hub_archive: flex_to_biotek_v2/raw +74 files (2026-10-23)

.gitattributes

@@ -1147,3 +1147,15 @@ flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000002_20261019_164956.hdf5 fi
 flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000003_20261019_165205.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000004_20261019_165555.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000005_20261019_165918.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000000_20261022_152406.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000001_20261022_152619.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000002_20261022_153203.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000003_20261022_153556.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000004_20261022_153817.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000005_20261022_155039.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000006_20261022_155319.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000007_20261022_161447.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000008_20261022_161832.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000009_20261022_163432.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000010_20261022_164334.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000011_20261022_164544.hdf5 filter=lfs diff=lfs merge=lfs -text

flex_to_biotek_v2/raw/2026-10-22_14-45-15/session_manifest.json

@@ -0,0 +1,144 @@
+{
+  "action_type": "state_copy",
+  "camera_status": {
+    "cam_scene": {
+      "backend": "realsense",
+      "connected": true,
+      "error": null,
+      "frame_count": 0,
+      "has_frame": false,
+      "model": "Intel(R) RealSense(TM) Depth Camera 455",
+      "name": "cam_scene",
+      "product_id": "0b5c",
+      "serial": "324422301529",
+      "started": false,
+      "usb_min_speed_mbps": 5000.0,
+      "usb_path": "2-4.2",
+      "usb_serial": "408243061090",
+      "usb_speed_label": "5000M",
+      "usb_speed_mbps": 5000.0,
+      "usb_speed_ok": true
+    },
+    "cam_wrist": {
+      "backend": "realsense",
+      "connected": true,
+      "error": null,
+      "frame_count": 0,
+      "has_frame": false,
+      "model": "Intel(R) RealSense(TM) Depth Camera 405",
+      "name": "cam_wrist",
+      "product_id": "0b5b",
+      "serial": "218722271296",
+      "started": false,
+      "usb_min_speed_mbps": 5000.0,
+      "usb_path": "2-3.4",
+      "usb_serial": "235123075560",
+      "usb_speed_label": "5000M",
+      "usb_speed_mbps": 5000.0,
+      "usb_speed_ok": true
+    }
+  },
+  "cameras": [
+    "cam_wrist",
+    "cam_scene"
+  ],
+  "collection_mode": "leadthrough_record",
+  "counts": {
+    "attempted": 0,
+    "discard": 0,
+    "failure": 0,
+    "success": 0
+  },
+  "dataset_schema_version": "abb_gofa_dataset_v1",
+  "episodes": [],
+  "operator": "Jesse",
+  "rapid_service_status": {
+    "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
+    "configured": true,
+    "message": "configured",
+    "ok": true,
+    "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
+  },
+  "robot_type": "abb_gofa",
+  "session_ended": "2026-10-22T15:00:12",
+  "session_id": "flex_to_biotek_v2_2026-10-22_14-45-15",
+  "session_started": "2026-10-22T14:45:15",
+  "settings": {
+    "arm_mode": "egm",
+    "fps": 30,
+    "leadthrough_reference_hz": 250.0,
+    "max_duration": 180.0,
+    "num_episodes": 25,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": 250.0,
+    "playback_settle_s": 0.25,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.25,
+    "start_index": 0
+  },
+  "start_pose": {
+    "leadthrough_start_arm_mode": "",
+    "leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_start_pose_enabled": true,
+    "leadthrough_start_pose_locked": true,
+    "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_start_pose_notes": "",
+    "leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_start_pose_uploaded": true,
+    "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_start_tcp_pos_m": [],
+    "leadthrough_start_tcp_quat": [],
+    "leadthrough_start_tool_command_supported": false,
+    "leadthrough_start_tool_commanded": false,
+    "leadthrough_start_tool_io_backend": "",
+    "leadthrough_start_tool_state": 0.0,
+    "leadthrough_start_tool_state_valid": true,
+    "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
+    "start_pose_id": "start_pose_v017",
+    "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json"
+  },
+  "task_id": "flex_to_biotek_v2",
+  "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
+  "tool_signal": "read-only configured",
+  "tool_status": {
+    "backend": "rws_rapid_feedback",
+    "can_command": false,
+    "can_read": true,
+    "command_failures": 0,
+    "command_hysteresis": 0.05,
+    "command_mode": "binary",
+    "command_signal": "read-only configured",
+    "command_threshold": 0.5,
+    "configured": true,
+    "last_state": null,
+    "last_state_age_s": null,
+    "message": "read RAPID gripper feedback array configured",
+    "ok": true,
+    "read_failures": 0,
+    "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
+    "state_valid": false
+  },
+  "updated_at": "2026-10-22T15:00:12"
+}

flex_to_biotek_v2/raw/2026-10-22_14-45-15/session_summary.json

@@ -0,0 +1,17 @@
+{
+  "task_id": "flex_to_biotek_v2",
+  "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
+  "operator": "Jesse",
+  "robot_type": "abb_gofa",
+  "collection_mode": "leadthrough_record",
+  "action_type": "state_copy",
+  "session_started": "2026-10-22T14:45:16",
+  "session_ended": "",
+  "counts": {
+    "attempted": 0,
+    "success": 0,
+    "failure": 0,
+    "discard": 0
+  },
+  "episodes": []
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000000_20261022_152406.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f59b20a984da90a154c7139d213174c4a5c371bc5fa889be5bbd3148be11773
+size 1490963582

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000001_20261022_152619.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc6bcf4a5a80e14ada9f9bfcd9efcf820c7917d104364e0bf24fb4238e1c301
+size 1546683567

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000002_20261022_153203.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3dbf36c6174cd570077e09e1bc1ab9a64d7eaf9e612e01942b335fe4e1efb0
+size 1474444862

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000003_20261022_153556.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154c3ce4b73df1fa649a53cf3612d125e545477542885ad4d61c9a6d07094c78
+size 1548743280

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000004_20261022_153817.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2cb2f12ef5fa71eba8ad07ebaff332e7d9e084192087897580d99c60a299e89
+size 1485869639

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000005_20261022_155039.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd864de44f329e2b0f03d3c50f709e6f02054b0b3ed130531a1c068499c8da0
+size 1431677786

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000006_20261022_155319.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610dd4950c80ef0b9aa156559eb1168cb1dc98869ae4b1955591604eccd9162c
+size 1542541806

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000007_20261022_161447.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2001801e7c174bc62f037ef881f0b9bd3e29cf538110e7f39a6e0b267552d0
+size 1499607212

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000008_20261022_161832.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ba9f8a76853ccffaee6e793ae6c5bd128f7908f832b4fe0552ae7a51bff1c4b
+size 1468629240

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000009_20261022_163432.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b13f185e6ced807d9764a4df835802b9bfd7a99f61eef5a2fa9e7dddd44d642
+size 1497007476

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000010_20261022_164334.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457ea5b65f540028fece0f2a6d6b289dc27e6fde62f9da01addbd8ef92048824
+size 1489568814

flex_to_biotek_v2/raw/2026-10-22_15-00-33/episode_000011_20261022_164544.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa579d46feaa0b605d93e044ccbea635b2c6d6b6e31de52b745f61850c08014
+size 1438099022

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_152958.json

@@ -0,0 +1,488 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:29:59",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_152958.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 657,
+    "actual_playback_duration_s": 21.93030147301033,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_152958.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_152958.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 657,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 657,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.8728478198213068,
+    "image_frame_counts": {
+      "cam_scene": 657,
+      "cam_wrist": 657
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 1,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 0,
+    "leadthrough_capture_egm_drained_packet_max": 1,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.03033675899496302,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003974121507781092,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004226398752507521,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004364187698956812,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2725,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.050082814996130764,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040037839935394,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00425888074823888,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004404591299680761,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 2,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0056954190076794475,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004004955000709742,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004249135201098397,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004353678663028398,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.08134112584230024,
+    "leadthrough_capture_loop_late_median_s": 0.07974305798416026,
+    "leadthrough_capture_loop_late_p95_s": 0.07998646814376116,
+    "leadthrough_capture_loop_late_p99_s": 0.08026148730597925,
+    "leadthrough_capture_loop_late_warn_count": 6697,
+    "leadthrough_capture_none_reads": 1,
+    "leadthrough_capture_read_duration_max_s": 0.050072710000677034,
+    "leadthrough_capture_read_duration_median_s": 0.003991500998381525,
+    "leadthrough_capture_read_duration_p95_s": 0.004245334400911816,
+    "leadthrough_capture_read_duration_p99_s": 0.0043867569568101315,
+    "leadthrough_capture_read_duration_warn_count": 3135,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0032089650630950928,
+      0.0022430485114455223,
+      0.0020880550146102905,
+      0.0011007506400346756,
+      0.002593398094177246,
+      0.0062683820724487305
+    ],
+    "leadthrough_delta_max_abs_rad": 0.0062683820724487305,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018265906255692244,
+      0.0016026546945795417,
+      0.0015705426922068,
+      0.00039293436566367745,
+      0.0011840462684631348,
+      0.004054035525768995
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007499136845581234,
+      0.0006468833307735622,
+      0.000712613866198808,
+      0.000174364831764251,
+      0.0005188832874409854,
+      0.0014343169750645757
+    ],
+    "leadthrough_delta_samples": 6282,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.0062683820724487305,
+    "leadthrough_delta_worst_from_rad": -1.2683265209197998,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 2.207,
+    "leadthrough_delta_worst_to_rad": -1.2745949029922485,
+    "leadthrough_duration_s": 25.125,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6281,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5,
+    "leadthrough_final_stillness_removed_samples": 125,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6282,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6696,
+    "leadthrough_initial_stillness_first_motion_index": 289,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 1.152,
+    "leadthrough_initial_stillness_removed_samples": 288,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 288,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0032089650630950928,
+      0.0022430485114455223,
+      0.0020880550146102905,
+      0.0011007506400346756,
+      0.002593398094177246,
+      0.0062683820724487305
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.0062683820724487305,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.8022412657735053,
+      0.5607621278616913,
+      0.5306402842203575,
+      0.36551803350458045,
+      0.648349523544095,
+      2.0878314971923038
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.25,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.125,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2828,
+      5521
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44306754126955716,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08716589212417603,
+    "rapid_planner_max_dt_s": 2.3790000000000013,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007732987403869629,
+    "rapid_planner_median_dt_s": 0.09800000000000075,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      200,
+      224,
+      244,
+      268,
+      280,
+      291,
+      304,
+      316,
+      328,
+      340,
+      354,
+      368,
+      378,
+      387,
+      396,
+      406,
+      416,
+      426,
+      436,
+      445,
+      465,
+      485,
+      499,
+      513,
+      522,
+      532,
+      542,
+      553,
+      564,
+      574,
+      586,
+      598,
+      622,
+      646,
+      715,
+      801,
+      837,
+      875,
+      909,
+      967,
+      1030,
+      1095,
+      1142,
+      1188,
+      1256,
+      1302,
+      1320,
+      1367,
+      1441,
+      1517,
+      1581,
+      1748,
+      1809,
+      1832,
+      2079,
+      2270,
+      2828,
+      3423,
+      3514,
+      3574,
+      3649,
+      3709,
+      3752,
+      3795,
+      3847,
+      3900,
+      3930,
+      3961,
+      4005,
+      4049,
+      4081,
+      4113,
+      4153,
+      4195,
+      4221,
+      4247,
+      4270,
+      4293,
+      4308,
+      4322,
+      4339,
+      4356,
+      4372,
+      4388,
+      4402,
+      4415,
+      4439,
+      4459,
+      4528,
+      4608,
+      4697,
+      4776,
+      5189,
+      5521,
+      5718,
+      5738,
+      5756,
+      5788,
+      5820,
+      5849,
+      5882,
+      5913,
+      5935,
+      5957,
+      5975,
+      5993,
+      6018,
+      6039,
+      6062,
+      6084,
+      6112,
+      6129,
+      6153,
+      6201,
+      6240,
+      6282
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.994237736207909,
+    "rapid_planner_selected_samples": 117,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6283,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 117,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006070077419281006,
+    "raw_replay_rms_error_rad": 0.0009363736225099161,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9590335712072436,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9723281134623614,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9879493647269165,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9988793201298263,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9801723888941611,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9955188666363254,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00048492103815078735,
+      0.00039124488830566406,
+      0.0006546676158905029,
+      0.002863045781850815,
+      0.0018460750579833984,
+      0.006116986274719238
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7009549991915831,
+    "replay_smoothing_max_deviation_rad": 0.006116986274719238,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001620305236428976,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.031877517700195,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.523136138916016,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.283696371544026,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 636.66796875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16567.509765625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 837.9394381253051,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8643395900726318,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20367630258125774,
+    "replay_smoothing_rms_deviation_rad": 0.0007796193527176939,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.866705894470215,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.820674896240234,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2441257442230014,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 635.9544677734375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16239.015625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 834.184519752383,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8299647569656372,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20294239440577921,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9815619250430361,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963966933502942,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 2.495,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006116986274719238,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006070077419281006,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.04828667640686035,
+    "stage_planned_to_measured_rms_error_rad": 0.006324073132212973,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 657,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 657,
+    "timestamp_count": 657,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_152958.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9474fe7dd1c80004485a3e2e5080a7eccb8aceffc5a9e9c152d9cc75af41e93c
+size 68965

