validation.json

{
  "mode": "qa",
  "n_clips": 5,
  "counts": {
    "PASS": 0,
    "WARN": 0,
    "FAIL": 5
  },
  "certified": [],
  "clips": [
    {
      "clip": "file-000575",
      "task": "basic_pick_place-part1",
      "n_frames": 123,
      "fps": 30.0,
      "verdict": "FAIL",
      "reasons": [
        "IK solved 21%",
        "chatter 3.4"
      ],
      "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": 0.211,
        "selfcol_min_dist_m": 0.0394
      },
      "motion": {
        "peak_vel": 6.0,
        "peak_acc": 213.32,
        "peak_jerk": 8989.9,
        "ldlj": [
          -11.82,
          -10.58
        ],
        "chatter": [
          3.44,
          0.49
        ],
        "saturation": [
          0.431,
          0.0
        ]
      },
      "integrity": {
        "finite": true,
        "max_jump_rad": 0.2,
        "frame_drops": 0
      },
      "retarget_verdict": "WARN"
    },
    {
      "clip": "file-001126",
      "task": "basic_pick_place-part1",
      "n_frames": 132,
      "fps": 30.0,
      "verdict": "FAIL",
      "reasons": [
        "IK solved 27%"
      ],
      "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": 0.273,
        "selfcol_min_dist_m": 0.0381
      },
      "motion": {
        "peak_vel": 6.0,
        "peak_acc": 207.59,
        "peak_jerk": 6889.1,
        "ldlj": [
          -12.71,
          -10.65
        ],
        "chatter": [
          1.6,
          0.0
        ],
        "saturation": [
          0.53,
          0.0
        ]
      },
      "integrity": {
        "finite": true,
        "max_jump_rad": 0.2,
        "frame_drops": 0
      },
      "retarget_verdict": "WARN"
    },
    {
      "clip": "file-003094",
      "task": "basic_pick_place-part1",
      "n_frames": 119,
      "fps": 30.0,
      "verdict": "FAIL",
      "reasons": [
        "IK solved 37%"
      ],
      "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": 0.37,
        "selfcol_min_dist_m": 0.0381
      },
      "motion": {
        "peak_vel": 6.0,
        "peak_acc": 182.22,
        "peak_jerk": 8191.1,
        "ldlj": [
          -11.65,
          -10.98
        ],
        "chatter": [
          1.53,
          0.0
        ],
        "saturation": [
          0.328,
          0.0
        ]
      },
      "integrity": {
        "finite": true,
        "max_jump_rad": 0.2,
        "frame_drops": 0
      },
      "retarget_verdict": "WARN"
    },
    {
      "clip": "file-003722",
      "task": "basic_pick_place-part1",
      "n_frames": 116,
      "fps": 30.0,
      "verdict": "FAIL",
      "reasons": [
        "IK solved 3%",
        "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": 0.034,
        "selfcol_min_dist_m": 0.0388
      },
      "motion": {
        "peak_vel": 3.0,
        "peak_acc": 32.75,
        "peak_jerk": 1116.1,
        "ldlj": [
          -11.31,
          -10.22
        ],
        "chatter": [
          2.61,
          1.3
        ],
        "saturation": [
          0.871,
          0.0
        ]
      },
      "integrity": {
        "finite": true,
        "max_jump_rad": 0.1,
        "frame_drops": 0
      },
      "retarget_verdict": "FAIL"
    },
    {
      "clip": "file-004239",
      "task": "basic_pick_place-part1",
      "n_frames": 173,
      "fps": 30.0,
      "verdict": "FAIL",
      "reasons": [
        "IK solved 21%",
        "chatter 2.8"
      ],
      "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": 0.0384
      },
      "motion": {
        "peak_vel": 6.0,
        "peak_acc": 118.32,
        "peak_jerk": 6274.8,
        "ldlj": [
          -13.4,
          -12.54
        ],
        "chatter": [
          2.79,
          1.05
        ],
        "saturation": [
          0.416,
          0.0
        ]
      },
      "integrity": {
        "finite": true,
        "max_jump_rad": 0.2,
        "frame_drops": 0
      },
      "retarget_verdict": "WARN"
    }
  ],
  "thresholds": {
    "ik_ok_m": 0.02,
    "ik_success_min": 0.9,
    "limit_viol_warn": 0.001,
    "limit_viol_fail": 0.02,
    "selfcol_min_dist_m": 0.02,
    "continuity_max_drad": 0.5,
    "chatter_warn": 2.0
  }
}