 124 + "n_frames": 125 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000121/retargeted.hdf5" - }, - { - "clip_id": "blocks_shapes#504", - "task": "Pick up the ice cube from the gray bowl with the right hand and place it in the blue bowl.", - "n_frames": 123, - "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_blocks_shapes__file-000001/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#918", + "clip_id": "blocks_shapes#677", "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", - "n_frames": 123, + "n_frames": 125, "status": "done", "stages": [ { @@ -210701,9 +211153,9 @@ } ], "metrics": { - "ik_R_cm": 1.26, + "ik_R_cm": 0.79, "ik_L_cm": 0.01, - "ori_R_deg": 0.1, + "ori_R_deg": 0.2, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", @@ -210715,66 +211167,82 @@ "arms": "PASS", "motion": "WARN" }, - "n_frames": 123 + "n_frames": 125 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000918/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000677/retargeted.hdf5" }, { - "clip_id": "stationery#26", + "clip_id": "stationery#517", "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 123, - "status": "running", + "n_frames": 125, + "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": 6.22, + "ik_L_cm": 0.02, + "ori_R_deg": 4.5, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 125 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000517/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#577", - "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", - "n_frames": 122, + "clip_id": "stationery#121", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 124, "status": "done", "stages": [ { @@ -210819,9 +211287,9 @@ } ], "metrics": { - "ik_R_cm": 0.75, - "ik_L_cm": 0.0, - "ori_R_deg": 0.7, + "ik_R_cm": 2.67, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", @@ -210833,15 +211301,15 @@ "arms": "PASS", "motion": "WARN" }, - "n_frames": 122 + "n_frames": 124 }, "error": null, - "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000577/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000121/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#629", + "clip_id": "blocks_shapes#504", "task": "Pick up the ice cube from the gray bowl with the right hand and place it in the blue bowl.", - "n_frames": 122, + "n_frames": 123, "status": "running", "stages": [ { @@ -210890,60 +211358,76 @@ "output": null }, { - "clip_id": "stationery#133", - "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 122, - "status": "running", + "clip_id": "blocks_shapes#918", + "task": "Pick up a green magnetic square from the green bowl and place it on the large container lid.", + "n_frames": 123, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 1.26, + "ik_L_cm": 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": 123 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000918/retargeted.hdf5" }, { - "clip_id": "stationery#772", + "clip_id": "stationery#26", "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 122, + "n_frames": 123, "status": "done", "stages": [ { @@ -210988,29 +211472,29 @@ } ], "metrics": { - "ik_R_cm": 2.1, - "ik_L_cm": 0.01, - "ori_R_deg": 1.3, + "ik_R_cm": 13.78, + "ik_L_cm": 0.02, + "ori_R_deg": 30.1, "ori_L_deg": 0.0, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", - "orientation": "PASS", + "tracking": "FAIL", + "orientation": "FAIL", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, - "n_frames": 122 + "n_frames": 123 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000772/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000026/retargeted.hdf5" }, { - "clip_id": "stationery#335", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 121, + "clip_id": "blocks_shapes#577", + "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", + "n_frames": 122, "status": "done", "stages": [ { @@ -211055,9 +211539,9 @@ } ], "metrics": { - "ik_R_cm": 0.41, - "ik_L_cm": 0.01, - "ori_R_deg": 0.1, + "ik_R_cm": 0.75, + "ik_L_cm": 0.0, + "ori_R_deg": 0.7, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", @@ -211069,15 +211553,15 @@ "arms": "PASS", "motion": "WARN" }, - "n_frames": 121 + "n_frames": 122 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000335/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000577/retargeted.hdf5" }, { - "clip_id": "stationery#757", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 120, + "clip_id": "blocks_shapes#629", + "task": "Pick up the ice cube from the gray bowl with the right hand and place it in the blue bowl.", + "n_frames": 122, "status": "running", "stages": [ { @@ -211126,60 +211610,76 @@ "output": null }, { - "clip_id": "stationery#101", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 119, - "status": "running", + "clip_id": "stationery#133", + "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", + "n_frames": 122, + "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": 4.84, + "ik_L_cm": 11.17, + "ori_R_deg": 6.8, + "ori_L_deg": 11.