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_154430.json

@@ -0,0 +1,497 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:44:31",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_154430.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 668,
+    "actual_playback_duration_s": 22.884157268010313,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_154430.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_154430.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 668,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 668,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.952633305636929,
+    "image_frame_counts": {
+      "cam_scene": 668,
+      "cam_wrist": 668
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 7,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.00650574300379958,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003976179999881424,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004287739601568318,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004767373155627863,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2941,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006572369005880319,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004005554998002481,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004318372045236174,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00480359970490099,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006344123001326807,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004007080999144819,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004290456341550453,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004793815696175443,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.016868911989149638,
+    "leadthrough_capture_loop_late_median_s": 0.011585324362386018,
+    "leadthrough_capture_loop_late_p95_s": 0.011912661959649995,
+    "leadthrough_capture_loop_late_p99_s": 0.012472891640500165,
+    "leadthrough_capture_loop_late_warn_count": 6635,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006551580008817837,
+    "leadthrough_capture_read_duration_median_s": 0.0039928080077515915,
+    "leadthrough_capture_read_duration_p95_s": 0.00430489929713076,
+    "leadthrough_capture_read_duration_p99_s": 0.004787843222729858,
+    "leadthrough_capture_read_duration_warn_count": 3210,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 5,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003488212823867798,
+      0.002324521541595459,
+      0.00271722674369812,
+      0.0009509482770226896,
+      0.002386033535003662,
+      0.005343765020370483
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005343765020370483,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002067575231194496,
+      0.0019190753810107708,
+      0.0018891096115112305,
+      0.0003342099953442812,
+      0.0014513134956359863,
+      0.004503816366195679
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008217013091780245,
+      0.0007452272111549973,
+      0.0008009191951714456,
+      0.00012560118921101093,
+      0.0005902626435272396,
+      0.0014411405427381396
+    ],
+    "leadthrough_delta_samples": 6006,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005343765020370483,
+    "leadthrough_delta_worst_from_rad": -0.22131627798080444,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 23.065,
+    "leadthrough_delta_worst_to_rad": -0.21597251296043396,
+    "leadthrough_duration_s": 24.022000000000002,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6005,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5990000000000002,
+    "leadthrough_final_stillness_removed_samples": 150,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6006,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6635,
+    "leadthrough_initial_stillness_first_motion_index": 479,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 1.912,
+    "leadthrough_initial_stillness_removed_samples": 478,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 478,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003488212823867798,
+      0.002324521541595459,
+      0.00271722674369812,
+      0.0009509482624707744,
+      0.002386033535003662,
+      0.005343765020370483
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005343765020370483,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.1611382166544155,
+      0.7695201784372038,
+      0.9014805157978988,
+      0.23773706925564578,
+      0.7953445116678572,
+      1.7812550067900936
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.04400000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.022000000000002,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2530,
+      5230
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.39719001438822776,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08664309978485107,
+    "rapid_planner_max_dt_s": 2.3840000000000003,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.006932273507118225,
+    "rapid_planner_median_dt_s": 0.09599999999999653,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      24,
+      42,
+      59,
+      77,
+      90,
+      104,
+      119,
+      134,
+      150,
+      165,
+      180,
+      196,
+      211,
+      226,
+      237,
+      248,
+      258,
+      269,
+      288,
+      306,
+      324,
+      342,
+      360,
+      378,
+      394,
+      410,
+      426,
+      441,
+      460,
+      482,
+      528,
+      573,
+      610,
+      646,
+      682,
+      719,
+      773,
+      840,
+      893,
+      915,
+      978,
+      1041,
+      1110,
+      1164,
+      1268,
+      1335,
+      1453,
+      1519,
+      1602,
+      1667,
+      1737,
+      1808,
+      1988,
+      2205,
+      2530,
+      3126,
+      3188,
+      3256,
+      3293,
+      3341,
+      3377,
+      3419,
+      3443,
+      3467,
+      3488,
+      3508,
+      3529,
+      3550,
+      3572,
+      3594,
+      3632,
+      3669,
+      3695,
+      3721,
+      3745,
+      3781,
+      3803,
+      3821,
+      3833,
+      3845,
+      3862,
+      3880,
+      3891,
+      3902,
+      3912,
+      3923,
+      3938,
+      3953,
+      3980,
+      4024,
+      4091,
+      4162,
+      4202,
+      4308,
+      4381,
+      4511,
+      4589,
+      4927,
+      5084,
+      5230,
+      5425,
+      5466,
+      5507,
+      5543,
+      5586,
+      5608,
+      5630,
+      5658,
+      5681,
+      5700,
+      5718,
+      5736,
+      5746,
+      5755,
+      5766,
+      5777,
+      5788,
+      5800,
+      5815,
+      5828,
+      5872,
+      5901,
+      5930,
+      5967,
+      6006
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.964283941602818,
+    "rapid_planner_selected_samples": 126,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6007,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 126,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.0051223039627075195,
+    "raw_replay_rms_error_rad": 0.0008223340286094963,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9710562755423334,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9834696811406819,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9907230904377041,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9899518882456031,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.981975303323279,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9961582415953013,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0007410347461700439,
+      0.00042529404163360596,
+      0.0008150637149810791,
+      0.002192622981965542,
+      0.002066314220428467,
+      0.005360521376132965
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.6142705064425227,
+    "replay_smoothing_max_deviation_rad": 0.005360521376132965,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0016634105704724789,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.071794509887695,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.587806701660156,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.9395223381449913,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1574.043212890625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14190.0576171875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1013.0062682735744,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5902130603790283,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21695472375266078,
+    "replay_smoothing_rms_deviation_rad": 0.0007717105361075022,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.8381667137146,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.71851348876953,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9029757456953758,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1558.22705078125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13934.2861328125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1009.1145429284219,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5728808641433716,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21626446804946695,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9891007081582354,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.996818434320053,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 23.293,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005360521376132965,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0051223039627075195,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.033141374588012695,
+    "stage_planned_to_measured_rms_error_rad": 0.006149803490268322,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 668,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 668,
+    "timestamp_count": 668,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_154430.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:320b325ddea818481b4f3720dcb6b25e9c28fe0482f2fcbb5dbc3ee0ae9802b7
+size 70867

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_155524.json

@@ -0,0 +1,492 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:55:25",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_155524.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 590,
+    "actual_playback_duration_s": 19.960431735002203,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_155524.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_155524.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 590,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 590,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.8367750371007883,
+    "image_frame_counts": {
+      "cam_scene": 590,
+      "cam_wrist": 590
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 27,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0069562189892167225,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039738554987707175,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004271083458297653,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005460620994126649,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2985,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007062831995426677,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004020721011329442,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0043295370051055215,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005517884598521046,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006967344990698621,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004018217994598672,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004295269500289578,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005487028101924804,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.010505129990633577,
+    "leadthrough_capture_loop_late_median_s": 0.0037438232466229238,
+    "leadthrough_capture_loop_late_p95_s": 0.004059714319009799,
+    "leadthrough_capture_loop_late_p99_s": 0.005377883690671294,
+    "leadthrough_capture_loop_late_warn_count": 440,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007021066005108878,
+    "leadthrough_capture_read_duration_median_s": 0.004001476008852478,
+    "leadthrough_capture_read_duration_p95_s": 0.004304882610449567,
+    "leadthrough_capture_read_duration_p99_s": 0.005496447131590675,
+    "leadthrough_capture_read_duration_warn_count": 3395,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 36,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0035425424575805664,
+      0.002474343404173851,
+      0.0022885799407958984,
+      0.001171458512544632,
+      0.00385892391204834,
+      0.005520462989807129
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005520462989807129,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019096833420917392,
+      0.0018059626454487443,
+      0.0016474425792694092,
+      0.00041884713573381305,
+      0.0014277994632720947,
+      0.0045997509732842445
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007889436674304307,
+      0.0007400474860332906,
+      0.0007650632178410888,
+      0.00019215869542676955,
+      0.0006642317748628557,
+      0.0013893881114199758
+    ],
+    "leadthrough_delta_samples": 5964,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005520462989807129,
+    "leadthrough_delta_worst_from_rad": -1.1285970211029053,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 15.278000000000002,
+    "leadthrough_delta_worst_to_rad": -1.1230765581130981,
+    "leadthrough_duration_s": 23.854,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5963,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6190000000000033,
+    "leadthrough_final_stillness_removed_samples": 155,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5964,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6732,
+    "leadthrough_initial_stillness_first_motion_index": 613,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.447,
+    "leadthrough_initial_stillness_removed_samples": 612,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 612,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0035425424575805664,
+      0.002474343404173851,
+      0.0022885799407958984,
+      0.001171458512544632,
+      0.00385892391204834,
+      0.005520462989807129
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005520462989807129,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.8856356143956324,
+      0.6185858510432561,
+      0.5926887194315368,
+      0.3902862469355117,
+      0.9647309780126196,
+      1.84015432993564
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 77.708,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 23.854,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2330,
+      5174
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4321802197325568,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.0867152214050293,
+    "rapid_planner_max_dt_s": 2.6999999999999993,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007542967796325684,
+    "rapid_planner_median_dt_s": 0.1034999999999986,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      32,
+      68,
+      86,
+      104,
+      116,
+      128,
+      138,
+      147,
+      156,
+      166,
+      176,
+      186,
+      196,
+      205,
+      222,
+      239,
+      252,
+      266,
+      280,
+      294,
+      307,
+      320,
+      333,
+      346,
+      365,
+      384,
+      412,
+      441,
+      469,
+      509,
+      549,
+      601,
+      653,
+      705,
+      738,
+      782,
+      806,
+      839,
+      860,
+      952,
+      1059,
+      1151,
+      1203,
+      1223,
+      1306,
+      1383,
+      1559,
+      1594,
+      1637,
+      1787,
+      2330,
+      3005,
+      3078,
+      3162,
+      3251,
+      3296,
+      3344,
+      3383,
+      3431,
+      3477,
+      3513,
+      3549,
+      3575,
+      3601,
+      3627,
+      3653,
+      3680,
+      3706,
+      3732,
+      3758,
+      3775,
+      3792,
+      3802,
+      3812,
+      3822,
+      3833,
+      3845,
+      3857,
+      3868,
+      3880,
+      3892,
+      3905,
+      3936,
+      3957,
+      3977,
+      4081,
+      4144,
+      4193,
+      4233,
+      4302,
+      4415,
+      4543,
+      4628,
+      4907,
+      5174,
+      5369,
+      5392,
+      5413,
+      5440,
+      5458,
+      5477,
+      5504,
+      5528,
+      5549,
+      5577,
+      5595,
+      5612,
+      5628,
+      5650,
+      5672,
+      5692,
+      5704,
+      5717,
+      5730,
+      5744,
+      5768,
+      5793,
+      5823,
+      5903,
+      5964
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.968416206050676,
+    "rapid_planner_selected_samples": 121,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5965,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 121,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.00489850714802742,
+    "raw_replay_rms_error_rad": 0.0008372664938234942,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9162223585465046,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0023902501471338,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9805676447039584,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9839866164063483,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0010560501400396,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9930088640693361,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005546808242797852,
+      0.0004852116107940674,
+      0.0007616877555847168,
+      0.0027288980782032013,
+      0.002187967300415039,
+      0.005315303802490234
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.6090889541432835,
+    "replay_smoothing_max_deviation_rad": 0.005315303802490234,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001962482463568449,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.3477978706359863,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.875762939453125,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.8164440573393725,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 501.24774169921875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14620.9248046875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 714.9826053058331,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6424329280853271,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21096687663499206,
+    "replay_smoothing_rms_deviation_rad": 0.0008530593728283085,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.0673272609710693,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.004539489746094,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.761713915745729,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 493.2210693359375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14636.365234375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 709.9840647240798,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6507691144943237,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21010214646026037,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0050755110095817,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959011092711592,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.3600000000000003,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005315303802490234,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.00489850714802742,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.039201319217681885,
+    "stage_planned_to_measured_rms_error_rad": 0.006413311496938426,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 590,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 590,
+    "timestamp_count": 590,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_155524.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1201f9e60585efdfd762af16dabeb27b6da0c7121f86e8f425e3e473142d7702
+size 62468

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_160331.json

@@ -0,0 +1,502 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T16:03:32",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_160331.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 660,
+    "actual_playback_duration_s": 22.275647668997408,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_160331.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_160331.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 660,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 660,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.7989830584288884,
+    "image_frame_counts": {
+      "cam_scene": 660,
+      "cam_wrist": 660
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 1,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 0,
+    "leadthrough_capture_egm_drained_packet_max": 1,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.032632322996505536,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039893685025162995,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004199538599641528,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004446815843257351,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3603,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.05004886399547104,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004017845501948614,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0042310160046326924,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004495205690327566,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 2,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005677177003235556,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004016542996396311,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042202904034638776,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004461093921563588,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.08295959468523506,
+    "leadthrough_capture_loop_late_median_s": 0.08127051719930023,
+    "leadthrough_capture_loop_late_p95_s": 0.08148176762915682,
+    "leadthrough_capture_loop_late_p99_s": 0.08175352944410406,
+    "leadthrough_capture_loop_late_warn_count": 7675,
+    "leadthrough_capture_none_reads": 1,
+    "leadthrough_capture_read_duration_max_s": 0.05004485699464567,
+    "leadthrough_capture_read_duration_median_s": 0.004005486000096425,
+    "leadthrough_capture_read_duration_p95_s": 0.004217552504269406,
+    "leadthrough_capture_read_duration_p99_s": 0.004478504191793036,
+    "leadthrough_capture_read_duration_warn_count": 3947,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0036667585372924805,
+      0.002292981371283531,
+      0.0023936498910188675,
+      0.0011654654517769814,
+      0.003564119338989258,
+      0.007323563098907471
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007323563098907471,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019484460353851318,
+      0.0017181336879730225,
+      0.00185355544090271,
+      0.0002738391049206257,
+      0.0013242661952972412,
+      0.0034236013889312744
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007508465787395835,
+      0.0006403931183740497,
+      0.0007135709747672081,
+      0.00014274931163527071,
+      0.0005598055431619287,
+      0.0013992225285619497
+    ],
+    "leadthrough_delta_samples": 6971,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.007323563098907471,
+    "leadthrough_delta_worst_from_rad": -0.573015570640564,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.9710000000000001,
+    "leadthrough_delta_worst_to_rad": -0.5803391337394714,
+    "leadthrough_duration_s": 27.88,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6963,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6964,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7674,
+    "leadthrough_initial_stillness_first_motion_index": 703,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.808,
+    "leadthrough_initial_stillness_removed_samples": 702,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 702,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0036667585372924805,
+      0.002292981371283531,
+      0.0023936498910188675,
+      0.0011654654517769814,
+      0.003564119338989258,
+      0.007323563098907471
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007323563098907471,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.2118717034657338,
+      0.740092247724505,
+      0.7934893170992232,
+      0.387490106125658,
+      1.1858344078063516,
+      2.441187699635731
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 85.75999999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 27.88,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3404,
+      6104
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4487263529969127,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08564114570617676,
+    "rapid_planner_max_dt_s": 2.5,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007831752300262451,
+    "rapid_planner_median_dt_s": 0.11950000000000038,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      61,
+      103,
+      123,
+      141,
+      152,
+      164,
+      173,
+      182,
+      190,
+      199,
+      206,
+      214,
+      221,
+      228,
+      236,
+      243,
+      250,
+      258,
+      265,
+      272,
+      280,
+      287,
+      300,
+      312,
+      321,
+      330,
+      339,
+      348,
+      364,
+      378,
+      390,
+      406,
+      437,
+      468,
+      501,
+      534,
+      579,
+      625,
+      668,
+      714,
+      746,
+      768,
+      789,
+      812,
+      847,
+      915,
+      959,
+      995,
+      1050,
+      1083,
+      1146,
+      1209,
+      1257,
+      1297,
+      1360,
+      1422,
+      1479,
+      1576,
+      1628,
+      1649,
+      1768,
+      1880,
+      2050,
+      2168,
+      2234,
+      2665,
+      2779,
+      2859,
+      3404,
+      4029,
+      4093,
+      4218,
+      4271,
+      4302,
+      4329,
+      4358,
+      4388,
+      4424,
+      4460,
+      4493,
+      4526,
+      4560,
+      4593,
+      4620,
+      4648,
+      4676,
+      4704,
+      4735,
+      4766,
+      4789,
+      4809,
+      4839,
+      4857,
+      4875,
+      4898,
+      4920,
+      4935,
+      4950,
+      4988,
+      5026,
+      5062,
+      5082,
+      5259,
+      5516,
+      5953,
+      6104,
+      6284,
+      6326,
+      6366,
+      6402,
+      6438,
+      6475,
+      6496,
+      6514,
+      6530,
+      6543,
+      6556,
+      6572,
+      6587,
+      6614,
+      6630,
+      6646,
+      6664,
+      6683,
+      6701,
+      6718,
+      6737,
+      6774,
+      6852,
+      6971
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.906876201628861,
+    "rapid_planner_selected_samples": 131,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6972,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 131,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005948713049292564,
+    "raw_replay_rms_error_rad": 0.000749940659503361,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9959907744074364,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9991590204606071,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9881329636150903,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.9991321563720703,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.9991321563720703
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0050522043137253,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9922984230104259,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9932870577111708,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005113780498504639,
+      0.0004496704787015915,
+      0.0008855462074279785,
+      0.0030489691998809576,
+      0.0025129318237304688,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001935575157403946,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.503850936889648,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 70.89794158935547,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.498286260074134,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1788.3109130859375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20168.099609375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1162.3301617446646,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1793124675750732,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20531334926690767,
+    "replay_smoothing_rms_deviation_rad": 0.001001403256144884,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.469757080078125,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 70.83831787109375,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.444904933356095,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1797.3458251953125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 20012.7734375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1154.5275064483071,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1663498878479004,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2042134771947316,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.994051986615028,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9946429587939446,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.1480000000000006,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005948713049292564,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03235429525375366,
+    "stage_planned_to_measured_rms_error_rad": 0.006222830070006678,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 660,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 660,
+    "timestamp_count": 660,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_160331.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32e6767ed718cf67a85a410f1ea84e6e52520db7ae66b5de30c3cb4f72769b1
+size 70607

