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"WARN" }, { "clip": "blocks_shapes__file-000041", "task": "blocks_shapes", "n_frames": 132, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 35%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.348, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.37, "peak_jerk": 5500.9, "ldlj": [ -9.66, -12.51 ], "chatter": [ 0.23, 1.6 ], "saturation": [ 0.0, 0.636 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-000042", "task": "blocks_shapes", "n_frames": 65, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0394 }, "motion": 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"FAIL" }, { "clip": "blocks_shapes__file-000052", "task": "blocks_shapes", "n_frames": 105, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.0", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0363 }, "motion": { "peak_vel": 4.584, "peak_acc": 53.09, "peak_jerk": 2948.0, "ldlj": [ -11.04, -9.88 ], "chatter": [ 2.02, 0.58 ], "saturation": [ 0.543, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.153, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-000053", "task": "blocks_shapes", "n_frames": 109, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, 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"verdict": "FAIL", "reasons": [ "IK solved 31%", "chatter 2.6", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.309, "selfcol_min_dist_m": 0.0388 }, "motion": { "peak_vel": 2.004, "peak_acc": 16.96, "peak_jerk": 313.3, "ldlj": [ -11.49, -9.61 ], "chatter": [ 2.62, 0.0 ], "saturation": [ 0.864, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.067, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-000332", "task": "blocks_shapes", "n_frames": 127, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0379 }, "motion": { "peak_vel": 6.0, "peak_acc": 266.75, "peak_jerk": 10475.0, "ldlj": [ -13.28, -7.64 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"FAIL", "reasons": [ "IK solved 70%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.7, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 6.0, "peak_acc": 124.74, "peak_jerk": 4740.6, "ldlj": [ -10.44, -10.82 ], "chatter": [ 1.9, 0.0 ], "saturation": [ 0.188, 0.338 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "blocks_shapes__file-000503", "task": "blocks_shapes", "n_frames": 153, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 33%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.333, "selfcol_min_dist_m": 0.036 }, "motion": { "peak_vel": 6.0, "peak_acc": 104.14, "peak_jerk": 4325.5, "ldlj": [ -12.85, -9.98 ], "chatter": [ 1.58, 0.0 ], "saturation": [ 0.621, 0.0 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"FAIL" }, { "clip": "blocks_shapes__file-000572", "task": "blocks_shapes", "n_frames": 140, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 32%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.321, "selfcol_min_dist_m": 0.0391 }, "motion": { "peak_vel": 3.969, "peak_acc": 41.73, "peak_jerk": 1651.8, "ldlj": [ -10.77, -12.53 ], "chatter": [ 0.43, 1.51 ], "saturation": [ 0.0, 0.521 ] }, "integrity": { "finite": true, "max_jump_rad": 0.132, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "blocks_shapes__file-000574", "task": "blocks_shapes", "n_frames": 118, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 6.0, 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flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0362 }, "motion": { "peak_vel": 6.0, "peak_acc": 117.86, "peak_jerk": 3224.0, "ldlj": [ -10.27, -9.02 ], "chatter": [ 2.21, 0.0 ], "saturation": [ 1.0, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-000577", "task": "blocks_shapes", "n_frames": 122, "fps": 30.0, "verdict": "WARN", "reasons": [ "chatter 2.7" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.902, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 3.0, "peak_acc": 68.93, "peak_jerk": 2628.5, "ldlj": [ -12.23, -10.99 ], "chatter": [ 2.73, 0.0 ], "saturation": [ 0.115, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.1, 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"blocks_shapes__file-000592", "task": "blocks_shapes", "n_frames": 131, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "self-collision clearance -2.9cm", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": -0.0291 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.61, "peak_jerk": 8788.7, "ldlj": [ -13.54, -10.03 ], "chatter": [ 2.54, 0.0 ], "saturation": [ 1.0, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-000593", "task": "blocks_shapes", "n_frames": 179, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 8%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.084, 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"FAIL" }, { "clip": "blocks_shapes__file-001080", "task": "blocks_shapes", "n_frames": 89, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 58%", "chatter 2.0" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.584, "selfcol_min_dist_m": 0.038 }, "motion": { "peak_vel": 6.0, "peak_acc": 144.43, "peak_jerk": 6514.9, "ldlj": [ -11.36, -10.01 ], "chatter": [ 2.05, 0.0 ], "saturation": [ 0.36, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "blocks_shapes__file-001081", "task": "blocks_shapes", "n_frames": 68, "fps": 30.0, "verdict": "WARN", "reasons": [ "IK solved 81%", "chatter 2.2" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.809, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 5.807, 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"clip": "blocks_shapes__file-001097", "task": "blocks_shapes", "n_frames": 33, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 5.23, "peak_acc": 52.57, "peak_jerk": 921.4, "ldlj": [ -7.7, -7.22 ], "chatter": [ 0.94, 0.0 ], "saturation": [ 1.0, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.174, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-001098", "task": "blocks_shapes", "n_frames": 77, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 51%", "chatter 3.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.506, "selfcol_min_dist_m": 0.0377 }, "motion": 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"FAIL" }, { "clip": "blocks_shapes__file-001142", "task": "blocks_shapes", "n_frames": 54, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 6%", "chatter 2.3", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.056, "selfcol_min_dist_m": 0.0393 }, "motion": { "peak_vel": 6.0, "peak_acc": 144.05, "peak_jerk": 6560.7, "ldlj": [ -7.38, -11.0 ], "chatter": [ 0.0, 2.26 ], "saturation": [ 0.037, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-001143", "task": "blocks_shapes", "n_frames": 69, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 70%", "chatter 3.5" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.696, "selfcol_min_dist_m": 0.0384 }, 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"FAIL" }, { "clip": "blocks_shapes__file-001150", "task": "blocks_shapes", "n_frames": 73, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 12%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.123, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 2.957, "peak_acc": 16.99, "peak_jerk": 354.1, "ldlj": [ -9.9, -9.32 ], "chatter": [ 2.5, 0.42 ], "saturation": [ 0.37, 0.973 ] }, "integrity": { "finite": true, "max_jump_rad": 0.099, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-001151", "task": "blocks_shapes", "n_frames": 75, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.0", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, 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"FAIL", "reasons": [ "IK solved 0%", "chatter 2.7", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0389 }, "motion": { "peak_vel": 6.0, "peak_acc": 278.69, "peak_jerk": 8284.3, "ldlj": [ -8.49, -3.01 ], "chatter": [ 2.73, 0.0 ], "saturation": [ 0.882, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "blocks_shapes__file-001250", "task": "blocks_shapes", "n_frames": 129, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 56%", "chatter 2.3", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.558, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 4.926, "peak_acc": 75.38, "peak_jerk": 3543.4, "ldlj": [ -12.69, -10.7 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"FAIL", "reasons": [ "IK solved 9%", "chatter 4.0", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.092, "selfcol_min_dist_m": 0.0382 }, "motion": { "peak_vel": 4.857, "peak_acc": 39.34, "peak_jerk": 489.6, "ldlj": [ -9.81, -10.32 ], "chatter": [ 4.0, 1.2 ], "saturation": [ 0.842, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.162, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000029", "task": "dice_balls", "n_frames": 102, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 13%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.127, "selfcol_min_dist_m": 0.0378 }, "motion": { "peak_vel": 6.0, "peak_acc": 157.54, "peak_jerk": 5581.9, "ldlj": [ -12.74, -10.71 ], "chatter": [ 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"FAIL" }, { "clip": "dice_balls__file-000105", "task": "dice_balls", "n_frames": 135, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 6%", "chatter 2.7", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.059, "selfcol_min_dist_m": 0.0362 }, "motion": { "peak_vel": 4.736, "peak_acc": 159.98, "peak_jerk": 6679.2, "ldlj": [ -12.85, -10.76 ], "chatter": [ 2.69, 0.67 ], "saturation": [ 0.874, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.158, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000106", "task": "dice_balls", "n_frames": 207, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 26%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.261, "selfcol_min_dist_m": 0.0382 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"FAIL", "reasons": [ "IK solved 0%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 6.0, "peak_acc": 142.17, "peak_jerk": 4265.2, "ldlj": [ -10.67, -9.26 ], "chatter": [ 2.1, 0.0 ], "saturation": [ 0.297, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000109", "task": "dice_balls", "n_frames": 127, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 43%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.425, "selfcol_min_dist_m": 0.0366 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.37, "peak_jerk": 5512.9, "ldlj": [ -9.49, -13.56 ], "chatter": [ 1.67, 0.95 ], "saturation": [ 0.701, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000110", "task": "dice_balls", "n_frames": 75, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 3.