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 122 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000133/retargeted.hdf5" }, { - "clip_id": "tools#361", - "task": "Pick up a blue brush from the metal table and place it in the cup.", - "n_frames": 119, + "clip_id": "stationery#772", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 122, "status": "done", "stages": [ { @@ -211224,80 +211724,96 @@ } ], "metrics": { - "ik_R_cm": 3.67, - "ik_L_cm": 0.0, - "ori_R_deg": 2.2, + "ik_R_cm": 2.1, + "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": "WARN", + "tracking": "PASS", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 119 + "n_frames": 122 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000361/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000772/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#980", - "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", - "n_frames": 118, - "status": "running", + "clip_id": "stationery#335", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 121, + "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": 0.41, + "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": 121 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000335/retargeted.hdf5" }, { - "clip_id": "stationery#186", + "clip_id": "stationery#757", "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 118, + "n_frames": 120, "status": "running", "stages": [ { @@ -211346,9 +211862,9 @@ "output": null }, { - "clip_id": "stationery#417", + "clip_id": "stationery#101", "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 118, + "n_frames": 119, "status": "done", "stages": [ { @@ -211393,335 +211909,431 @@ } ], "metrics": { - "ik_R_cm": 1.25, - "ik_L_cm": 0.04, - "ori_R_deg": 0.2, + "ik_R_cm": 5.36, + "ik_L_cm": 0.01, + "ori_R_deg": 2.2, "ori_L_deg": 0.0, "collision": "clean", "qa": "WARN", "qa_motion": "WARN", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", "motion": "WARN" }, - "n_frames": 118 + "n_frames": 119 }, "error": null, - "output": "/workspace/transform/retargeted/clip_stationery__file-000417/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_stationery__file-000101/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#1079", - "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", - "n_frames": 117, - "status": "running", + "clip_id": "tools#361", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 119, + "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" 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stapler from the metal table and place it in the box lid.", - "n_frames": 117, - "status": "running", + "clip_id": "blocks_shapes#980", + "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", + "n_frames": 118, + "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": 1.49, + "ik_L_cm": 9.6, + "ori_R_deg": 1.9, + "ori_L_deg": 18.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 118 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000980/retargeted.hdf5" }, { - "clip_id": "stationery#832", - "task": "Pick up the pen from the light blue bowl with the right hand and place it on the tray.", - "n_frames": 116, - "status": "running", + "clip_id": "stationery#186", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 118, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting 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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": 1.25, + "ik_L_cm": 0.04, + "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": 118 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000417/retargeted.hdf5" }, { - "clip_id": "dice_balls#186", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 113, - "status": "running", + "clip_id": "blocks_shapes#1079", + "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", + "n_frames": 117, + "status": "done", "stages": [ { 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"orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 117 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001079/retargeted.hdf5" }, { - "clip_id": "electronics#809", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 113, - "status": "running", + "clip_id": "stationery#749", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 117, + "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 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the right hand and place it on the tray.", + "n_frames": 116, "status": "running", "stages": [ { @@ -211770,111 +212382,143 @@ "output": null }, { - "clip_id": "blocks_shapes#498", - "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", - "n_frames": 112, - "status": "running", + "clip_id": "food#602", + "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 114, + "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": 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and place it into a tub.", + "n_frames": 113, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 10.48, + "ik_L_cm": 0.01, + "ori_R_deg": 13.