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_162006.json

@@ -0,0 +1,493 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T16:20:07",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_162006.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 0,
+    "actual_playback_duration_s": 0.15751937200548127,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_162006.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_162006.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 0,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 0,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.006475616526432941,
+    "image_frame_counts": {
+      "cam_scene": 0,
+      "cam_wrist": 0
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 11,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0070553999976255,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003951026999857277,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004276870450848946,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005450281526282204,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2612,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007097994006471708,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003979645000072196,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004311960596533026,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005495343430084172,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0070883959997445345,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003980442997999489,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004292070398514624,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0054503978200955315,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013415153996902518,
+    "leadthrough_capture_loop_late_median_s": 0.005907315731747076,
+    "leadthrough_capture_loop_late_p95_s": 0.006193196867388906,
+    "leadthrough_capture_loop_late_p99_s": 0.00753225627457141,
+    "leadthrough_capture_loop_late_warn_count": 6908,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007081885996740311,
+    "leadthrough_capture_read_duration_median_s": 0.003967201002524234,
+    "leadthrough_capture_read_duration_p95_s": 0.004295182898931671,
+    "leadthrough_capture_read_duration_p99_s": 0.005480309189733819,
+    "leadthrough_capture_read_duration_warn_count": 2823,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 15,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0038082003593444824,
+      0.0022873878479003906,
+      0.0025146901607513428,
+      0.0019552260637283325,
+      0.003486812114715576,
+      0.005586445331573486
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005586445331573486,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017959155375137925,
+      0.001739246305078268,
+      0.002024893881753087,
+      0.000544621841982007,
+      0.0014847749844193459,
+      0.004033457953482866
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007596910581924021,
+      0.0007260403363034129,
+      0.0008321801433339715,
+      0.00025818657013587654,
+      0.0006643747910857201,
+      0.0013991640880703926
+    ],
+    "leadthrough_delta_samples": 6082,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005586445331573486,
+    "leadthrough_delta_worst_from_rad": -0.25607892870903015,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.52,
+    "leadthrough_delta_worst_to_rad": -0.26166537404060364,
+    "leadthrough_duration_s": 24.325,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6081,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6080000000000005,
+    "leadthrough_final_stillness_removed_samples": 152,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6082,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6908,
+    "leadthrough_initial_stillness_first_motion_index": 674,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.692,
+    "leadthrough_initial_stillness_removed_samples": 673,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 673,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0038082003593444824,
+      0.0022873878479003906,
+      0.0025146901607513428,
+      0.0019552260637283325,
+      0.003486812114715576,
+      0.005586445331573486
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005586445331573486,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.260340213775587,
+      0.762462615966768,
+      0.8309061328569733,
+      0.6469488143920653,
+      1.154879728953,
+      1.3966113328933702
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.65,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.325,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2544,
+      5384
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44420135267177924,
+    "rapid_planner_max_delta_rad": 0.08694601058959961,
+    "rapid_planner_max_dt_s": 2.427999999999999,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007752776145935059,
+    "rapid_planner_median_dt_s": 0.0940000000000012,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      44,
+      60,
+      77,
+      88,
+      98,
+      108,
+      117,
+      126,
+      136,
+      148,
+      160,
+      172,
+      185,
+      202,
+      220,
+      235,
+      250,
+      260,
+      269,
+      278,
+      288,
+      297,
+      306,
+      315,
+      324,
+      346,
+      368,
+      424,
+      535,
+      552,
+      585,
+      607,
+      640,
+      662,
+      684,
+      703,
+      730,
+      758,
+      791,
+      824,
+      861,
+      929,
+      995,
+      1123,
+      1203,
+      1249,
+      1287,
+      1339,
+      1397,
+      1464,
+      1588,
+      1980,
+      2544,
+      3151,
+      3199,
+      3267,
+      3337,
+      3374,
+      3408,
+      3450,
+      3471,
+      3492,
+      3524,
+      3556,
+      3578,
+      3599,
+      3626,
+      3665,
+      3683,
+      3726,
+      3768,
+      3805,
+      3828,
+      3852,
+      3873,
+      3893,
+      3908,
+      3922,
+      3937,
+      3952,
+      3974,
+      3997,
+      4010,
+      4022,
+      4041,
+      4060,
+      4078,
+      4099,
+      4160,
+      4198,
+      4235,
+      4293,
+      4380,
+      4490,
+      4542,
+      4630,
+      4701,
+      4913,
+      5013,
+      5100,
+      5384,
+      5539,
+      5581,
+      5622,
+      5656,
+      5689,
+      5730,
+      5760,
+      5776,
+      5792,
+      5806,
+      5821,
+      5844,
+      5857,
+      5870,
+      5886,
+      5901,
+      5920,
+      5956,
+      5997,
+      6023,
+      6082
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.98163945228382,
+    "rapid_planner_selected_samples": 123,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6083,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 123,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": null,
+    "raw_replay_rms_error_rad": null,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9631639006542652,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0024638834915403,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9785149754547877,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9750497627900573,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0110758037874146,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9925022390492514,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004575774073600769,
+      0.0004291534423828125,
+      0.001185297966003418,
+      0.0045136623084545135,
+      0.0025163888931274414,
+      0.00847160816192627
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9707747942538899,
+    "replay_smoothing_max_deviation_rad": 0.00847160816192627,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002519929315894842,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.634459972381592,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.85803985595703,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.3188184281896382,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1280.24365234375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10645.9189453125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 835.9034075884273,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3960860967636108,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21421680086888822,
+    "replay_smoothing_rms_deviation_rad": 0.0011406796597570618,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.390072345733643,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 39.95624542236328,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.247513532798881,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1248.30126953125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10763.8310546875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 829.636003660413,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3828091621398926,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21285228766648873,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9904898883711423,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.993630223227754,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 2.3279999999999994,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00847160816192627,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": null,
+    "stage_planned_to_measured_rms_error_rad": null,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 0,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 0,
+    "timestamp_count": 0,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_162006.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d390dab47322fe2e7dd8da2a47d30f33b7bea02e09520e57ccf8e5e81db66d
+size 4089

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_163146.json

@@ -0,0 +1,497 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T16:31:47",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_163146.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 617,
+    "actual_playback_duration_s": 20.92178299900843,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_163146.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_163146.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 617,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 617,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.8707251123276356,
+    "image_frame_counts": {
+      "cam_scene": 617,
+      "cam_wrist": 617
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 47,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.00514408499293495,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003978288492362481,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004259185992850689,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004512258997710888,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3103,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005185608999454416,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004005747992778197,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00429103200440295,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004555823100963608,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005161658991710283,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004009216994745657,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.00427648799814051,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004515116602124181,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.015146618010476232,
+    "leadthrough_capture_loop_late_median_s": 0.009115643057157286,
+    "leadthrough_capture_loop_late_p95_s": 0.009385411161929369,
+    "leadthrough_capture_loop_late_p99_s": 0.009771944393432931,
+    "leadthrough_capture_loop_late_warn_count": 6972,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005169445998035371,
+    "leadthrough_capture_read_duration_median_s": 0.003994017002696637,
+    "leadthrough_capture_read_duration_p95_s": 0.0042775679496116934,
+    "leadthrough_capture_read_duration_p99_s": 0.004541440694010817,
+    "leadthrough_capture_read_duration_warn_count": 3388,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.004124552011489868,
+      0.0022522807121276855,
+      0.002689659595489502,
+      0.0023818686604499817,
+      0.0035851001739501953,
+      0.008023440837860107
+    ],
+    "leadthrough_delta_max_abs_rad": 0.008023440837860107,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019734029192477465,
+      0.0016696181846782565,
+      0.002076562959700823,
+      0.000525837647728622,
+      0.0016691682394593954,
+      0.004839629866182804
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.000832411868032068,
+      0.000672157562803477,
+      0.0008404981344938278,
+      0.0002852014731615782,
+      0.0007157100480981171,
+      0.0016328657511621714
+    ],
+    "leadthrough_delta_samples": 6008,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.008023440837860107,
+    "leadthrough_delta_worst_from_rad": -0.5727267265319824,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.6829999999999998,
+    "leadthrough_delta_worst_to_rad": -0.5807501673698425,
+    "leadthrough_duration_s": 24.028,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6007,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6890000000000001,
+    "leadthrough_final_stillness_removed_samples": 172,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6008,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6972,
+    "leadthrough_initial_stillness_first_motion_index": 792,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.164,
+    "leadthrough_initial_stillness_removed_samples": 791,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 791,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.004124552011489868,
+      0.0022522807121276855,
+      0.00268965947907418,
+      0.0023818686604499817,
+      0.0035851001739501953,
+      0.008023440837860107
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.008023440837860107,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.368472973505604,
+      0.737150510152153,
+      0.8892298986514072,
+      0.7939562201499638,
+      1.1944174766540074,
+      2.0213325818378953
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.056,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.028,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3004,
+      5362
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4428660506890418,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.0871955156326294,
+    "rapid_planner_max_dt_s": 2.2479999999999976,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007729470729827881,
+    "rapid_planner_median_dt_s": 0.0920000000000023,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      28,
+      46,
+      64,
+      83,
+      96,
+      109,
+      122,
+      134,
+      142,
+      150,
+      158,
+      165,
+      176,
+      182,
+      188,
+      199,
+      210,
+      220,
+      231,
+      241,
+      251,
+      260,
+      270,
+      279,
+      288,
+      298,
+      309,
+      326,
+      345,
+      391,
+      420,
+      448,
+      488,
+      518,
+      549,
+      585,
+      621,
+      650,
+      678,
+      764,
+      899,
+      943,
+      1106,
+      1127,
+      1164,
+      1183,
+      1319,
+      1383,
+      1463,
+      1521,
+      1636,
+      1699,
+      1813,
+      1884,
+      2443,
+      2621,
+      3004,
+      3566,
+      3631,
+      3691,
+      3721,
+      3761,
+      3791,
+      3822,
+      3850,
+      3879,
+      3904,
+      3929,
+      3950,
+      3970,
+      4003,
+      4035,
+      4067,
+      4107,
+      4130,
+      4156,
+      4181,
+      4206,
+      4225,
+      4247,
+      4258,
+      4268,
+      4279,
+      4290,
+      4298,
+      4306,
+      4314,
+      4323,
+      4336,
+      4348,
+      4361,
+      4374,
+      4395,
+      4417,
+      4480,
+      4542,
+      4596,
+      4672,
+      5024,
+      5112,
+      5152,
+      5362,
+      5529,
+      5558,
+      5589,
+      5621,
+      5642,
+      5663,
+      5691,
+      5709,
+      5738,
+      5762,
+      5774,
+      5785,
+      5796,
+      5808,
+      5821,
+      5834,
+      5854,
+      5870,
+      5894,
+      5914,
+      5932,
+      5952,
+      6008
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.995935038216657,
+    "rapid_planner_selected_samples": 126,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6009,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 126,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.007474124431610107,
+    "raw_replay_rms_error_rad": 0.0009890595729907046,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9587871637390198,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9838019388425291,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9821866068382774,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0129125814000677,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.003501256150948,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9927611468768957,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009197024628520012,
+      0.0005670897662639618,
+      0.001318424940109253,
+      0.004096105694770813,
+      0.004161238670349121,
+      0.006738424301147461
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7721665520297668,
+    "replay_smoothing_max_deviation_rad": 0.006738424301147461,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0026308298110961914,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.0848774909973145,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.167701721191406,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.800400465653802,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1272.96435546875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13908.5126953125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 972.7075278649829,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0051076412200928,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.23546433539747072,
+    "replay_smoothing_rms_deviation_rad": 0.001133436153563027,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.792889595031738,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.306488037109375,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.732702437987117,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1289.401611328125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13957.2099609375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 965.6662409390303,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9865632057189941,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23420477124463632,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9907514015108863,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9946507221541291,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.291,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006738424301147461,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.007474124431610107,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.0328068733215332,
+    "stage_planned_to_measured_rms_error_rad": 0.00645951789927499,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 617,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 617,
+    "timestamp_count": 617,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_operator_stop_20261022_163146.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9366df1d2807cc829adc49d0d49bf46cb8c5cbb3289dbb06c11d22f1984cac09
+size 64933