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0378 }, "motion": { "peak_vel": 6.0, "peak_acc": 128.69, "peak_jerk": 4353.2, "ldlj": [ -10.06, -7.82 ], "chatter": [ 3.24, 0.0 ], "saturation": [ 0.387, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000111", "task": "dice_balls", "n_frames": 128, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 31%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.312, "selfcol_min_dist_m": 0.0374 }, "motion": { "peak_vel": 6.0, "peak_acc": 142.55, "peak_jerk": 3746.1, "ldlj": [ -11.63, -11.51 ], "chatter": [ 1.65, 0.47 ], "saturation": [ 0.609, 0.07 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000112", "task": "dice_balls", "n_frames": 43, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 4.3", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 6.0, "peak_acc": 163.47, "peak_jerk": 7270.0, "ldlj": [ -6.47, -8.96 ], "chatter": [ 0.0, 4.29 ], "saturation": [ 1.0, 0.628 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000113", "task": "dice_balls", "n_frames": 132, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0366 }, "motion": { "peak_vel": 3.535, "peak_acc": 55.08, "peak_jerk": 1282.7, "ldlj": [ -13.42, -7.16 ], "chatter": [ 1.6, 0.0 ], "saturation": [ 0.629, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.118, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000115", "task": "dice_balls", "n_frames": 155, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 69%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.69, "selfcol_min_dist_m": 0.0378 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.37, "peak_jerk": 5356.0, "ldlj": [ -12.48, -10.09 ], "chatter": [ 2.53, 0.39 ], "saturation": [ 0.045, 0.897 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000116", "task": "dice_balls", "n_frames": 135, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 36%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.356, "selfcol_min_dist_m": 0.0382 }, "motion": { "peak_vel": 6.0, "peak_acc": 135.97, "peak_jerk": 4079.1, "ldlj": [ -12.52, -10.75 ], "chatter": [ 1.34, 0.22 ], "saturation": [ 0.719, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000118", "task": "dice_balls", "n_frames": 107, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 20%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.196, "selfcol_min_dist_m": 0.0359 }, "motion": { "peak_vel": 2.914, "peak_acc": 84.17, "peak_jerk": 3001.1, "ldlj": [ -11.61, -10.91 ], "chatter": [ 2.55, 0.57 ], "saturation": [ 0.907, 0.355 ] }, "integrity": { "finite": true, "max_jump_rad": 0.097, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000119", "task": "dice_balls", "n_frames": 105, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.037 }, "motion": { "peak_vel": 6.0, "peak_acc": 58.1, "peak_jerk": 1600.4, "ldlj": [ -9.75, -12.23 ], "chatter": [ 1.44, 0.0 ], "saturation": [ 0.229, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000121", "task": "dice_balls", "n_frames": 122, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 12%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.123, "selfcol_min_dist_m": 0.0364 }, "motion": { "peak_vel": 6.0, "peak_acc": 115.18, "peak_jerk": 3455.3, "ldlj": [ -11.33, -12.2 ], "chatter": [ 0.5, 0.0 ], "saturation": [ 0.402, 0.926 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000122", "task": "dice_balls", "n_frames": 95, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 35%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.347, "selfcol_min_dist_m": 0.0369 }, "motion": { "peak_vel": 2.18, "peak_acc": 12.45, "peak_jerk": 262.2, "ldlj": [ -10.27, -10.96 ], "chatter": [ 1.28, 1.28 ], "saturation": [ 0.832, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.073, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000123", "task": "dice_balls", "n_frames": 70, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 44%", "chatter 3.0", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.443, "selfcol_min_dist_m": 0.0359 }, "motion": { "peak_vel": 4.295, "peak_acc": 51.67, "peak_jerk": 1293.4, "ldlj": [ -9.97, -9.4 ], "chatter": [ 3.04, 1.3 ], "saturation": [ 0.671, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.143, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000124", "task": "dice_balls", "n_frames": 114, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 10%", "chatter 3.