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000186/retargeted.hdf5" }, { - "clip_id": "food#141", - "task": "Pick up the bread from the orange bowl with the right hand and place it on the clear tupperwear.", - "n_frames": 112, + "clip_id": "electronics#809", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 113, "status": "running", "stages": [ { @@ -211923,59 +212567,75 @@ "output": null }, { - "clip_id": "stationery#341", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", - "n_frames": 112, - "status": "running", + "clip_id": "tools#913", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 113, + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 4.48, + "ik_L_cm": 0.0, + "ori_R_deg": 25.5, + "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": 113 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000913/retargeted.hdf5" }, { - "clip_id": "stationery#551", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "clip_id": "blocks_shapes#498", + "task": "Pick up the blue hexagon shape from the metal table with the right hand and place it onto the blue plate.", "n_frames": 112, "status": "running", "stages": [ @@ -212025,8 +212685,8 @@ "output": null }, { - "clip_id": "stationery#763", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "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", "stages": [ @@ -212076,8 +212736,8 @@ "output": null }, { - "clip_id": "tools#949", - "task": "Pick up a blue brush from the metal table and place it in the cup.", + "clip_id": "food#141", + "task": "Pick up the bread from the orange bowl with the right hand and place it on the clear tupperwear.", "n_frames": 112, "status": "done", "stages": [ @@ -212123,29 +212783,297 @@ } ], "metrics": { - "ik_R_cm": 2.38, - "ik_L_cm": 0.01, - "ori_R_deg": 0.3, - "ori_L_deg": 0.0, + "ik_R_cm": 5.15, + "ik_L_cm": 5.52, + "ori_R_deg": 1.9, + "ori_L_deg": 7.7, "collision": "clean", - "qa": "WARN", - "qa_motion": "WARN", + "qa": "FAIL", + "qa_motion": "FAIL", "dof": 14, "qa_components": { - "tracking": "PASS", + "tracking": "WARN", "orientation": "PASS", "arms": "PASS", - "motion": "WARN" + "motion": "FAIL" }, "n_frames": 112 }, "error": null, - "output": "/workspace/transform/retargeted/clip_tools__file-000949/retargeted.hdf5" + "output": "/workspace/transform/retargeted/clip_food__file-000141/retargeted.hdf5" }, { - "clip_id": "blocks_shapes#473", - "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", - "n_frames": 111, + "clip_id": "stationery#341", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 112, + "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": 4.26, + "ik_L_cm": 0.01, + "ori_R_deg": 3.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 112 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000341/retargeted.hdf5" + }, + { + "clip_id": "stationery#551", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 112, + "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": 9.08, + "ik_L_cm": 0.02, + "ori_R_deg": 23.9, + "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": 112 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000551/retargeted.hdf5" + }, + { + "clip_id": "stationery#763", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 112, + "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": 12.99, + "ik_L_cm": 0.01, + "ori_R_deg": 26.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 112 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000763/retargeted.hdf5" + }, + { + "clip_id": "tools#949", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 112, + "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": 2.38, + "ik_L_cm": 0.01, + "ori_R_deg": 0.3, + "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": 112 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_tools__file-000949/retargeted.hdf5" + }, + { + "clip_id": "blocks_shapes#473", + "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", + "n_frames": 111, "status": "done", "stages": [ { @@ -212213,205 +213141,269 @@ "clip_id": "dice_balls#705", "task": "Pick up a yellow die from the metal table and place it into a tub.", "n_frames": 111, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 2.07, + "ik_L_cm": 0.01, + "ori_R_deg": 1.4, + "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": 111 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000705/retargeted.hdf5" }, { "clip_id": "stationery#83", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 111, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 8.55, + "ik_L_cm": 0.02, + "ori_R_deg": 23.3, + "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": 111 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000083/retargeted.hdf5" }, { "clip_id": "stationery#301", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 111, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 28.76, + "ik_L_cm": 0.01, + "ori_R_deg": 29.9, + "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": 111 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000301/retargeted.hdf5" }, { "clip_id": "dice_balls#615", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 110, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.68, + "ik_L_cm": 1.38, + "ori_R_deg": 8.7, + "ori_L_deg": 2.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 110 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000615/retargeted.hdf5" }, { "clip_id": "food#978", @@ -212621,52 +213613,68 @@ "clip_id": "stationery#729", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 2.1, + "ik_L_cm": 0.01, + "ori_R_deg": 0.6, + "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": 108 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000729/retargeted.hdf5" }, { "clip_id": "electronics#934", @@ -212774,154 +213782,202 @@ "clip_id": "stationery#68", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 1.89, + "ik_L_cm": 0.01, + "ori_R_deg": 1.7, + "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": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000068/retargeted.hdf5" }, { "clip_id": "stationery#149", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 