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_151402.json

@@ -0,0 +1,685 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:14:03",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_151402.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1264,
+    "actual_playback_duration_s": 42.14846405699791,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006974503397941589,
+    "aligned_p95_error_rad": 0.002253148704767227,
+    "aligned_rms_error_rad": 0.0009893924170233462,
+    "aligned_samples": 1264,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 23.57,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_151402.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_151402.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1264,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1264,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.7062773887538625,
+    "image_frame_counts": {
+      "cam_scene": 1264,
+      "cam_wrist": 1264
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004455506801605225,
+      0.006874289363622665,
+      0.004850327968597412,
+      0.005534514784812927,
+      0.005096077919006348,
+      0.006974503397941589
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001988566480576992,
+      0.0023995547089725733,
+      0.002132663270458579,
+      0.0016455122968181968,
+      0.002358989790081978,
+      0.002675184514373541
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009060052358190613,
+      0.0010762515195555141,
+      0.0009501197311593869,
+      0.0007545402961846437,
+      0.0009793515352919725,
+      0.0012095591414722747
+    ],
+    "joint_lag_samples": [
+      1264,
+      1264,
+      1264,
+      1264,
+      1264,
+      1264
+    ],
+    "joint_lag_worst_time_s": [
+      22.534,
+      23.57,
+      24.405,
+      23.613999999999997,
+      14.174999999999999,
+      23.57
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 42,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005376162996981293,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003975914005422965,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004229752202809323,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004340012907632626,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2791,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005446160008432344,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004003948502941057,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004259737842949108,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004368845237913774,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005417901003966108,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004005249000329059,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004247930648853071,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004336285776807927,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.03555517100903671,
+    "leadthrough_capture_loop_late_median_s": 0.028942409306182526,
+    "leadthrough_capture_loop_late_p95_s": 0.029197113667032683,
+    "leadthrough_capture_loop_late_p99_s": 0.029453068581351546,
+    "leadthrough_capture_loop_late_warn_count": 6735,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005418947999714874,
+    "leadthrough_capture_read_duration_median_s": 0.003990913988673128,
+    "leadthrough_capture_read_duration_p95_s": 0.004246910109941382,
+    "leadthrough_capture_read_duration_p99_s": 0.0043552246520994235,
+    "leadthrough_capture_read_duration_warn_count": 3169,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0041497498750686646,
+      0.0021096235141158104,
+      0.0028122984804213047,
+      0.0019851867109537125,
+      0.003256678581237793,
+      0.006241977214813232
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006241977214813232,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019990764558315277,
+      0.0014805570244789124,
+      0.0019144713878631592,
+      0.000552469864487648,
+      0.0016264021396636963,
+      0.00449259951710701
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008145719184540212,
+      0.0006681091617792845,
+      0.0008192432578653097,
+      0.00024599756579846144,
+      0.0006385730230249465,
+      0.0015112926485016942
+    ],
+    "leadthrough_delta_samples": 6176,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006241977214813232,
+    "leadthrough_delta_worst_from_rad": -0.4911704957485199,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.7770000000000001,
+    "leadthrough_delta_worst_to_rad": -0.49741247296333313,
+    "leadthrough_duration_s": 24.701999999999998,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6156,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6157,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6735,
+    "leadthrough_initial_stillness_first_motion_index": 559,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.231,
+    "leadthrough_initial_stillness_removed_samples": 558,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 558,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0041497498750686646,
+      0.0021096235141158104,
+      0.0028122984804213047,
+      0.0019851867109537125,
+      0.003256678581237793,
+      0.006241977214813232
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006241977214813232,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.037437468767741,
+      0.527405878528308,
+      0.7299582163493642,
+      0.49629667773837255,
+      0.8141696453084533,
+      2.0748674869536567
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8296107053756714,
+    "leadthrough_velocity_rms_rad_s": 0.2203390816514139,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006974503397941589,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5284292101860046,
+    "measured_wall_accel_peak_abs_rad_s2": 2.906460762023926,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 25.080481974000577,
+    "measured_wall_accel_rms_rad_s2": 0.2765995540654768,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.69218635559082,
+    "measured_wall_jerk_peak_abs_rad_s3": 55.24051284790039,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 25.444849705003435,
+    "measured_wall_jerk_rms_rad_s3": 4.465832238670857,
+    "measured_wall_smoothness_samples": 1264,
+    "measured_wall_velocity_peak_abs_rad_s": 0.781485915184021,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 42.577541833990836,
+    "measured_wall_velocity_rms_rad_s": 0.09966914894168434,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006974503397941589,
+    "moving_aligned_p95_error_rad": 0.0025521190837025642,
+    "moving_aligned_rms_error_rad": 0.0011287805845647824,
+    "moving_aligned_samples": 968,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 23.57,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004455506801605225,
+      0.006874289363622665,
+      0.004850327968597412,
+      0.004996545612812042,
+      0.005096077919006348,
+      0.006974503397941589
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0025387415662407875,
+      0.0027740367222577333,
+      0.0025103662628680468,
+      0.0027158637531101704,
+      0.0032141259871423244,
+      0.0034711118787527084
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010954084502407344,
+      0.0012316011256608788,
+      0.0011635553797230587,
+      0.0013099710325292706,
+      0.0013616867805665992,
+      0.001812990451655974
+    ],
+    "moving_joint_lag_samples": [
+      792,
+      838,
+      775,
+      291,
+      595,
+      453
+    ],
+    "moving_joint_lag_worst_time_s": [
+      22.534,
+      23.57,
+      24.405,
+      6.136000000000001,
+      14.174999999999999,
+      23.57
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.9725263118743896,
+    "playback_velocity_rms_rad_s": 0.36562881501997424,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 79.404,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.701999999999998,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2640,
+      5239
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.448625607706655,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08638778328895569,
+    "rapid_planner_max_dt_s": 2.096,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007829993963241577,
+    "rapid_planner_median_dt_s": 0.09600000000000009,
+    "rapid_planner_path_max_error_rad": 0.006974503397941589,
+    "rapid_planner_path_p95_error_rad": 0.0035539105534553523,
+    "rapid_planner_path_rms_error_rad": 0.0016809217442251185,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      62,
+      79,
+      91,
+      100,
+      110,
+      120,
+      130,
+      141,
+      152,
+      164,
+      175,
+      188,
+      200,
+      212,
+      225,
+      236,
+      246,
+      257,
+      268,
+      280,
+      292,
+      304,
+      316,
+      328,
+      340,
+      352,
+      363,
+      382,
+      402,
+      481,
+      525,
+      550,
+      574,
+      603,
+      630,
+      657,
+      693,
+      716,
+      744,
+      761,
+      778,
+      808,
+      838,
+      895,
+      920,
+      971,
+      1126,
+      1215,
+      1393,
+      1471,
+      1510,
+      1591,
+      1874,
+      1956,
+      2123,
+      2224,
+      2640,
+      3164,
+      3272,
+      3413,
+      3488,
+      3584,
+      3623,
+      3662,
+      3688,
+      3715,
+      3742,
+      3768,
+      3824,
+      3851,
+      3889,
+      3927,
+      3964,
+      4000,
+      4039,
+      4072,
+      4105,
+      4124,
+      4142,
+      4159,
+      4176,
+      4193,
+      4210,
+      4222,
+      4235,
+      4248,
+      4260,
+      4274,
+      4289,
+      4304,
+      4318,
+      4344,
+      4366,
+      4441,
+      4485,
+      4570,
+      4761,
+      4842,
+      4977,
+      5045,
+      5239,
+      5430,
+      5452,
+      5471,
+      5509,
+      5534,
+      5559,
+      5590,
+      5616,
+      5649,
+      5666,
+      5688,
+      5698,
+      5708,
+      5718,
+      5729,
+      5743,
+      5756,
+      5770,
+      5785,
+      5805,
+      5823,
+      5836,
+      5848,
+      5865,
+      5880,
+      5933,
+      5980,
+      6176
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.949655383947943,
+    "rapid_planner_selected_samples": 130,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6177,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 130,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006974503397941589,
+    "raw_replay_rms_error_rad": 0.0009893924170233462,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9618444500520791,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9913917378774809,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9818555537632634,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9957435068471855,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9733072955588667,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9937807151097943,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.001713787205517292,
+      0.00043389201164245605,
+      0.0007441043853759766,
+      0.0032775327563285828,
+      0.005762934684753418,
+      0.006244540214538574
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.715571604128636,
+    "replay_smoothing_max_deviation_rad": 0.006244540214538574,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002881451742723584,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.099740982055664,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.221458435058594,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.819937108964749,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1114.9957275390625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16661.490234375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 969.0707403204525,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.854421854019165,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22200306896531996,
+    "replay_smoothing_rms_deviation_rad": 0.0012044638643057659,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.867002010345459,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.70305633544922,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.7506264654634234,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1110.249755859375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16216.75,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 963.043813307637,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8296107053756714,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2203390816514139,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9866205477520018,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9925046652658391,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.516,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006244540214538574,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006974503397941589,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.04732406139373779,
+    "stage_planned_to_measured_rms_error_rad": 0.005914484320604393,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1264,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8566097617149353,
+    "target_wall_accel_peak_abs_rad_s2": 3.448241949081421,
+    "target_wall_accel_peak_joint": 4,
+    "target_wall_accel_peak_time_s": 10.666724091002834,
+    "target_wall_accel_rms_rad_s2": 0.391689190566523,
+    "target_wall_jerk_p95_abs_rad_s3": 17.81911277770996,
+    "target_wall_jerk_peak_abs_rad_s3": 99.53852081298828,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 10.73338678300206,
+    "target_wall_jerk_rms_rad_s3": 8.534053730226557,
+    "target_wall_smoothness_samples": 1264,
+    "target_wall_velocity_peak_abs_rad_s": 0.7932154536247253,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 27.366728177992627,
+    "target_wall_velocity_rms_rad_s": 0.1007453430404575,
+    "tcp_pose_count": 1264,
+    "timestamp_count": 1264,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.7900000000000036,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.009999999999998233,
+    "window_lag_best_lag_p95_abs_s": 1.2900000000000027,
+    "window_lag_count": 37,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.7200000000000024,
+    "window_lag_worst_end_s": 21.5,
+    "window_lag_worst_max_error_rad": 0.02693835273385048,
+    "window_lag_worst_rms_error_rad": 0.0027138925809414086,
+    "window_lag_worst_start_s": 20.5,
+    "zero_lag_max_error_rad": 0.006974503397941589,
+    "zero_lag_p95_error_rad": 0.002253148704767227,
+    "zero_lag_rms_error_rad": 0.0009893924170233462,
+    "zero_lag_samples": 1264,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 23.57
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_151402.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b8be194397fc82ca0e34226d7466fff17ffff708617c6c8a8548961b5b3a46
+size 136956