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.096, "selfcol_min_dist_m": 0.0382 }, "motion": { "peak_vel": 5.754, "peak_acc": 61.85, "peak_jerk": 1618.3, "ldlj": [ -11.63, -11.05 ], "chatter": [ 3.19, 0.0 ], "saturation": [ 0.763, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.192, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000126", "task": "dice_balls", "n_frames": 46, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 7%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 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"fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 75%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.752, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 6.0, "peak_acc": 112.32, "peak_jerk": 5574.5, "ldlj": [ -13.39, -11.79 ], "chatter": [ 0.73, 0.0 ], "saturation": [ 0.612, 0.703 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000130", "task": "dice_balls", "n_frames": 91, "fps": 30.0, "verdict": "WARN", "reasons": [ "IK solved 85%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.846, "selfcol_min_dist_m": 0.0384 }, "motion": { "peak_vel": 3.676, "peak_acc": 161.92, "peak_jerk": 7715.2, "ldlj": [ -11.11, -11.74 ], 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"verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.9", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0385 }, "motion": { "peak_vel": 6.0, "peak_acc": 76.21, "peak_jerk": 3559.5, "ldlj": [ -5.11, -8.55 ], "chatter": [ 0.0, 2.93 ], "saturation": [ 0.0, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000388", "task": "dice_balls", "n_frames": 128, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0364 }, "motion": { "peak_vel": 5.966, "peak_acc": 135.38, "peak_jerk": 6875.9, "ldlj": [ -13.31, -6.09 ], "chatter": [ 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"FAIL" }, { "clip": "dice_balls__file-000409", "task": "dice_balls", "n_frames": 51, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 4.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 6.0, "peak_acc": 269.52, "peak_jerk": 12534.2, "ldlj": [ -11.36, -6.45 ], "chatter": [ 4.2, 0.0 ], "saturation": [ 0.843, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000410", "task": "dice_balls", "n_frames": 121, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 21%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.215, "selfcol_min_dist_m": 0.0366 }, 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"verdict": "FAIL", "reasons": [ "IK solved 44%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.44, "selfcol_min_dist_m": 0.0383 }, "motion": { "peak_vel": 6.0, "peak_acc": 78.25, "peak_jerk": 2675.6, "ldlj": [ -14.54, -15.97 ], "chatter": [ 1.77, 0.0 ], "saturation": [ 0.579, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000505", "task": "dice_balls", "n_frames": 274, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 36%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.365, "selfcol_min_dist_m": 0.0379 }, "motion": { "peak_vel": 6.0, "peak_acc": 119.24, "peak_jerk": 5492.6, "ldlj": [ -14.78, -13.88 ], "chatter": [ 1.1, 0.0 ], "saturation": [ 0.526, 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"WARN" }, { "clip": "dice_balls__file-000514", "task": "dice_balls", "n_frames": 98, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 14%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.143, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 2.886, "peak_acc": 71.72, "peak_jerk": 3345.1, "ldlj": [ -10.41, -11.38 ], "chatter": [ 0.62, 2.47 ], "saturation": [ 0.0, 0.908 ] }, "integrity": { "finite": true, "max_jump_rad": 0.096, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000515", "task": "dice_balls", "n_frames": 169, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 54%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.538, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 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"FAIL", "reasons": [ "IK solved 15%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.148, "selfcol_min_dist_m": 0.038 }, "motion": { "peak_vel": 3.61, "peak_acc": 95.99, "peak_jerk": 5303.4, "ldlj": [ -11.86, -10.07 ], "chatter": [ 1.38, 0.0 ], "saturation": [ 0.773, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.12, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000531", "task": "dice_balls", "n_frames": 69, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 3.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0387 }, "motion": { "peak_vel": 6.0, "peak_acc": 119.81, "peak_jerk": 4368.6, "ldlj": [ -9.86, -9.55 ], "chatter": [ 3.53, 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FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.419, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 3.901, "peak_acc": 49.91, "peak_jerk": 2098.1, "ldlj": [ -11.84, -12.81 ], "chatter": [ 2.31, 0.0 ], "saturation": [ 0.295, 0.924 ] }, "integrity": { "finite": true, "max_jump_rad": 0.13, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000566", "task": "dice_balls", "n_frames": 113, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 4%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.035, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 6.0, "peak_acc": 180.17, "peak_jerk": 5876.8, "ldlj": [ -9.03, -12.31 ], "chatter": [ 0.0, 1.88 ], "saturation": [ 0.0, 0.867 