9.33, + "ik_L_cm": 0.02, + "ori_R_deg": 15.3, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000149/retargeted.hdf5" }, { "clip_id": "tools#57", "task": "Pick up a blue brush from the metal table and place it in the cup.", "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": 2.57, + "ik_L_cm": 0.05, + "ori_R_deg": 12.4, + "ori_L_deg": 0.1, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 107 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000057/retargeted.hdf5" }, { "clip_id": "dice_balls#262", @@ -213297,205 +214353,269 @@ "clip_id": "stationery#300", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 104, - "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": 0.92, + "ik_L_cm": 0.01, + "ori_R_deg": 0.7, + "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": 104 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000300/retargeted.hdf5" }, { "clip_id": "stationery#844", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 104, - "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": 7.66, + "ik_L_cm": 0.14, + "ori_R_deg": 34.4, + "ori_L_deg": 0.2, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "FAIL", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 104 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000844/retargeted.hdf5" }, { "clip_id": "electronics#65", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 5.97, + "ik_L_cm": 0.01, + "ori_R_deg": 8.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000065/retargeted.hdf5" }, { "clip_id": "food#721", "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", "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": 3.33, + "ik_L_cm": 0.01, + "ori_R_deg": 3.4, + "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": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000721/retargeted.hdf5" }, { "clip_id": "food#907", @@ -213552,460 +214672,604 @@ "clip_id": "stationery#19", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 1.35, + "ik_L_cm": 0.01, + "ori_R_deg": 28.8, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000019/retargeted.hdf5" }, { "clip_id": "stationery#482", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 2.29, + "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": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000482/retargeted.hdf5" }, { "clip_id": "stationery#662", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 4.21, + "ik_L_cm": 0.01, + "ori_R_deg": 3.0, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000662/retargeted.hdf5" }, { "clip_id": "stationery#907", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 13.31, + "ik_L_cm": 0.01, + "ori_R_deg": 29.6, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 103 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000907/retargeted.hdf5" }, { "clip_id": "blocks_shapes#394", "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", "n_frames": 102, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 7.8, + "ik_L_cm": 0.01, + "ori_R_deg": 18.3, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000394/retargeted.hdf5" }, { "clip_id": "electronics#794", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 102, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 6.64, + "ik_L_cm": 0.0, + "ori_R_deg": 18.3, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000794/retargeted.hdf5" }, { "clip_id": "stationery#391", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 102, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 3.43, + "ik_L_cm": 0.01, + "ori_R_deg": 5.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000391/retargeted.hdf5" }, { "clip_id": "stationery#491", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 102, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.12, + "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": 102 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000491/retargeted.hdf5" }, { "clip_id": "electronics#9", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "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": 6.1, + "ik_L_cm": 0.0, + "ori_R_deg": 12.7, + "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": 101 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000009/retargeted.hdf5" }, { "clip_id": "food#687", @@ -214062,205 +215326,269 @@ "clip_id": "stationery#576", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "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": 11.42, + "ik_L_cm": 0.02, + "ori_R_deg": 23.4, + "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": 101 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000576/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1052", "task": "Pick up a blue and green triangle fidget toy from one baking tray and place it on the other baking tray.", "n_frames": 100, - "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": 8.55, + "ik_L_cm": 0.01, + "ori_R_deg": 23.5, + "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": 100 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-001052/retargeted.hdf5" }, { "clip_id": "stationery#6", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 100, - "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": 2.11, + "ik_L_cm": 0.01, + "ori_R_deg": 0.8, + "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": 100 