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152013.json

@@ -0,0 +1,706 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:20:14",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152013.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1328,
+    "actual_playback_duration_s": 44.28722413099604,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006012082099914551,
+    "aligned_p95_error_rad": 0.002164192497730255,
+    "aligned_rms_error_rad": 0.0009140301538911105,
+    "aligned_samples": 1328,
+    "aligned_worst_joint": 1,
+    "aligned_worst_time_s": 5.0360000000000005,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152013.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152013.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1328,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1328,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4855502526162632,
+    "image_frame_counts": {
+      "cam_scene": 1328,
+      "cam_wrist": 1328
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005954667925834656,
+      0.006012082099914551,
+      0.004387795925140381,
+      0.004419784992933273,
+      0.005324006080627441,
+      0.004712343215942383
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0022133418824523687,
+      0.001975960796698928,
+      0.002173398621380329,
+      0.0016088442644104362,
+      0.0023643237072974443,
+      0.00251337350346148
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009469760005095481,
+      0.0009225234020690797,
+      0.0008856334003966046,
+      0.0007155605333464684,
+      0.0009933345575537653,
+      0.0009908616555379488
+    ],
+    "joint_lag_samples": [
+      1328,
+      1328,
+      1328,
+      1328,
+      1328,
+      1328
+    ],
+    "joint_lag_worst_time_s": [
+      5.0360000000000005,
+      5.0360000000000005,
+      15.982,
+      15.982,
+      15.465999999999998,
+      2.263
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 49,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006939212995348498,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003967461991123855,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004275276995031163,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004663904830813406,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3541,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006993577000685036,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003995788996689953,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0043142315967998005,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004709933410631493,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006946526002138853,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003998879496066365,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004291594899405027,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004652607697062193,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.032992058113450184,
+    "leadthrough_capture_loop_late_median_s": 0.030095572292339057,
+    "leadthrough_capture_loop_late_p95_s": 0.030417778613627888,
+    "leadthrough_capture_loop_late_p99_s": 0.030802301082294425,
+    "leadthrough_capture_loop_late_warn_count": 8529,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.0069729340029880404,
+    "leadthrough_capture_read_duration_median_s": 0.003983329996117391,
+    "leadthrough_capture_read_duration_p95_s": 0.0042980350088328125,
+    "leadthrough_capture_read_duration_p99_s": 0.004689803120563737,
+    "leadthrough_capture_read_duration_warn_count": 3901,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 11,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003421097993850708,
+      0.002321746200323105,
+      0.0020660758018493652,
+      0.001976798288524151,
+      0.003437042236328125,
+      0.007305026054382324
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007305026054382324,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017743438947945833,
+      0.0014823689125478268,
+      0.0016497009200975299,
+      0.0007921874057501554,
+      0.0013470061821863055,
+      0.003630261402577162
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006874225218780339,
+      0.0006520363967865705,
+      0.0006465279730036855,
+      0.00034429971128702164,
+      0.0006018420099280775,
+      0.0014167161425575614
+    ],
+    "leadthrough_delta_samples": 7454,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.007305026054382324,
+    "leadthrough_delta_worst_from_rad": -0.5661839246749878,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.9640000000000004,
+    "leadthrough_delta_worst_to_rad": -0.5734889507293701,
+    "leadthrough_duration_s": 29.811999999999998,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7453,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.27199999999999847,
+    "leadthrough_final_stillness_removed_samples": 68,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7454,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 8529,
+    "leadthrough_initial_stillness_first_motion_index": 1007,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 4.024,
+    "leadthrough_initial_stillness_removed_samples": 1006,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1006,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003421097993850708,
+      0.002321746200323105,
+      0.0020660758018493652,
+      0.001976798288524151,
+      0.003437042236328125,
+      0.007305026054382324
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007305026054382324,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.1262496312458883,
+      0.767789315432281,
+      0.6423546001314874,
+      0.6191842257976298,
+      1.1382897694905167,
+      1.8262565135953768
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8143579959869385,
+    "leadthrough_velocity_rms_rad_s": 0.20024235833458523,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006012082099914551,
+    "measured_wall_accel_p95_abs_rad_s2": 0.610954225063324,
+    "measured_wall_accel_peak_abs_rad_s2": 3.232992172241211,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 27.201263542010565,
+    "measured_wall_accel_rms_rad_s2": 0.3078638304338558,
+    "measured_wall_jerk_p95_abs_rad_s3": 10.554537773132324,
+    "measured_wall_jerk_peak_abs_rad_s3": 68.83477020263672,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 26.4051294230012,
+    "measured_wall_jerk_rms_rad_s3": 5.293492666359412,
+    "measured_wall_smoothness_samples": 1328,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5862380862236023,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 20.599414872005582,
+    "measured_wall_velocity_rms_rad_s": 0.09944702384195665,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006012082099914551,
+    "moving_aligned_p95_error_rad": 0.002395187271758914,
+    "moving_aligned_rms_error_rad": 0.0010365157181053,
+    "moving_aligned_samples": 1022,
+    "moving_aligned_worst_joint": 1,
+    "moving_aligned_worst_time_s": 5.0360000000000005,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005590401589870453,
+      0.006012082099914551,
+      0.004387795925140381,
+      0.004419784992933273,
+      0.005324006080627441,
+      0.004712343215942383
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0025444042403250933,
+      0.0023324545472860336,
+      0.002432979876175523,
+      0.0026817191392183304,
+      0.0028100726194679737,
+      0.0033676205202937126
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0011402398181512789,
+      0.0010950535813405834,
+      0.0010950069262883394,
+      0.001186940276077634,
+      0.0012859476985721007,
+      0.0016847834843928993
+    ],
+    "moving_joint_lag_samples": [
+      782,
+      875,
+      720,
+      361,
+      633,
+      418
+    ],
+    "moving_joint_lag_worst_time_s": [
+      4.9639999999999995,
+      5.0360000000000005,
+      15.982,
+      15.982,
+      15.465999999999998,
+      2.263
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.208095073699951,
+    "playback_velocity_rms_rad_s": 0.35101289356342175,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 89.624,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 29.811999999999998,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3019,
+      6464
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4448775413996105,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08541274070739746,
+    "rapid_planner_max_dt_s": 2.496000000000002,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007764577865600586,
+    "rapid_planner_median_dt_s": 0.10400000000000098,
+    "rapid_planner_path_max_error_rad": 0.006012082099914551,
+    "rapid_planner_path_p95_error_rad": 0.0032290756702423092,
+    "rapid_planner_path_rms_error_rad": 0.0015861060735285384,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      47,
+      100,
+      123,
+      145,
+      157,
+      169,
+      183,
+      190,
+      197,
+      206,
+      216,
+      225,
+      234,
+      244,
+      253,
+      262,
+      272,
+      280,
+      289,
+      298,
+      306,
+      313,
+      320,
+      328,
+      335,
+      344,
+      352,
+      368,
+      382,
+      395,
+      415,
+      452,
+      503,
+      547,
+      583,
+      615,
+      660,
+      685,
+      709,
+      734,
+      758,
+      776,
+      827,
+      855,
+      875,
+      902,
+      920,
+      941,
+      963,
+      994,
+      1007,
+      1030,
+      1042,
+      1094,
+      1146,
+      1180,
+      1198,
+      1380,
+      1475,
+      1511,
+      1619,
+      1694,
+      1774,
+      1836,
+      1913,
+      1949,
+      2002,
+      2337,
+      2623,
+      2702,
+      2849,
+      3019,
+      3643,
+      3745,
+      3837,
+      3918,
+      3975,
+      4031,
+      4078,
+      4104,
+      4129,
+      4154,
+      4180,
+      4247,
+      4314,
+      4367,
+      4393,
+      4419,
+      4451,
+      4483,
+      4517,
+      4555,
+      4595,
+      4622,
+      4656,
+      4682,
+      4709,
+      4738,
+      4767,
+      4789,
+      4811,
+      4834,
+      4857,
+      4916,
+      4953,
+      5044,
+      5129,
+      5200,
+      5269,
+      5336,
+      5490,
+      5560,
+      5947,
+      6031,
+      6138,
+      6266,
+      6464,
+      6699,
+      6726,
+      6747,
+      6785,
+      6823,
+      6844,
+      6865,
+      6886,
+      6913,
+      6940,
+      6965,
+      6990,
+      7012,
+      7031,
+      7050,
+      7068,
+      7085,
+      7104,
+      7122,
+      7136,
+      7150,
+      7171,
+      7186,
+      7202,
+      7217,
+      7232,
+      7262,
+      7285,
+      7310,
+      7351,
+      7375,
+      7402,
+      7454
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.893789559179116,
+    "rapid_planner_selected_samples": 151,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7455,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 151,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006012082099914551,
+    "raw_replay_rms_error_rad": 0.0009140301538911105,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9628308288427289,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8335203456397993,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.953702604393328,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.6580467820167542,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.6580467820167542
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.009419921780137,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9320351706458266,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9763000393331699,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005838871002197266,
+      0.0005930066108703613,
+      0.0010914206504821777,
+      0.004210855811834335,
+      0.0039789676666259766,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019715086091309786,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.088852405548096,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 51.28764343261719,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.0816539144754524,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 927.4051513671875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12939.8125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 761.1375176037241,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8258764743804932,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.202015818964159,
+    "replay_smoothing_rms_deviation_rad": 0.0010972459991437284,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.8997039794921875,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.74929428100586,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.938981364074133,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 936.1412353515625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12060.3603515625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 743.0985883744671,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8143579959869385,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20024235833458523,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9936915346929683,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9912211794172,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.596,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006012082099914551,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.033322691917419434,
+    "stage_planned_to_measured_rms_error_rad": 0.005899833060626217,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1328,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8410549759864807,
+    "target_wall_accel_peak_abs_rad_s2": 3.5173139572143555,
+    "target_wall_accel_peak_joint": 3,
+    "target_wall_accel_peak_time_s": 30.966722108991235,
+    "target_wall_accel_rms_rad_s2": 0.40546771819435595,
+    "target_wall_jerk_p95_abs_rad_s3": 18.875246047973633,
+    "target_wall_jerk_peak_abs_rad_s3": 96.47684478759766,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 2.433440601991606,
+    "target_wall_jerk_rms_rad_s3": 8.66294714222743,
+    "target_wall_smoothness_samples": 1328,
+    "target_wall_velocity_peak_abs_rad_s": 0.6459146738052368,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 2.366720550999162,
+    "target_wall_velocity_rms_rad_s": 0.10052060845593304,
+    "tcp_pose_count": 1328,
+    "timestamp_count": 1328,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 0.7300000000000022,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 0.6120000000000022,
+    "window_lag_count": 38,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 5.5,
+    "window_lag_worst_max_error_rad": 0.006012082099914551,
+    "window_lag_worst_rms_error_rad": 0.001668928873480232,
+    "window_lag_worst_start_s": 4.5,
+    "zero_lag_max_error_rad": 0.006012082099914551,
+    "zero_lag_p95_error_rad": 0.002164192497730255,
+    "zero_lag_rms_error_rad": 0.0009140301538911105,
+    "zero_lag_samples": 1328,
+    "zero_lag_worst_joint": 1,
+    "zero_lag_worst_time_s": 5.0360000000000005
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152013.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2710816a8a795108d4754f6733270efc0765ba189917337aeedd06692ef3fc36
+size 143006

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152353.json

@@ -0,0 +1,680 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:23:54",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152353.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1201,
+    "actual_playback_duration_s": 40.054252682006336,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.011252363212406635,
+    "aligned_p95_error_rad": 0.0019500809721648693,
+    "aligned_rms_error_rad": 0.000840444709537599,
+    "aligned_samples": 1201,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 26.2,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152353.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152353.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1201,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1201,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4923343026082838,
+    "image_frame_counts": {
+      "cam_scene": 1201,
+      "cam_wrist": 1201
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0047902315855026245,
+      0.005492866039276123,
+      0.004209563136100769,
+      0.005618741270154715,
+      0.0046694278717041016,
+      0.011252363212406635
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0021128952503204346,
+      0.0021736323833465576,
+      0.0013834238052368164,
+      0.0008771033026278019,
+      0.0017371177673339844,
+      0.0024562999606132507
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009470517169438586,
+      0.0009408453099106885,
+      0.0006822479939795867,
+      0.0005460845129549669,
+      0.0007632631589203554,
+      0.0010534447003272985
+    ],
+    "joint_lag_samples": [
+      1201,
+      1201,
+      1201,
+      1201,
+      1201,
+      1201
+    ],
+    "joint_lag_worst_time_s": [
+      5.2669999999999995,
+      2.963,
+      1.9909999999999997,
+      2.9429999999999996,
+      1.9909999999999997,
+      26.2
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.023999999975785613,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": true,
+    "leadthrough_capture_controller_tm_gap_warn_count": 1,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 5,
+    "leadthrough_capture_egm_drained_packet_max": 23,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.02674510701035615,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003968246004660614,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004376427399256499,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005275484380254045,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3258,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 4,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 6,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.026858679004362784,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004010084012406878,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004441588404006322,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005378008082625456,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 1,
+    "leadthrough_capture_host_receive_dt_max_s": 0.02676853199955076,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004014295991510153,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004376575397327542,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0052747233177069565,
+    "leadthrough_capture_host_receive_gap_warn": true,
+    "leadthrough_capture_host_receive_gap_warn_count": 1,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
+    "leadthrough_capture_loop_late_max_s": 0.039798532117856666,
+    "leadthrough_capture_loop_late_median_s": 0.005083420699520502,
+    "leadthrough_capture_loop_late_p95_s": 0.01837643380567882,
+    "leadthrough_capture_loop_late_p99_s": 0.037164017532486465,
+    "leadthrough_capture_loop_late_warn_count": 7590,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.02680986499763094,
+    "leadthrough_capture_read_duration_median_s": 0.003991924997535534,
+    "leadthrough_capture_read_duration_p95_s": 0.004408551447704667,
+    "leadthrough_capture_read_duration_p99_s": 0.005354889486916363,
+    "leadthrough_capture_read_duration_warn_count": 3645,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.023999999999997357,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": true,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 1,
+    "leadthrough_capture_slow_ticks": 25,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.014917165040969849,
+      0.007319968193769455,
+      0.0026305317878723145,
+      0.003183610737323761,
+      0.00851130485534668,
+      0.03985653817653656
+    ],
+    "leadthrough_delta_max_abs_rad": 0.03985653817653656,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018194912699982524,
+      0.0015143647324293852,
+      0.0018958643777295947,
+      0.00026221427833661437,
+      0.0012396452948451042,
+      0.004670357331633568
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007569132139906287,
+      0.0006390193593688309,
+      0.0007234992226585746,
+      0.00031858746660873294,
+      0.0005452276673167944,
+      0.0015731191961094737
+    ],
+    "leadthrough_delta_samples": 6703,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.03985653817653656,
+    "leadthrough_delta_worst_from_rad": -0.048653557896614075,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 26.2,
+    "leadthrough_delta_worst_to_rad": -0.00879702065140009,
+    "leadthrough_duration_s": 26.84,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6702,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.8130000000000024,
+    "leadthrough_final_stillness_removed_samples": 203,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6703,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7590,
+    "leadthrough_initial_stillness_first_motion_index": 684,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.732,
+    "leadthrough_initial_stillness_removed_samples": 683,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 683,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.023999999999997357,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": true,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.014917165040969849,
+      0.007319968193769455,
+      0.0026305317878723145,
+      0.003183610737323761,
+      0.00851130485534668,
+      0.039856537245213985
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.039856537245213985,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.1366357405979997,
+      0.6980126102765136,
+      0.8744398752847976,
+      1.0612035791078802,
+      0.8846124013264639,
+      2.239052516718621
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.019974708557129,
+    "leadthrough_velocity_rms_rad_s": 0.21465609394181517,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.011252363212406635,
+    "measured_wall_accel_p95_abs_rad_s2": 0.443556547164917,
+    "measured_wall_accel_peak_abs_rad_s2": 3.1944825649261475,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 43.27793645398924,
+    "measured_wall_accel_rms_rad_s2": 0.2456204158394538,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.914356231689453,
+    "measured_wall_jerk_peak_abs_rad_s3": 62.956268310546875,
+    "measured_wall_jerk_peak_joint": 4,
+    "measured_wall_jerk_peak_time_s": 25.920998798988876,
+    "measured_wall_jerk_rms_rad_s3": 4.251981481317858,
+    "measured_wall_smoothness_samples": 1201,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7057371735572815,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 42.10944548599946,
+    "measured_wall_velocity_rms_rad_s": 0.09897202003818534,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.011252363212406635,
+    "moving_aligned_p95_error_rad": 0.0022047841921448708,
+    "moving_aligned_rms_error_rad": 0.0009635268079710254,
+    "moving_aligned_samples": 894,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 26.2,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.0047902315855026245,
+      0.005492866039276123,
+      0.004209563136100769,
+      0.005618741270154715,
+      0.004470944404602051,
+      0.011252363212406635
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0024149175733327866,
+      0.0023294882848858833,
+      0.0016967803239822388,
+      0.0027447170577943325,
+      0.0020321011543273926,
+      0.002941249869763851
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0011155730538009855,
+      0.001085674140996707,
+      0.0008444690299441811,
+      0.001248992937000407,
+      0.0009587040816227658,
+      0.0016637464029959953
+    ],
+    "moving_joint_lag_samples": [
+      773,
+      800,
+      671,
+      121,
+      586,
+      417
+    ],
+    "moving_joint_lag_worst_time_s": [
+      5.2669999999999995,
+      2.963,
+      1.9909999999999997,
+      2.9429999999999996,
+      3.003,
+      26.2
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.8685007095336914,
+    "playback_velocity_rms_rad_s": 0.39791439665965445,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 83.68,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.84,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2784,
+      5966
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4397139183870809,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08637431263923645,
+    "rapid_planner_max_dt_s": 2.556000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007674455642700195,
+    "rapid_planner_median_dt_s": 0.10000000000000098,
+    "rapid_planner_path_max_error_rad": 0.011252363212406635,
+    "rapid_planner_path_p95_error_rad": 0.0028821825981140137,
+    "rapid_planner_path_rms_error_rad": 0.0014784868321912478,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      30,
+      42,
+      55,
+      64,
+      74,
+      86,
+      98,
+      110,
+      122,
+      130,
+      139,
+      148,
+      158,
+      167,
+      176,
+      186,
+      195,
+      205,
+      215,
+      226,
+      238,
+      249,
+      260,
+      268,
+      276,
+      291,
+      304,
+      316,
+      335,
+      356,
+      382,
+      407,
+      440,
+      519,
+      593,
+      628,
+      662,
+      682,
+      720,
+      777,
+      815,
+      840,
+      941,
+      1087,
+      1183,
+      1236,
+      1364,
+      1429,
+      1668,
+      1745,
+      2052,
+      2145,
+      2784,
+      3391,
+      3508,
+      3589,
+      3657,
+      3752,
+      3861,
+      3903,
+      3940,
+      3987,
+      4020,
+      4052,
+      4086,
+      4119,
+      4148,
+      4177,
+      4203,
+      4229,
+      4272,
+      4316,
+      4354,
+      4388,
+      4423,
+      4458,
+      4488,
+      4513,
+      4526,
+      4540,
+      4553,
+      4566,
+      4579,
+      4592,
+      4604,
+      4617,
+      4638,
+      4658,
+      4676,
+      4710,
+      4745,
+      4878,
+      4942,
+      5055,
+      5332,
+      5499,
+      5966,
+      6195,
+      6233,
+      6276,
+      6296,
+      6316,
+      6337,
+      6365,
+      6388,
+      6418,
+      6436,
+      6454,
+      6471,
+      6487,
+      6497,
+      6507,
+      6517,
+      6527,
+      6534,
+      6542,
+      6550,
+      6559,
+      6573,
+      6589,
+      6611,
+      6637,
+      6663,
+      6703
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.948883572571732,
+    "rapid_planner_selected_samples": 125,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6704,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 125,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.011252363212406635,
+    "raw_replay_rms_error_rad": 0.000840444709537599,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0004067317050318,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0296486295111251,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 1.0015514811073996,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.4087704122066498,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.4087704122066498
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9995699341743047,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0008080373598582,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 1.0020825935628896,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.006582580506801605,
+      0.0034643039107322693,
+      0.0006010755896568298,
+      0.004973359405994415,
+      0.005873560905456543,
+      0.00872664526104927
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999998932782934,
+    "replay_smoothing_max_deviation_rad": 0.00872664526104927,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0015093475813046098,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.526620864868164,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.32049560546875,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.953204684699321,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2115.18310546875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17236.498046875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1273.4273362303093,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.001786470413208,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21438894251662766,
+    "replay_smoothing_rms_deviation_rad": 0.0007666060989945762,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.530495643615723,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 64.168212890625,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.960889488188715,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2114.2734375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17250.42578125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1276.0793678035502,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.019974708557129,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21465609394181517,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0090860031340738,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 1.0012461063618838,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 26.176000000000002,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872664526104927,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.011252363212406635,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.04043489694595337,
+    "stage_planned_to_measured_rms_error_rad": 0.005872690326242948,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1201,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.709403932094574,
+    "target_wall_accel_peak_abs_rad_s2": 4.393267631530762,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 37.70006956900761,
+    "target_wall_accel_rms_rad_s2": 0.3752710125310635,
+    "target_wall_jerk_p95_abs_rad_s3": 16.220909118652344,
+    "target_wall_jerk_peak_abs_rad_s3": 126.40103912353516,
+    "target_wall_jerk_peak_joint": 0,
+    "target_wall_jerk_peak_time_s": 9.742216676997487,
+    "target_wall_jerk_rms_rad_s3": 8.82819045965806,
+    "target_wall_smoothness_samples": 1201,
+    "target_wall_velocity_peak_abs_rad_s": 0.744863748550415,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.533390443000826,
+    "target_wall_velocity_rms_rad_s": 0.09993623939475822,
+    "tcp_pose_count": 1201,
+    "timestamp_count": 1201,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.9200000000000035,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 0.7739999999999996,
+    "window_lag_count": 33,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 6.5,
+    "window_lag_worst_max_error_rad": 0.004655376076698303,
+    "window_lag_worst_rms_error_rad": 0.0015801411623307616,
+    "window_lag_worst_start_s": 5.5,
+    "zero_lag_max_error_rad": 0.011252363212406635,
+    "zero_lag_p95_error_rad": 0.0019500809721648693,
+    "zero_lag_rms_error_rad": 0.000840444709537599,
+    "zero_lag_samples": 1201,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 26.2
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152353.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67dfb83b144f25cd40d6b307f977f2f22b63464213f5eef816870288c21ad0e
+size 127835