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000567", "task": "dice_balls", "n_frames": 148, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 30%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.297, "selfcol_min_dist_m": 0.0363 }, "motion": { "peak_vel": 6.0, "peak_acc": 77.07, "peak_jerk": 4340.8, "ldlj": [ -10.6, -12.9 ], "chatter": [ 0.41, 1.22 ], "saturation": [ 0.0, 0.676 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000568", "task": "dice_balls", "n_frames": 83, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], 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true, "max_jump_rad": 0.176, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000591", "task": "dice_balls", "n_frames": 112, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 8%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.08, "selfcol_min_dist_m": 0.0383 }, "motion": { "peak_vel": 2.229, "peak_acc": 15.62, "peak_jerk": 495.6, "ldlj": [ -10.92, -11.75 ], "chatter": [ 1.62, 0.0 ], "saturation": [ 0.714, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.074, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000592", "task": "dice_balls", "n_frames": 97, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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"verdict": "FAIL", "reasons": [ "IK solved 52%", "chatter 3.0", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.522, "selfcol_min_dist_m": 0.0365 }, "motion": { "peak_vel": 6.0, "peak_acc": 113.75, "peak_jerk": 3611.0, "ldlj": [ -10.13, -12.44 ], "chatter": [ 2.97, 0.0 ], "saturation": [ 0.076, 0.913 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000683", "task": "dice_balls", "n_frames": 69, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 71%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.71, "selfcol_min_dist_m": 0.0387 }, "motion": { "peak_vel": 3.34, "peak_acc": 60.84, "peak_jerk": 2055.8, "ldlj": [ -9.67, -10.0 ], "chatter": [ 1.32, 0.0 ], 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{ "clip": "dice_balls__file-000717", "task": "dice_balls", "n_frames": 52, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 31%", "chatter 3.5" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.308, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 6.0, "peak_acc": 284.88, "peak_jerk": 10852.9, "ldlj": [ -10.46, -8.33 ], "chatter": [ 3.53, 0.0 ], "saturation": [ 0.038, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000718", "task": "dice_balls", "n_frames": 62, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 52%", "chatter 3.9" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.516, "selfcol_min_dist_m": 0.0369 }, "motion": { "peak_vel": 3.939, "peak_acc": 116.0, 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"FAIL" }, { "clip": "dice_balls__file-000770", "task": "dice_balls", "n_frames": 125, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 34%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.344, "selfcol_min_dist_m": 0.0371 }, "motion": { "peak_vel": 2.431, "peak_acc": 16.34, "peak_jerk": 449.2, "ldlj": [ -11.28, -9.21 ], "chatter": [ 1.21, 0.48 ], "saturation": [ 1.0, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.081, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000771", "task": "dice_balls", "n_frames": 78, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 23%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.231, "selfcol_min_dist_m": 0.0366 }, "motion": { 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flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.102, "selfcol_min_dist_m": 0.037 }, "motion": { "peak_vel": 6.0, "peak_acc": 160.47, "peak_jerk": 7069.7, "ldlj": [ -14.58, -15.12 ], "chatter": [ 1.49, 0.0 ], "saturation": [ 0.845, 0.457 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000799", "task": "dice_balls", "n_frames": 176, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 28%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.284, "selfcol_min_dist_m": 0.0364 }, "motion": { "peak_vel": 6.0, "peak_acc": 67.13, "peak_jerk": 3858.2, "ldlj": [ -10.78, -13.44 ], "chatter": [ 0.0, 2.06 ], "saturation": [ 0.449, 0.812 ] }, 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"FAIL", "reasons": [ "IK solved 79%", "chatter 3.0" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.787, "selfcol_min_dist_m": 0.0411 }, "motion": { "peak_vel": 6.0, "peak_acc": 167.62, "peak_jerk": 5028.4, "ldlj": [ -9.97, -9.55 ], "chatter": [ 0.0, 3.0 ], "saturation": [ 0.0, 0.492 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000861", "task": "dice_balls", "n_frames": 51, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0367 }, "motion": { "peak_vel": 6.0, "peak_acc": 116.87, "peak_jerk": 3541.3, "ldlj": [ -10.12, -7.58 ], "chatter": [ 1.8, 0.0 ], "saturation": [ 1.0, 1.0 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"FAIL" }, { "clip": "dice_balls__file-000957", "task": "dice_balls", "n_frames": 51, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 78%", "chatter 3.0" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.784, "selfcol_min_dist_m": 