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000006/retargeted.hdf5" }, { "clip_id": "stationery#528", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 100, - "status": "running", + "status": "done", "stages": [ { "key": "load", "label": "Reading human demo", - "status": "running" + "status": "done" }, { "key": "retarget", "label": "Retargeting motion to robot", - "status": "pending" + "status": "done" }, { "key": "base", "label": "Placing the robot", - "status": "pending" + "status": "done" }, { "key": "ik", "label": "Solving arm joints (IK)", - "status": "pending" + "status": "done" }, { "key": "collision", "label": "Checking arm collisions", - "status": "pending" + "status": "done" }, { "key": "smooth", "label": "Smoothing trajectory", - "status": "pending" + "status": "done" }, { "key": "qa", "label": "Quality check", - "status": "pending" + "status": "done" }, { "key": "output", "label": "Saving robot trajectory", - "status": "pending" + "status": "done" } ], - "metrics": {}, + "metrics": { + "ik_R_cm": 0.46, + "ik_L_cm": 0.01, + "ori_R_deg": 0.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 100 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000528/retargeted.hdf5" }, { "clip_id": "dice_balls#713", @@ -214317,205 +215645,269 @@ "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": "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": 3.86, + "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": 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": "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": 3.67, + "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": 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": "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": 0.23, + "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": 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": "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": 4.03, + "ik_L_cm": 0.01, + "ori_R_deg": 21.7, + "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": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000812/retargeted.hdf5" }, { "clip_id": "dice_balls#736", @@ -214620,263 +216012,209 @@ "output": null }, { - "clip_id": "food#755", - "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", - "n_frames": 98, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "stationery#489", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", - "n_frames": 98, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "stationery#805", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", - "n_frames": 98, - "status": "running", - "stages": [ - { - "key": "load", - "label": "Reading human demo", - "status": "running" - }, - { - "key": "retarget", - "label": "Retargeting motion to robot", - "status": "pending" - }, - { - "key": "base", - "label": "Placing the robot", - "status": "pending" - }, - { - "key": "ik", - "label": "Solving arm joints (IK)", - "status": "pending" - }, - { - "key": "collision", - "label": "Checking arm collisions", - "status": "pending" - }, - { - "key": "smooth", - "label": "Smoothing trajectory", - "status": "pending" - }, - { - "key": "qa", - "label": "Quality check", - "status": "pending" - }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, - "error": null, - "output": null - }, - { - "clip_id": "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", + "clip_id": "food#755", + "task": "Pick up the donut from the gray plate with the right hand and place it on the tupperwear.", + "n_frames": 98, + "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": 0.76, + "ik_L_cm": 1.15, + "ori_R_deg": 0.4, + "ori_L_deg": 1.6, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_food__file-000755/retargeted.hdf5" }, { - "clip_id": "electronics#14", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 97, - "status": "running", + "clip_id": "stationery#489", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 98, + "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": 0.11, + "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": 98 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000489/retargeted.hdf5" }, { - "clip_id": "electronics#744", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "stationery#805", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "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": 0.16, + "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": 98 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000805/retargeted.hdf5" + }, + { + "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", "stages": [ @@ -214926,7 +216264,7 @@ "output": null }, { - "clip_id": "electronics#953", + "clip_id": "electronics#14", "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 97, "status": "running", @@ -214977,8 +216315,8 @@ "output": null }, { - "clip_id": "food#89", - "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", + "clip_id": "electronics#744", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 97, "status": "running", "stages": [ @@ -215028,8 +216366,8 @@ "output": null }, { - "clip_id": "stationery#209", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "clip_id": "electronics#953", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", "n_frames": 97, "status": "running", "stages": [ @@ -215079,8 +216417,8 @@ "output": null }, { - "clip_id": "stationery#876", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "clip_id": "food#89", + "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", "n_frames": 97, "status": "running", "stages": [ @@ -215130,9 +216468,9 @@ "output": null }, { - "clip_id": "stationery#636", + "clip_id": "stationery#209", "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 96, + "n_frames": 97, "status": "running", "stages": [ { @@ -215181,110 +216519,142 @@ "output": null }, { - "clip_id": "dice_balls#67", - "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", - "n_frames": 95, - "status": "running", + "clip_id": "stationery#876", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 97, + "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": 1.92, + "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": 97 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000876/retargeted.hdf5" }, { - "clip_id": "electronics#1103", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", - "n_frames": 95, - "status": "running", + "clip_id": "stationery#636", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 96, + "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": 0.33, + "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": 96 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000636/retargeted.hdf5" }, { - "clip_id": "stationery#328", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#67", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 95, "status": "running", "stages": [ @@ -215334,212 +216704,209 @@ "output": null }, { - "clip_id": "blocks_shapes#868", - "task": "Pick up the brown block from the wood table with the right hand and place it into the blue bowl.", - "n_frames": 94, - "status": "running", + "clip_id": "electronics#1103", + "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "n_frames": 95, + "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": "dice_balls#370", - "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", - "n_frames": 94, - "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": 6.69, + "ik_L_cm": 0.0, + "ori_R_deg": 15.2, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "FAIL", + "orientation": "WARN", + "arms": "PASS", + "motion": "WARN" }, - { - "key": "output", - "label": "Saving robot trajectory", - "status": "pending" - } - ], - "metrics": {}, + "n_frames": 95 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-001103/retargeted.hdf5" }, { - "clip_id": "stationery#155", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 94, - "status": "running", + "clip_id": "stationery#328", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 95, + "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": 0.39, + "ik_L_cm": 0.43, + "ori_R_deg": 0.2, + "ori_L_deg": 0.7, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 95 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000328/retargeted.hdf5" }, { - "clip_id": "stationery#373", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "clip_id": "blocks_shapes#868", + "task": "Pick up the brown block from the wood table with the right hand and place it into the blue bowl.", "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": 3.27, + "ik_L_cm": 0.01, + "ori_R_deg": 3.2, + "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": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_blocks_shapes__file-000868/retargeted.hdf5" }, { - "clip_id": "stationery#387", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "dice_balls#370", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 94, "status": "running", "stages": [ @@ -215589,58 +216956,74 @@ "output": null }, { - "clip_id": "stationery#515", + "clip_id": "stationery#155", "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": 0.53, + "ik_L_cm": 0.18, + "ori_R_deg": 0.1, + "ori_L_deg": 0.2, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000155/retargeted.hdf5" }, { - "clip_id": "stationery#784", + "clip_id": "stationery#373", "task": "Pick up a black stapler from the metal table and place it in the box lid.", "n_frames": 94, "status": "running", @@ -215691,8 +217074,8 @@ "output": null }, { - "clip_id": "stationery#822", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "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", "stages": [ @@ -215742,60 +217125,76 @@ "output": null }, { - "clip_id": "stationery#866", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "stationery#515", + "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": 1.14, + "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": 94 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000515/retargeted.hdf5" }, { - "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, + "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", "stages": [ { @@ -215844,9 +217243,9 @@ "output": null }, { - "clip_id": "dice_balls#73", - "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", - "n_frames": 93, + "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", "stages": [ { @@ -215895,9 +217294,9 @@ "output": null }, { - "clip_id": "tools#1020", - "task": "Pick up a blue brush from the metal table and place it in the cup.", - "n_frames": 93, + "clip_id": "stationery#866", + "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", "stages": [ { @@ -215946,9 +217345,9 @@ "output": null }, { - "clip_id": "stationery#47", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", - "n_frames": 92, + "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", "stages": [ { @@ -215997,9 +217396,9 @@ "output": null }, { - "clip_id": "stationery#829", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", - "n_frames": 92, + "clip_id": "dice_balls#73", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", + "n_frames": 93, "status": "running", "stages": [ { @@ -216048,8 +217447,75 @@ "output": null }, { - "clip_id": "tools#901", + "clip_id": "tools#1020", "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 93, + "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": 2.38, + "ik_L_cm": 0.01, + "ori_R_deg": 0.5, + "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": 93 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_tools__file-001020/retargeted.hdf5" + }, + { + "clip_id": "stationery#47", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "n_frames": 92, "status": "running", "stages": [ @@ -216099,109 +217565,141 @@ "output": null }, { - "clip_id": "dice_balls#389", - "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", - "n_frames": 91, - "status": "running", + "clip_id": "stationery#829", + "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "n_frames": 92, + "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": 4.0, + "ik_L_cm": 0.02, + "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": 92 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000829/retargeted.hdf5" }, { - "clip_id": "dice_balls#634", - "task": "Pick up a yellow die from the metal table and place it into a tub.", - "n_frames": 91, - "status": "running", + "clip_id": "tools#901", + "task": "Pick up a blue brush from the metal table and place it in the cup.", + "n_frames": 92, + "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": 3.17, + "ik_L_cm": 0.01, + "ori_R_deg": 0.3, + "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": 92 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_tools__file-000901/retargeted.hdf5" }, { - "clip_id": "dice_balls#905", + "clip_id": "dice_balls#389", "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 91, "status": "running", @@ -216252,8 +217750,75 @@ "output": null }, { - "clip_id": "food#796", - "task": "Pick up the donut from the tupperwear with the right hand and place it on the gray plate.", + "clip_id": "dice_balls#634", + "task": "Pick up a yellow die from the metal table and place it into a tub.", + "n_frames": 91, + "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": 5.48, + "ik_L_cm": 0.01, + "ori_R_deg": 1.1, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "WARN", + "qa_motion": "WARN", + "dof": 14, + "qa_components": { + "tracking": "WARN", + "orientation": "PASS", + "arms": "PASS", + "motion": "WARN" + }, + "n_frames": 91 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_dice_balls__file-000634/retargeted.hdf5" + }, + { + "clip_id": "dice_balls#905", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 91, "status": "running", "stages": [ @@ -216303,8 +217868,8 @@ "output": null }, { - "clip_id": "stationery#474", - "task": "Pick up a black stapler from the metal table and place it in the box lid.", + "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", "stages": [ @@ -216354,9 +217919,9 @@ "output": null }, { - "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, + "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", "stages": [ { @@ -216405,7 +217970,7 @@ "output": null }, { - "clip_id": "electronics#471", + "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", @@ -216456,9 +218021,9 @@ "output": null }, { - "clip_id": "blocks_shapes#643", - "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", - "n_frames": 89, + "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", "stages": [ { @@ -216507,9 +218072,9 @@ "output": null }, { - "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, + "clip_id": "blocks_shapes#643", + "task": "Pick up the green toy block from the table with the right hand and place it into the green bowl.", + "n_frames": 89, "status": "running", "stages": [ { @@ -216558,9 +218123,9 @@ "output": null }, { - "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, + "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", "stages": [ { @@ -216609,7 +218174,7 @@ "output": null }, { - "clip_id": "electronics#307", + "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", @@ -216660,59 +218225,75 @@ "output": null }, { - "clip_id": "electronics#1131", + "clip_id": "electronics#307", "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": 3.29, + "ik_L_cm": 0.01, + "ori_R_deg": 8.3, + "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": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000307/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.", + "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", "stages": [ @@ -216762,7 +218343,7 @@ "output": null }, { - "clip_id": "stationery#136", + "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", @@ -216813,160 +218394,208 @@ "output": null }, { - "clip_id": "stationery#664", + "clip_id": "stationery#136", "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": 0.15, + "ik_L_cm": 