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152617.json

@@ -0,0 +1,695 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:26:18",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152617.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1244,
+    "actual_playback_duration_s": 41.48398364101013,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006931185722351074,
+    "aligned_p95_error_rad": 0.0019923464860767126,
+    "aligned_rms_error_rad": 0.0008593824936901046,
+    "aligned_samples": 1244,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 3.5789999999999997,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152617.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152617.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1244,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1244,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6445583207536223,
+    "image_frame_counts": {
+      "cam_scene": 1244,
+      "cam_wrist": 1244
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0031444579362869263,
+      0.006570875644683838,
+      0.004643082618713379,
+      0.004109129309654236,
+      0.006931185722351074,
+      0.006735682487487793
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001801277743652463,
+      0.0017087479354813695,
+      0.0017396688926964998,
+      0.001199362683109939,
+      0.0022565422113984823,
+      0.0025234846398234367
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007763010598439107,
+      0.0008169859436491355,
+      0.000778524650999056,
+      0.0005171403948090667,
+      0.0010554775004587176,
+      0.0010833063652540896
+    ],
+    "joint_lag_samples": [
+      1244,
+      1244,
+      1244,
+      1244,
+      1244,
+      1244
+    ],
+    "joint_lag_worst_time_s": [
+      4.343999999999999,
+      17.61,
+      17.538,
+      4.7509999999999994,
+      3.5789999999999997,
+      3.5789999999999997
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.047999999951571226,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": true,
+    "leadthrough_capture_controller_tm_gap_warn_count": 1,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 16,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.05069113899662625,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003963706010836177,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004320268104493152,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005131128257780794,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2944,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 12,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.050782549995346926,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0039967014963622205,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004372396708640735,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005213927337317728,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 1,
+    "leadthrough_capture_host_receive_dt_max_s": 0.05071239099197555,
+    "leadthrough_capture_host_receive_dt_median_s": 0.0039997379935812205,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0043405363008787385,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005125547992211068,
+    "leadthrough_capture_host_receive_gap_warn": true,
+    "leadthrough_capture_host_receive_gap_warn_count": 1,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
+    "leadthrough_capture_loop_late_max_s": 0.05402786945342086,
+    "leadthrough_capture_loop_late_median_s": 0.05090603114513215,
+    "leadthrough_capture_loop_late_p95_s": 0.051287596358451995,
+    "leadthrough_capture_loop_late_p99_s": 0.05209582649113144,
+    "leadthrough_capture_loop_late_warn_count": 7219,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.05074790399521589,
+    "leadthrough_capture_read_duration_median_s": 0.003982114998507313,
+    "leadthrough_capture_read_duration_p95_s": 0.004349595100211445,
+    "leadthrough_capture_read_duration_p99_s": 0.005187250913877503,
+    "leadthrough_capture_read_duration_warn_count": 3278,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.04800000000000004,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": true,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 1,
+    "leadthrough_capture_slow_ticks": 15,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003477036952972412,
+      0.012931779026985168,
+      0.019240260124206543,
+      0.0015992950648069382,
+      0.0024723410606384277,
+      0.007149159908294678
+    ],
+    "leadthrough_delta_max_abs_rad": 0.019240260124206543,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017931396141648293,
+      0.0016074776649475098,
+      0.0016962687950581312,
+      0.0005837816279381514,
+      0.0014539510011672974,
+      0.005020022392272949
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007962806848809123,
+      0.000677244330290705,
+      0.0007453734870068729,
+      0.00025317890685983,
+      0.000536683714017272,
+      0.001698275562375784
+    ],
+    "leadthrough_delta_samples": 6296,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.019240260124206543,
+    "leadthrough_delta_worst_from_rad": 0.3788816034793854,
+    "leadthrough_delta_worst_joint": 2,
+    "leadthrough_delta_worst_time_s": 1.8079999999999998,
+    "leadthrough_delta_worst_to_rad": 0.35964134335517883,
+    "leadthrough_duration_s": 25.225,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6295,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5279999999999987,
+    "leadthrough_final_stillness_removed_samples": 132,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6296,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7219,
+    "leadthrough_initial_stillness_first_motion_index": 791,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.16,
+    "leadthrough_initial_stillness_removed_samples": 790,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 790,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.04800000000000004,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": true,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003477036952972412,
+      0.012931779026985168,
+      0.019240260124206543,
+      0.0015992950648069382,
+      0.0024723410606384277,
+      0.007149159908294678
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.019240260124206543,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.147687435150103,
+      0.6663228074709322,
+      0.6667226552963004,
+      0.482365178565166,
+      0.8227229118346856,
+      2.308567365010492
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.9506113529205322,
+    "leadthrough_velocity_rms_rad_s": 0.2243908065150007,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006931185722351074,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5426872372627258,
+    "measured_wall_accel_peak_abs_rad_s2": 3.0792572498321533,
+    "measured_wall_accel_peak_joint": 3,
+    "measured_wall_accel_peak_time_s": 45.943612828006735,
+    "measured_wall_accel_rms_rad_s2": 0.2769166445539874,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.46975040435791,
+    "measured_wall_jerk_peak_abs_rad_s3": 65.87923431396484,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 45.87594750600692,
+    "measured_wall_jerk_rms_rad_s3": 4.662331038314051,
+    "measured_wall_smoothness_samples": 1244,
+    "measured_wall_velocity_peak_abs_rad_s": 0.757014274597168,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 43.84280017099809,
+    "measured_wall_velocity_rms_rad_s": 0.10314795178859389,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006931185722351074,
+    "moving_aligned_p95_error_rad": 0.002187617588788271,
+    "moving_aligned_rms_error_rad": 0.0009835320496848154,
+    "moving_aligned_samples": 934,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 3.5789999999999997,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.0031444579362869263,
+      0.006570875644683838,
+      0.004643082618713379,
+      0.004109129309654236,
+      0.006931185722351074,
+      0.006735682487487793
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0019217891385778785,
+      0.0020385405514389277,
+      0.002031756564974785,
+      0.0024936203844845295,
+      0.0028873682022094727,
+      0.003281781915575266
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009034413809536718,
+      0.0009692152411053301,
+      0.0009300656584791254,
+      0.001249344664350727,
+      0.001344369593421249,
+      0.0018111444789728252
+    ],
+    "moving_joint_lag_samples": [
+      793,
+      812,
+      744,
+      159,
+      621,
+      412
+    ],
+    "moving_joint_lag_worst_time_s": [
+      4.343999999999999,
+      17.61,
+      17.538,
+      4.7509999999999994,
+      3.5789999999999997,
+      3.5789999999999997
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.444232940673828,
+    "playback_velocity_rms_rad_s": 0.3804092913882399,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.45,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.225,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2632,
+      5449
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.41772753944880986,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08711326122283936,
+    "rapid_planner_max_dt_s": 2.24,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0072907209396362305,
+    "rapid_planner_median_dt_s": 0.1039999999999992,
+    "rapid_planner_path_max_error_rad": 0.006931185722351074,
+    "rapid_planner_path_p95_error_rad": 0.002962441742420196,
+    "rapid_planner_path_rms_error_rad": 0.0015095911186672045,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      38,
+      51,
+      63,
+      72,
+      82,
+      90,
+      98,
+      106,
+      114,
+      124,
+      134,
+      144,
+      153,
+      166,
+      178,
+      197,
+      216,
+      230,
+      245,
+      259,
+      266,
+      273,
+      284,
+      294,
+      305,
+      316,
+      325,
+      334,
+      351,
+      372,
+      393,
+      440,
+      441,
+      460,
+      503,
+      546,
+      623,
+      674,
+      725,
+      754,
+      782,
+      813,
+      857,
+      907,
+      935,
+      971,
+      1002,
+      1035,
+      1052,
+      1097,
+      1153,
+      1203,
+      1245,
+      1283,
+      1351,
+      1459,
+      1519,
+      1588,
+      1660,
+      1785,
+      1833,
+      2206,
+      2395,
+      2487,
+      2632,
+      3192,
+      3299,
+      3407,
+      3443,
+      3473,
+      3498,
+      3523,
+      3546,
+      3570,
+      3617,
+      3650,
+      3700,
+      3744,
+      3784,
+      3823,
+      3852,
+      3880,
+      3908,
+      3937,
+      3974,
+      4008,
+      4029,
+      4048,
+      4064,
+      4072,
+      4081,
+      4090,
+      4098,
+      4107,
+      4116,
+      4136,
+      4155,
+      4183,
+      4210,
+      4244,
+      4324,
+      4454,
+      4614,
+      4885,
+      4978,
+      5050,
+      5169,
+      5248,
+      5449,
+      5693,
+      5729,
+      5755,
+      5778,
+      5804,
+      5830,
+      5856,
+      5878,
+      5909,
+      5934,
+      5960,
+      5970,
+      5982,
+      5992,
+      6001,
+      6010,
+      6020,
+      6031,
+      6042,
+      6056,
+      6071,
+      6082,
+      6094,
+      6106,
+      6117,
+      6137,
+      6157,
+      6211,
+      6250,
+      6296
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.991222207689348,
+    "rapid_planner_selected_samples": 140,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6297,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 140,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006931185722351074,
+    "raw_replay_rms_error_rad": 0.0008593824936901046,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9713428967158544,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8923564104416517,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9504640662441579,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.8106621503829956,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.8106621503829956
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9929842753558568,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9441754458733175,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9775049981554406,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005331933498382568,
+      0.005811437964439392,
+      0.008691668510437012,
+      0.0033947061747312546,
+      0.0035594701766967773,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0025852674152702093,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.440203666687012,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.43647766113281,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.70517117037209,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1052.6541748046875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15459.0947265625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 663.7824310432104,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.052292823791504,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22584251021239152,
+    "replay_smoothing_rms_deviation_rad": 0.0013154590255007896,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.284303188323975,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 47.684383392333984,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.5711679904783247,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1045.26904296875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14596.09765625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 648.8506440325073,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9506113529205322,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2243908065150007,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9504546964779029,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9935720529495286,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.904,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006931185722351074,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.04286599159240723,
+    "stage_planned_to_measured_rms_error_rad": 0.006121183746999579,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1244,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7762795686721802,
+    "target_wall_accel_peak_abs_rad_s2": 3.643860101699829,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.4000768639962189,
+    "target_wall_accel_rms_rad_s2": 0.3779187217588701,
+    "target_wall_jerk_p95_abs_rad_s3": 17.329137802124023,
+    "target_wall_jerk_peak_abs_rad_s3": 78.43144226074219,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 11.366721427009907,
+    "target_wall_jerk_rms_rad_s3": 8.078595182160294,
+    "target_wall_smoothness_samples": 1244,
+    "target_wall_velocity_peak_abs_rad_s": 0.7770753502845764,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 27.466722678000224,
+    "target_wall_velocity_rms_rad_s": 0.10409756013119488,
+    "tcp_pose_count": 1244,
+    "timestamp_count": 1244,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 0.6600000000000024,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.37999999999999856,
+    "window_lag_best_lag_p95_abs_s": 0.5050000000000006,
+    "window_lag_count": 31,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.010000000000001563,
+    "window_lag_worst_end_s": 18.0,
+    "window_lag_worst_max_error_rad": 0.00692373514175415,
+    "window_lag_worst_rms_error_rad": 0.0019240819970902875,
+    "window_lag_worst_start_s": 17.0,
+    "zero_lag_max_error_rad": 0.006931185722351074,
+    "zero_lag_p95_error_rad": 0.0019923464860767126,
+    "zero_lag_rms_error_rad": 0.0008593824936901046,
+    "zero_lag_samples": 1244,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 3.5789999999999997
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152617.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e055f10a5ede2dc942b58f3a1a19e6017d2e982fce990478b3a8ab06e083cb
+size 133160