0.0379 }, "motion": { "peak_vel": 6.0, "peak_acc": 90.66, "peak_jerk": 2719.9, "ldlj": [ -9.07, -8.39 ], "chatter": [ 3.0, 2.4 ], "saturation": [ 0.471, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000958", "task": "dice_balls", "n_frames": 156, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 21%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.205, "selfcol_min_dist_m": 0.0361 }, "motion": { "peak_vel": 6.0, 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"retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000972", "task": "dice_balls", "n_frames": 312, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 36%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.359, "selfcol_min_dist_m": 0.0375 }, "motion": { "peak_vel": 6.0, "peak_acc": 180.83, "peak_jerk": 8285.5, "ldlj": [ -16.34, -14.78 ], "chatter": [ 1.25, 0.0 ], "saturation": [ 0.542, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000973", "task": "dice_balls", "n_frames": 282, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 18%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.177, "selfcol_min_dist_m": 0.0379 }, "motion": { "peak_vel": 6.0, "peak_acc": 233.85, "peak_jerk": 11090.5, "ldlj": [ -14.32, -14.82 ], "chatter": [ 0.0, 0.96 ], "saturation": [ 0.0, 0.592 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000974", "task": "dice_balls", "n_frames": 142, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 42%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.415, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 6.0, "peak_acc": 94.42, "peak_jerk": 2038.9, "ldlj": [ -13.48, -12.49 ], "chatter": [ 1.91, 0.64 ], "saturation": [ 0.493, 0.239 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000975", "task": "dice_balls", "n_frames": 170, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 77%", "chatter 3.6" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.771, "selfcol_min_dist_m": 0.0387 }, "motion": { "peak_vel": 4.528, "peak_acc": 43.68, "peak_jerk": 1263.4, "ldlj": [ -12.32, -12.62 ], "chatter": [ 3.55, 0.0 ], "saturation": [ 0.365, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.151, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000976", "task": "dice_balls", "n_frames": 251, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 51%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.51, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.37, "peak_jerk": 6012.0, "ldlj": [ -13.34, -15.54 ], "chatter": [ 0.12, 1.8 ], "saturation": [ 0.0, 0.709 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000977", "task": "dice_balls", "n_frames": 127, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 31%", "chatter 2.9" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.307, "selfcol_min_dist_m": 0.0386 }, "motion": { "peak_vel": 6.0, "peak_acc": 109.19, "peak_jerk": 5733.5, "ldlj": [ -13.32, -11.23 ], "chatter": [ 2.86, 0.24 ], "saturation": [ 0.299, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "dice_balls__file-000978", "task": "dice_balls", "n_frames": 159, "fps": 30.0, "verdict": "WARN", "reasons": [ "chatter 2.7", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.956, "selfcol_min_dist_m": 0.0365 }, "motion": 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"WARN" }, { "clip": "dice_balls__file-000995", "task": "dice_balls", "n_frames": 136, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 49%", "self-collision clearance -4.8cm", "chatter 2.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.493, "selfcol_min_dist_m": -0.0475 }, "motion": { "peak_vel": 6.0, "peak_acc": 188.92, "peak_jerk": 8196.8, "ldlj": [ -12.02, -11.02 ], "chatter": [ 2.22, 0.22 ], "saturation": [ 0.456, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "dice_balls__file-000996", "task": "dice_balls", "n_frames": 153, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 18%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 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"FAIL", "reasons": [ "IK solved 3%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.027, "selfcol_min_dist_m": 0.0381 }, "motion": { "peak_vel": 6.0, "peak_acc": 161.35, "peak_jerk": 7586.0, "ldlj": [ -11.38, -10.86 ], "chatter": [ 2.45, 0.82 ], "saturation": [ 0.613, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000063", "task": "electronics", "n_frames": 85, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 26%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.259, "selfcol_min_dist_m": 0.0393 }, "motion": { "peak_vel": 2.688, "peak_acc": 100.85, "peak_jerk": 3827.2, "ldlj": [ -11.6, -11.4 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"retarget_verdict": "FAIL" }, { "clip": "electronics__file-000225", "task": "electronics", "n_frames": 133, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 69%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.692, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 6.0, "peak_acc": 310.16, "peak_jerk": 10269.6, "ldlj": [ -12.3, -12.28 ], "chatter": [ 1.59, 0.0 ], "saturation": [ 0.346, 0.053 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "electronics__file-000226", "task": "electronics", "n_frames": 60, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.5", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0411 }, 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"FAIL" }, { "clip": "electronics__file-000339", "task": "electronics", "n_frames": 95, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 2%", "chatter 3.