0.02, + "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": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000136/retargeted.hdf5" }, { - "clip_id": "electronics#845", - "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", + "clip_id": "stationery#664", + "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "n_frames": 87, + "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": 1.8, + "ik_L_cm": 0.02, + "ori_R_deg": 27.9, + "ori_L_deg": 0.0, + "collision": "clean", + "qa": "FAIL", + "qa_motion": "FAIL", + "dof": 14, + "qa_components": { + "tracking": "PASS", + "orientation": "WARN", + "arms": "PASS", + "motion": "FAIL" + }, + "n_frames": 87 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000664/retargeted.hdf5" }, { - "clip_id": "electronics#912", + "clip_id": "electronics#845", "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": 1.36, + "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": 86 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_electronics__file-000845/retargeted.hdf5" }, { - "clip_id": "electronics#1060", + "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", @@ -217017,8 +218646,8 @@ "output": null }, { - "clip_id": "stationery#527", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "clip_id": "electronics#1060", + "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", "stages": [ @@ -217068,8 +218697,8 @@ "output": null }, { - "clip_id": "stationery#611", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "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", "stages": [ @@ -217119,8 +218748,8 @@ "output": null }, { - "clip_id": "stationery#797", - "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", + "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", "stages": [ @@ -217170,9 +218799,9 @@ "output": null }, { - "clip_id": "dice_balls#164", - "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", - "n_frames": 85, + "clip_id": "stationery#797", + "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", "stages": [ { @@ -217221,8 +218850,8 @@ "output": null }, { - "clip_id": "electronics#63", - "task": "Pick up the black mouse from the table with the right hand and place it in the gray tray.", + "clip_id": "dice_balls#164", + "task": "Pick up the blue dice from the yellow plate with the right hand and place it in the orange bowl.", "n_frames": 85, "status": "running", "stages": [ @@ -217272,7 +218901,7 @@ "output": null }, { - "clip_id": "electronics#195", + "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", @@ -217323,7 +218952,7 @@ "output": null }, { - "clip_id": "electronics#243", + "clip_id": "electronics#195", "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", @@ -217374,7 +219003,7 @@ "output": null }, { - "clip_id": "electronics#394", + "clip_id": "electronics#243", "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", @@ -217425,59 +219054,8 @@ "output": null }, { - "clip_id": "food#13", - "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", - "n_frames": 85, - "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#78", - "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "clip_id": "electronics#394", + "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", "stages": [ @@ -217526,6 +219104,124 @@ "error": null, "output": null }, + { + "clip_id": "food#13", + "task": "Pick up the yellow fry from the table with the right hand and place it into the red cup.", + "n_frames": 85, + "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#78", + "task": "Pick up a brown ruler from the metal table and place it in the tool box.", + "n_frames": 85, + "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": 1.34, + "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": 85 + }, + "error": null, + "output": "/workspace/transform/retargeted/clip_stationery__file-000078/retargeted.hdf5" + }, { "clip_id": "stationery#859", "task": "Pick up a black stapler from the metal table and place it in the box lid.", @@ -217938,52 +219634,68 @@ "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": "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": 3.09, + "ik_L_cm": 0.01, + "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": 84 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000449/retargeted.hdf5" }, { "clip_id": "electronics#1149", @@ -218091,52 +219803,68 @@ "clip_id": "stationery#626", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 0.3, + "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": 83 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000626/retargeted.hdf5" }, { "clip_id": "dice_balls#24", @@ -218856,52 +220584,68 @@ "clip_id": "stationery#700", "task": "Pick up a white and red box of tape from the metal table and place it on a plate.", "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": 3.53, + "ik_L_cm": 0.01, + "ori_R_deg": 0.2, + "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": 80 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000700/retargeted.hdf5" }, { "clip_id": "blocks_shapes#1256", @@ -219060,52 +220804,68 @@ "clip_id": "stationery#600", "task": "Pick up a brown ruler from the metal table and place it in the tool box.", "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": 0.89, + "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": 79 + }, "error": null, - "output": null + "output": "/workspace/transform/retargeted/clip_stationery__file-000600/retargeted.hdf5" }, { "clip_id": "stationery#645",