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152808.json

@@ -0,0 +1,682 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:28:09",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152808.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1213,
+    "actual_playback_duration_s": 40.454447904994595,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.0063991546630859375,
+    "aligned_p95_error_rad": 0.0021271270234137774,
+    "aligned_rms_error_rad": 0.0009142298590571851,
+    "aligned_samples": 1213,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 17.485999999999997,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152808.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152808.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1213,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1213,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.616561354844939,
+    "image_frame_counts": {
+      "cam_scene": 1213,
+      "cam_wrist": 1213
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0037249326705932617,
+      0.004852607846260071,
+      0.005162686109542847,
+      0.006317932158708572,
+      0.005473971366882324,
+      0.0063991546630859375
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0019150293665006757,
+      0.00246298941783607,
+      0.00192958430852741,
+      0.001993458019569516,
+      0.002532291691750288,
+      0.0020944406278431416
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008277751407132167,
+      0.0009717407425996878,
+      0.0008901865477917498,
+      0.000852857430521722,
+      0.0010205009190926051,
+      0.0009078467074374317
+    ],
+    "joint_lag_samples": [
+      1213,
+      1213,
+      1213,
+      1213,
+      1213,
+      1213
+    ],
+    "joint_lag_worst_time_s": [
+      15.914,
+      24.724999999999998,
+      2.4270000000000005,
+      17.485999999999997,
+      2.399,
+      17.485999999999997
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 8,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.007252197989146225,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039733230078127235,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004239140500430949,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004470016600680532,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2717,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007321661003516056,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040046669964795,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00427671355282655,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004504167729464825,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.007312886998988688,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004005989998404402,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004256788655766286,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.00446641112168436,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013482475987984799,
+    "leadthrough_capture_loop_late_median_s": 0.007442789399647154,
+    "leadthrough_capture_loop_late_p95_s": 0.007725960167590529,
+    "leadthrough_capture_loop_late_p99_s": 0.008039199539052787,
+    "leadthrough_capture_loop_late_warn_count": 6811,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007293476999620907,
+    "leadthrough_capture_read_duration_median_s": 0.00399053399451077,
+    "leadthrough_capture_read_duration_p95_s": 0.004260071000317112,
+    "leadthrough_capture_read_duration_p99_s": 0.004492938505427445,
+    "leadthrough_capture_read_duration_warn_count": 3196,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0037790238857269287,
+      0.0022782012820243835,
+      0.001933068037033081,
+      0.001366201788187027,
+      0.0030739307403564453,
+      0.0061556994915008545
+    ],
+    "leadthrough_delta_max_abs_rad": 0.0061556994915008545,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017099898541346192,
+      0.0014921841211616993,
+      0.001612835912965238,
+      0.0005954966181889176,
+      0.001298415008932352,
+      0.0033606153447180986
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.000775387161411345,
+      0.0006365925073623657,
+      0.0006759964162483811,
+      0.00023123217397369444,
+      0.000570843112654984,
+      0.0013530056457966566
+    ],
+    "leadthrough_delta_samples": 6257,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.0061556994915008545,
+    "leadthrough_delta_worst_from_rad": -0.48961973190307617,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.788,
+    "leadthrough_delta_worst_to_rad": -0.495775431394577,
+    "leadthrough_duration_s": 25.025,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6256,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.4519999999999982,
+    "leadthrough_final_stillness_removed_samples": 113,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6257,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6811,
+    "leadthrough_initial_stillness_first_motion_index": 441,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 1.76,
+    "leadthrough_initial_stillness_removed_samples": 440,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 440,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0037790238857269287,
+      0.0022782012820243835,
+      0.001933068037033081,
+      0.001366201788187027,
+      0.0030739307403564453,
+      0.0061556994915008545
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.0061556994915008545,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9447559714314167,
+      0.5695503205059057,
+      0.5829632282256859,
+      0.37890175978346863,
+      0.7684826850888546,
+      2.0509064197539506
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.813049077987671,
+    "leadthrough_velocity_rms_rad_s": 0.1981267697053659,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0063991546630859375,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5531994700431824,
+    "measured_wall_accel_peak_abs_rad_s2": 3.442113161087036,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 44.24956611300877,
+    "measured_wall_accel_rms_rad_s2": 0.29631827966721036,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.651576042175293,
+    "measured_wall_jerk_peak_abs_rad_s3": 66.8498306274414,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 44.318176736996975,
+    "measured_wall_jerk_rms_rad_s3": 4.734636384476794,
+    "measured_wall_smoothness_samples": 1213,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6440495848655701,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 17.617214954996598,
+    "measured_wall_velocity_rms_rad_s": 0.09697737083483969,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.0063991546630859375,
+    "moving_aligned_p95_error_rad": 0.002407670021057129,
+    "moving_aligned_rms_error_rad": 0.0010484626604536406,
+    "moving_aligned_samples": 916,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 17.485999999999997,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.0037249326705932617,
+      0.004852607846260071,
+      0.005162686109542847,
+      0.006317932158708572,
+      0.005473971366882324,
+      0.0063991546630859375
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002159668132662773,
+      0.0026786946691572666,
+      0.0022751502692699432,
+      0.004218290559947491,
+      0.0030539631843566895,
+      0.0024995089042931795
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010084835993910712,
+      0.0011479780188144815,
+      0.0010825514722909613,
+      0.0020058086052408847,
+      0.001404020792571109,
+      0.0013405919882312428
+    ],
+    "moving_joint_lag_samples": [
+      756,
+      771,
+      742,
+      167,
+      516,
+      483
+    ],
+    "moving_joint_lag_worst_time_s": [
+      15.914,
+      24.724999999999998,
+      2.4270000000000005,
+      17.485999999999997,
+      2.399,
+      17.485999999999997
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.717859148979187,
+    "playback_velocity_rms_rad_s": 0.32970003993266234,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.05,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.025,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2674,
+      5500
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4497560040142921,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08658492565155029,
+    "rapid_planner_max_dt_s": 2.276,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007849723100662231,
+    "rapid_planner_median_dt_s": 0.11149999999999993,
+    "rapid_planner_path_max_error_rad": 0.0063991546630859375,
+    "rapid_planner_path_p95_error_rad": 0.003201942145824432,
+    "rapid_planner_path_rms_error_rad": 0.0015230545902151615,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      28,
+      58,
+      82,
+      98,
+      113,
+      128,
+      144,
+      158,
+      173,
+      182,
+      190,
+      199,
+      208,
+      217,
+      226,
+      234,
+      243,
+      255,
+      267,
+      289,
+      312,
+      334,
+      362,
+      391,
+      408,
+      424,
+      441,
+      458,
+      475,
+      492,
+      509,
+      526,
+      546,
+      569,
+      625,
+      680,
+      699,
+      767,
+      835,
+      879,
+      923,
+      941,
+      974,
+      991,
+      1068,
+      1132,
+      1207,
+      1298,
+      1317,
+      1353,
+      1371,
+      1409,
+      1460,
+      1510,
+      1550,
+      1602,
+      1628,
+      1680,
+      1745,
+      1764,
+      1800,
+      1821,
+      1873,
+      1917,
+      2101,
+      2343,
+      2674,
+      3243,
+      3304,
+      3384,
+      3491,
+      3525,
+      3553,
+      3596,
+      3625,
+      3654,
+      3697,
+      3730,
+      3766,
+      3806,
+      3847,
+      3898,
+      3953,
+      4000,
+      4049,
+      4078,
+      4108,
+      4138,
+      4154,
+      4171,
+      4189,
+      4207,
+      4229,
+      4251,
+      4287,
+      4317,
+      4353,
+      4435,
+      4701,
+      4927,
+      5090,
+      5247,
+      5500,
+      5727,
+      5751,
+      5772,
+      5811,
+      5835,
+      5859,
+      5883,
+      5899,
+      5917,
+      5943,
+      5959,
+      5975,
+      5988,
+      6002,
+      6020,
+      6038,
+      6054,
+      6069,
+      6088,
+      6110,
+      6154,
+      6199,
+      6257
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.960950809287851,
+    "rapid_planner_selected_samples": 127,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6258,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 127,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.0063991546630859375,
+    "raw_replay_rms_error_rad": 0.0009142298590571851,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9018741902413481,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9945255186488062,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9821209243230329,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9980280959052228,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9778719958958607,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9956847453548128,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00045230984687805176,
+      0.0004707174375653267,
+      0.0006832480430603027,
+      0.002910025417804718,
+      0.0028734207153320312,
+      0.008411169052124023
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.963848982381847,
+    "replay_smoothing_max_deviation_rad": 0.008411169052124023,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002331214491277933,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.848921298980713,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 59.95042419433594,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.2755948269393325,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 830.8551635742188,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16382.0888671875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 831.6681619207042,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8314857482910156,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19940881692597362,
+    "replay_smoothing_rms_deviation_rad": 0.0010971844005088999,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.373116970062256,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.62222671508789,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.217030219141402,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 829.216796875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16019.5859375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 828.0793020217216,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.813049077987671,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1981267697053659,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9899334896159863,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9935707596064639,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.899,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008411169052124023,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0063991546630859375,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03703486919403076,
+    "stage_planned_to_measured_rms_error_rad": 0.005760505618632788,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1213,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8042147755622864,
+    "target_wall_accel_peak_abs_rad_s2": 5.9445695877075195,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 28.733388590990216,
+    "target_wall_accel_rms_rad_s2": 0.39645368712194473,
+    "target_wall_jerk_p95_abs_rad_s3": 17.284330368041992,
+    "target_wall_jerk_peak_abs_rad_s3": 163.4831085205078,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 28.76672449099715,
+    "target_wall_jerk_rms_rad_s3": 8.165854898714533,
+    "target_wall_smoothness_samples": 1213,
+    "target_wall_velocity_peak_abs_rad_s": 0.6853461861610413,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 2.100084199992125,
+    "target_wall_velocity_rms_rad_s": 0.09818337754365733,
+    "tcp_pose_count": 1213,
+    "timestamp_count": 1213,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.2700000000000031,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.1090000000000022,
+    "window_lag_count": 35,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 18.5,
+    "window_lag_worst_max_error_rad": 0.00626525841653347,
+    "window_lag_worst_rms_error_rad": 0.0018665162415541878,
+    "window_lag_worst_start_s": 17.5,
+    "zero_lag_max_error_rad": 0.0063991546630859375,
+    "zero_lag_p95_error_rad": 0.0021271270234137774,
+    "zero_lag_rms_error_rad": 0.0009142298590571851,
+    "zero_lag_samples": 1213,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 17.485999999999997
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_152808.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b083c83275bfe0e7023b01a027e91dfc4a0e6238ce365183459565a830073ee6
+size 129473