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.021, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 3.933, "peak_acc": 42.24, "peak_jerk": 1165.4, "ldlj": [ -11.37, -9.51 ], "chatter": [ 3.19, 0.64 ], "saturation": [ 1.0, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.131, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000340", "task": "electronics", "n_frames": 77, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 6%", "chatter 2.8", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.065, 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"WARN" }, { "clip": "electronics__file-000567", "task": "electronics", "n_frames": 63, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 11%", "chatter 2.9", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.111, "selfcol_min_dist_m": 0.0388 }, "motion": { "peak_vel": 2.731, "peak_acc": 98.38, "peak_jerk": 4354.2, "ldlj": [ -9.54, -9.55 ], "chatter": [ 1.94, 2.9 ], "saturation": [ 0.952, 0.254 ] }, "integrity": { "finite": true, "max_jump_rad": 0.091, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000568", "task": "electronics", "n_frames": 156, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 39%", "chatter 2.3" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.391, "selfcol_min_dist_m": 0.0375 }, 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"FAIL" }, { "clip": "electronics__file-000633", "task": "electronics", "n_frames": 88, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 38%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.375, "selfcol_min_dist_m": 0.0373 }, "motion": { "peak_vel": 6.0, "peak_acc": 79.56, "peak_jerk": 3318.7, "ldlj": [ -10.25, -10.26 ], "chatter": [ 2.07, 0.34 ], "saturation": [ 0.534, 0.67 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000634", "task": "electronics", "n_frames": 75, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 65%", "chatter 3.6" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.653, "selfcol_min_dist_m": 0.0361 }, "motion": { 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"FAIL" }, { "clip": "electronics__file-000918", "task": "electronics", "n_frames": 86, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 5%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.047, "selfcol_min_dist_m": 0.0365 }, "motion": { "peak_vel": 5.461, "peak_acc": 106.07, "peak_jerk": 5222.7, "ldlj": [ -11.88, -8.91 ], "chatter": [ 1.41, 0.0 ], "saturation": [ 0.884, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.182, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000919", "task": "electronics", "n_frames": 107, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 2%", "chatter 2.5" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.019, "selfcol_min_dist_m": 0.0381 }, "motion": { "peak_vel": 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flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.138, "selfcol_min_dist_m": 0.0368 }, "motion": { "peak_vel": 6.0, "peak_acc": 67.04, "peak_jerk": 3013.5, "ldlj": [ -11.99, -9.84 ], "chatter": [ 2.58, 1.29 ], "saturation": [ 0.755, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "electronics__file-000970", "task": "electronics", "n_frames": 115, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 23%", "chatter 2.6" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.235, "selfcol_min_dist_m": 0.0386 }, "motion": { "peak_vel": 6.0, "peak_acc": 102.59, "peak_jerk": 5877.6, "ldlj": [ -12.38, -10.26 ], "chatter": [ 2.63, 1.05 ], "saturation": [ 0.417, 0.0 ] }, "integrity": { "finite": true, 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"FAIL" }, { "clip": "food__file-000560", "task": "food", "n_frames": 196, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 21%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.214, "selfcol_min_dist_m": 0.039 }, "motion": { "peak_vel": 3.231, "peak_acc": 96.93, "peak_jerk": 4182.5, "ldlj": [ -14.51, -13.25 ], "chatter": [ 1.38, 0.0 ], "saturation": [ 0.974, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.108, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "food__file-000562", "task": "food", "n_frames": 282, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 25%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.248, "selfcol_min_dist_m": 0.0363 }, "motion": { "peak_vel": 5.6, 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"FAIL" }, { "clip": "household__file-000033", "task": "household", "n_frames": 237, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 29%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.287, "selfcol_min_dist_m": 0.037 }, "motion": { "peak_vel": 6.0, "peak_acc": 150.59, "peak_jerk": 6141.0, "ldlj": [ -14.63, -13.55 ], "chatter": [ 1.53, 0.0 ], "saturation": [ 0.578, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "household__file-000035", "task": "household", "n_frames": 68, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.7", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0379 }, "motion": 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"verdict": "FAIL", "reasons": [ "IK solved 51%", "chatter 3.8", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.51, "selfcol_min_dist_m": 0.039 }, "motion": { "peak_vel": 6.0, "peak_acc": 171.37, "peak_jerk": 5034.2, "ldlj": [ -11.18, -8.23 ], "chatter": [ 3.79, 0.0 ], "saturation": [ 0.573, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "plush_toys__file-000575", "task": "plush_toys", "n_frames": 121, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 26%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.264, "selfcol_min_dist_m": 0.0374 }, "motion": { "peak_vel": 3.0, "peak_acc": 41.19, "peak_jerk": 1556.5, "ldlj": [ -11.59, -11.82 ], 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"FAIL" }, { "clip": "plush_toys__file-000688", "task": "plush_toys", "n_frames": 79, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 29%", "chatter 2.3", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.291, "selfcol_min_dist_m": 0.0378 }, "motion": { "peak_vel": 6.0, "peak_acc": 56.31, "peak_jerk": 1368.3, "ldlj": [ -9.43, -9.04 ], "chatter": [ 2.31, 0.0 ], "saturation": [ 0.544, 0.684 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "plush_toys__file-000689", "task": "plush_toys", "n_frames": 266, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 41%" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.41, "selfcol_min_dist_m": 0.0372 }, "motion": { "peak_vel": 6.0, 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"FAIL" }, { "clip": "plush_toys__file-001054", "task": "plush_toys", "n_frames": 113, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 33%", "chatter 2.7" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.327, "selfcol_min_dist_m": 0.0376 }, "motion": { "peak_vel": 6.0, "peak_acc": 195.15, "peak_jerk": 6590.5, "ldlj": [ -12.62, -11.49 ], "chatter": [ 2.68, 0.54 ], "saturation": [ 0.336, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.2, "frame_drops": 0 }, "retarget_verdict": "WARN" }, { "clip": "plush_toys__file-001055", "task": "plush_toys", "n_frames": 147, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 11%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.109, "selfcol_min_dist_m": 0.0361 }, "motion": { 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"FAIL" }, { "clip": "stationery__file-000394", "task": "stationery", "n_frames": 113, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 0%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.0, "selfcol_min_dist_m": 0.0372 }, "motion": { "peak_vel": 3.779, "peak_acc": 51.67, "peak_jerk": 1446.1, "ldlj": [ -12.19, -11.63 ], "chatter": [ 2.14, 0.27 ], "saturation": [ 0.0, 1.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.126, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "stationery__file-000395", "task": "stationery", "n_frames": 74, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 28%", "chatter 2.9", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.284, 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"FAIL", "reasons": [ "IK solved 40%", "chatter 2.3", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.404, "selfcol_min_dist_m": 0.0389 }, "motion": { "peak_vel": 3.942, "peak_acc": 111.35, "peak_jerk": 5007.9, "ldlj": [ -11.77, -9.48 ], "chatter": [ 2.33, 0.58 ], "saturation": [ 0.846, 0.0 ] }, "integrity": { "finite": true, "max_jump_rad": 0.131, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "stationery__file-000413", "task": "stationery", "n_frames": 68, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 7%", "chatter 2.2", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.074, "selfcol_min_dist_m": 0.0392 }, "motion": { "peak_vel": 1.866, "peak_acc": 11.37, "peak_jerk": 271.5, "ldlj": [ -9.63, -9.01 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"FAIL" }, { "clip": "tools__file-000418", "task": "tools", "n_frames": 127, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 8%", "chatter 2.1", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.079, "selfcol_min_dist_m": 0.0387 }, "motion": { "peak_vel": 5.226, "peak_acc": 57.03, "peak_jerk": 2543.2, "ldlj": [ -10.87, -12.35 ], "chatter": [ 0.0, 2.14 ], "saturation": [ 0.0, 0.693 ] }, "integrity": { "finite": true, "max_jump_rad": 0.174, "frame_drops": 0 }, "retarget_verdict": "FAIL" }, { "clip": "tools__file-000419", "task": "tools", "n_frames": 115, "fps": 30.0, "verdict": "FAIL", "reasons": [ "IK solved 6%", "retarget QA flagged FAIL" ], "feasibility": { "limit_viol_frac": 0.0, "per_joint_viol": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "ik_success_min": 0.061, "selfcol_min_dist_m": 0.0383 }, "motion": { 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