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153155.json

@@ -0,0 +1,677 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:31:56",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153155.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1187,
+    "actual_playback_duration_s": 39.57647402099974,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006321720778942108,
+    "aligned_p95_error_rad": 0.0017266357317566872,
+    "aligned_rms_error_rad": 0.0007955082546267812,
+    "aligned_samples": 1187,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 23.354,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153155.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153155.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1187,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1187,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5543959004359507,
+    "image_frame_counts": {
+      "cam_scene": 1187,
+      "cam_wrist": 1187
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005718512460589409,
+      0.0034697353839874268,
+      0.0045247673988342285,
+      0.004516147077083588,
+      0.004978597164154053,
+      0.006321720778942108
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001640051370486617,
+      0.00158545037265867,
+      0.0016948606353253126,
+      0.000721783668268472,
+      0.0020756947342306376,
+      0.002103471430018544
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008107236202677385,
+      0.0007329782919655221,
+      0.0007803512173176807,
+      0.00048516684881486815,
+      0.0008701741123620152,
+      0.0010004661187367656
+    ],
+    "joint_lag_samples": [
+      1187,
+      1187,
+      1187,
+      1187,
+      1187,
+      1187
+    ],
+    "joint_lag_worst_time_s": [
+      23.365,
+      17.586,
+      6.211,
+      22.382,
+      22.382,
+      23.354
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 38,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006078800011891872,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039735669924994,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004233497051609447,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004370836090092779,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3125,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006121691985754296,
+    "leadthrough_capture_host_loop_dt_median_s": 0.00399999700312037,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004263495397754014,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0044100959546631196,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006018056999891996,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004002644011052325,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004252808995079249,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004355433359742163,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.03158771200105548,
+    "leadthrough_capture_loop_late_median_s": 0.02886477574793389,
+    "leadthrough_capture_loop_late_p95_s": 0.02911906550070853,
+    "leadthrough_capture_loop_late_p99_s": 0.029357948102260705,
+    "leadthrough_capture_loop_late_warn_count": 7770,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006106449000071734,
+    "leadthrough_capture_read_duration_median_s": 0.003989037504652515,
+    "leadthrough_capture_read_duration_p95_s": 0.004251065098651452,
+    "leadthrough_capture_read_duration_p99_s": 0.004397338615963234,
+    "leadthrough_capture_read_duration_warn_count": 3577,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.00399431586265564,
+      0.0027731359004974365,
+      0.0034294873476028442,
+      0.0011768527328968048,
+      0.0018101930618286133,
+      0.006244376301765442
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006244376301765442,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0021399855613708496,
+      0.0018725506961345673,
+      0.0018274933099746704,
+      0.0003030514344573021,
+      0.001093551516532898,
+      0.0040534138679504395
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008257990702986717,
+      0.000734967936296016,
+      0.0008054879726842046,
+      0.0001670494966674596,
+      0.00041991512989625335,
+      0.001347373821772635
+    ],
+    "leadthrough_delta_samples": 6366,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006244376301765442,
+    "leadthrough_delta_worst_from_rad": -0.09164996445178986,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.40800000000000036,
+    "leadthrough_delta_worst_to_rad": -0.0978943407535553,
+    "leadthrough_duration_s": 25.461,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6365,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 1.7040000000000006,
+    "leadthrough_final_stillness_removed_samples": 426,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6366,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7770,
+    "leadthrough_initial_stillness_first_motion_index": 978,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.907,
+    "leadthrough_initial_stillness_removed_samples": 977,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 977,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.00399431586265564,
+      0.0027731359004974365,
+      0.0034294873476028442,
+      0.0011768527328968048,
+      0.0018101930618286133,
+      0.006244376301765442
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006244376301765442,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.19442741076147,
+      0.6932839751241276,
+      0.8573718369011862,
+      0.38050115108488547,
+      0.5442698796589963,
+      2.03312436739596
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.7629590034484863,
+    "leadthrough_velocity_rms_rad_s": 0.20154040133236958,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006321720778942108,
+    "measured_wall_accel_p95_abs_rad_s2": 0.45500677824020386,
+    "measured_wall_accel_peak_abs_rad_s2": 3.1212143898010254,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 43.01821310700325,
+    "measured_wall_accel_rms_rad_s2": 0.25896497582211025,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.644533634185791,
+    "measured_wall_jerk_peak_abs_rad_s3": 58.86662673950195,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 43.08332681900356,
+    "measured_wall_jerk_rms_rad_s3": 4.402141534402802,
+    "measured_wall_smoothness_samples": 1187,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6393133997917175,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 40.883162049998646,
+    "measured_wall_velocity_rms_rad_s": 0.09580498362265809,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006321720778942108,
+    "moving_aligned_p95_error_rad": 0.0019092765869572759,
+    "moving_aligned_rms_error_rad": 0.0009041590738650638,
+    "moving_aligned_samples": 880,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 23.354,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005718512460589409,
+      0.003323495388031006,
+      0.0042879581451416016,
+      0.004516147077083588,
+      0.004978597164154053,
+      0.006321720778942108
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0018384491559118032,
+      0.0016343249008059502,
+      0.0018383316928520799,
+      0.003215905511751771,
+      0.0026730061508715153,
+      0.0028539171908050776
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010091371887621778,
+      0.0008231378713445969,
+      0.0009149277238167155,
+      0.0011119762608508945,
+      0.0011696920612446295,
+      0.0015439649035844621
+    ],
+    "moving_joint_lag_samples": [
+      728,
+      768,
+      734,
+      139,
+      489,
+      438
+    ],
+    "moving_joint_lag_worst_time_s": [
+      23.365,
+      17.287,
+      3.3840000000000003,
+      22.382,
+      22.382,
+      23.354
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.8742632865905762,
+    "playback_velocity_rms_rad_s": 0.3759332830075292,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.922,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.461,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2227,
+      5287
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.43633980493709457,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08473259210586548,
+    "rapid_planner_max_dt_s": 2.5280000000000005,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007615566253662109,
+    "rapid_planner_median_dt_s": 0.09600000000000009,
+    "rapid_planner_path_max_error_rad": 0.006321720778942108,
+    "rapid_planner_path_p95_error_rad": 0.002675640583038331,
+    "rapid_planner_path_rms_error_rad": 0.0013514167598405982,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      44,
+      58,
+      70,
+      81,
+      92,
+      103,
+      114,
+      124,
+      135,
+      149,
+      163,
+      177,
+      191,
+      204,
+      218,
+      231,
+      244,
+      265,
+      286,
+      302,
+      317,
+      328,
+      339,
+      350,
+      361,
+      378,
+      394,
+      415,
+      438,
+      493,
+      548,
+      573,
+      604,
+      635,
+      686,
+      736,
+      778,
+      821,
+      877,
+      952,
+      1015,
+      1102,
+      1198,
+      1255,
+      1321,
+      1383,
+      1450,
+      1735,
+      1815,
+      1876,
+      2227,
+      2859,
+      2910,
+      2986,
+      3033,
+      3080,
+      3119,
+      3154,
+      3176,
+      3198,
+      3216,
+      3233,
+      3255,
+      3277,
+      3309,
+      3341,
+      3364,
+      3386,
+      3416,
+      3446,
+      3464,
+      3481,
+      3500,
+      3519,
+      3536,
+      3552,
+      3564,
+      3577,
+      3590,
+      3602,
+      3618,
+      3634,
+      3659,
+      3684,
+      3730,
+      3764,
+      3797,
+      3826,
+      3902,
+      3982,
+      4087,
+      4156,
+      4437,
+      4489,
+      4824,
+      5034,
+      5287,
+      5503,
+      5538,
+      5577,
+      5614,
+      5640,
+      5666,
+      5684,
+      5702,
+      5715,
+      5728,
+      5740,
+      5751,
+      5764,
+      5776,
+      5788,
+      5801,
+      5823,
+      5855,
+      5878,
+      5902,
+      5931,
+      5970,
+      6178,
+      6366
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.8548199148696085,
+    "rapid_planner_selected_samples": 122,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6367,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 122,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006321720778942108,
+    "raw_replay_rms_error_rad": 0.0007955082546267812,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8304075932346282,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0047018122105187,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9481343327858525,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8636957458564338,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9756401130956082,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9829392575959431,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009590797126293182,
+      0.0006742104887962341,
+      0.0008972287178039551,
+      0.0020594224333763123,
+      0.0022836923599243164,
+      0.006470084190368652
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7414170401481724,
+    "replay_smoothing_max_deviation_rad": 0.006470084190368652,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0018624401418492198,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.3529016971588135,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 44.669925689697266,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.7220910644253888,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 294.17120361328125,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13349.462890625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 422.64921960835454,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.817857265472412,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2025202372144217,
+    "replay_smoothing_rms_deviation_rad": 0.0009097702632403836,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.9538674354553223,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.87995529174805,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.6327736623654445,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 254.0744171142578,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13024.271484375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 415.43851014534073,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7629590034484863,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20154040133236958,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9698005651672222,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.995161787801904,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.6639999999999997,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006470084190368652,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006321720778942108,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.038166046142578125,
+    "stage_planned_to_measured_rms_error_rad": 0.005691040240080732,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1187,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7726491689682007,
+    "target_wall_accel_peak_abs_rad_s2": 3.5351686477661133,
+    "target_wall_accel_peak_joint": 4,
+    "target_wall_accel_peak_time_s": 10.166736072002095,
+    "target_wall_accel_rms_rad_s2": 0.35714183409910505,
+    "target_wall_jerk_p95_abs_rad_s3": 16.744556427001953,
+    "target_wall_jerk_peak_abs_rad_s3": 69.8260726928711,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 10.133387348003453,
+    "target_wall_jerk_rms_rad_s3": 7.750076760734859,
+    "target_wall_smoothness_samples": 1187,
+    "target_wall_velocity_peak_abs_rad_s": 0.6722073554992676,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 3.133394379008678,
+    "target_wall_velocity_rms_rad_s": 0.09680634684852234,
+    "tcp_pose_count": 1187,
+    "timestamp_count": 1187,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.7400000000000033,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.1080000000000028,
+    "window_lag_count": 33,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.0800000000000027,
+    "window_lag_worst_end_s": 21.5,
+    "window_lag_worst_max_error_rad": 0.02175825834274292,
+    "window_lag_worst_rms_error_rad": 0.0018797237519143609,
+    "window_lag_worst_start_s": 20.5,
+    "zero_lag_max_error_rad": 0.006321720778942108,
+    "zero_lag_p95_error_rad": 0.0017266357317566872,
+    "zero_lag_rms_error_rad": 0.0007955082546267812,
+    "zero_lag_samples": 1187,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 23.354
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153155.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea7a61c4443d63e3c2234a3e0235d3482ae958dc99cb87294a6ca6c0f4d3f88
+size 125009

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153553.json

@@ -0,0 +1,688 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:35:54",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153553.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1251,
+    "actual_playback_duration_s": 41.71494172999519,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.3802758455276489,
+    "aligned_p95_error_rad": 0.001825337065383792,
+    "aligned_rms_error_rad": 0.008884797686015926,
+    "aligned_samples": 1251,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 0.45999999999999996,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153553.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153553.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1251,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1251,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4910441337525535,
+    "image_frame_counts": {
+      "cam_scene": 1251,
+      "cam_wrist": 1251
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.4600000000000022,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.26311367750167847,
+      0.33724576234817505,
+      0.17034119367599487,
+      0.03427070751786232,
+      0.3802758455276489,
+      0.3782404065132141
+    ],
+    "joint_lag_p95_error_rad": [
+      0.00200810469686985,
+      0.0018649399280548096,
+      0.0016239210963249207,
+      0.025112275034189224,
+      0.0020186007022857666,
+      0.0020551681518554688
+    ],
+    "joint_lag_rms_error_rad": [
+      0.007490832562716529,
+      0.009568627150948026,
+      0.004866792323552148,
+      0.008341689151762453,
+      0.010787862963577696,
+      0.010731565786344762
+    ],
+    "joint_lag_samples": [
+      1251,
+      1251,
+      1251,
+      1224,
+      1251,
+      1251
+    ],
+    "joint_lag_worst_time_s": [
+      0.45999999999999996,
+      0.45999999999999996,
+      0.45999999999999996,
+      5.523,
+      0.45999999999999996,
+      0.45999999999999996
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 19,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.007061113996314816,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039647029916523024,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042786253892700184,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004716942085069604,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3184,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.0071419940068153664,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003994946004240774,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004311137503100327,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004766824069956783,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006776121008442715,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003996639992692508,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042971857488737445,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004714216828142524,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014803426005528308,
+    "leadthrough_capture_loop_late_median_s": 0.009337522598798387,
+    "leadthrough_capture_loop_late_p95_s": 0.009661316186247859,
+    "leadthrough_capture_loop_late_p99_s": 0.010088636491273064,
+    "leadthrough_capture_loop_late_warn_count": 7883,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007117626999388449,
+    "leadthrough_capture_read_duration_median_s": 0.003982502996223047,
+    "leadthrough_capture_read_duration_p95_s": 0.004297597793629393,
+    "leadthrough_capture_read_duration_p99_s": 0.004749014819099104,
+    "leadthrough_capture_read_duration_warn_count": 3540,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 15,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003248542547225952,
+      0.002377670258283615,
+      0.001829192042350769,
+      0.0009269798174500465,
+      0.0026623010635375977,
+      0.006206627935171127
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006206627935171127,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0015738876536488533,
+      0.001434638281352818,
+      0.0013794612605124712,
+      0.0002813893952406943,
+      0.0012507615610957146,
+      0.0035730835516005754
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006982288905419409,
+      0.0006422091391868889,
+      0.0006092899129725993,
+      0.00012351090845186263,
+      0.0005280936602503061,
+      0.0013091256842017174
+    ],
+    "leadthrough_delta_samples": 6995,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006206627935171127,
+    "leadthrough_delta_worst_from_rad": -0.06460575759410858,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 26.285,
+    "leadthrough_delta_worst_to_rad": -0.058399129658937454,
+    "leadthrough_duration_s": 27.977,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6994,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.30400000000000205,
+    "leadthrough_final_stillness_removed_samples": 76,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6995,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7883,
+    "leadthrough_initial_stillness_first_motion_index": 812,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.243,
+    "leadthrough_initial_stillness_removed_samples": 811,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 811,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003248542547225952,
+      0.002377670258283615,
+      0.001829192042350769,
+      0.0009269798174500465,
+      0.0026623010635375977,
+      0.006206627935171127
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006206627935171127,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0398328304290378,
+      0.792556752761175,
+      0.593618179361003,
+      0.3073954333861552,
+      0.8818308512369457,
+      1.5516569837936418
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.5591061115264893,
+    "leadthrough_velocity_rms_rad_s": 0.18530625499718534,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.3802758455276489,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4843931794166565,
+    "measured_wall_accel_peak_abs_rad_s2": 271.2891845703125,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 16.040099298988935,
+    "measured_wall_accel_rms_rad_s2": 7.904642078374354,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.040750503540039,
+    "measured_wall_jerk_peak_abs_rad_s3": 4085.312744140625,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 16.071732134994818,
+    "measured_wall_jerk_rms_rad_s3": 96.12225126472279,
+    "measured_wall_smoothness_samples": 1251,
+    "measured_wall_velocity_peak_abs_rad_s": 16.956851959228516,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 16.009225848989445,
+    "measured_wall_velocity_rms_rad_s": 0.379753185773502,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.3802758455276489,
+    "moving_aligned_p95_error_rad": 0.002007958246394992,
+    "moving_aligned_rms_error_rad": 0.010158075309015385,
+    "moving_aligned_samples": 957,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 0.45999999999999996,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.26311367750167847,
+      0.00396902859210968,
+      0.17034119367599487,
+      0.0035746488720178604,
+      0.3802758455276489,
+      0.3782404065132141
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002267851261422038,
+      0.001999223604798317,
+      0.002051112474873662,
+      0.0016851830296218395,
+      0.0027114369440823793,
+      0.002633899450302124
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.009583385447966662,
+      0.00094112049921017,
+      0.00654609377203718,
+      0.0008513490136927435,
+      0.01635939058182461,
+      0.01763422057308947
+    ],
+    "moving_joint_lag_samples": [
+      763,
+      817,
+      690,
+      122,
+      543,
+      463
+    ],
+    "moving_joint_lag_worst_time_s": [
+      0.45999999999999996,
+      27.205000000000002,
+      0.45999999999999996,
+      8.339,
+      0.45999999999999996,
+      0.45999999999999996
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 31.96734619140625,
+    "playback_velocity_rms_rad_s": 1.151214631638584,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 85.95400000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 27.977,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3146,
+      5972
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.442466484622596,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08634495735168457,
+    "rapid_planner_max_dt_s": 2.436,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00772249698638916,
+    "rapid_planner_median_dt_s": 0.12399999999999878,
+    "rapid_planner_path_max_error_rad": 0.3802758455276489,
+    "rapid_planner_path_p95_error_rad": 0.0028268713504076004,
+    "rapid_planner_path_rms_error_rad": 0.01083602348860658,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      41,
+      64,
+      87,
+      112,
+      126,
+      139,
+      154,
+      169,
+      182,
+      194,
+      207,
+      220,
+      233,
+      246,
+      258,
+      271,
+      280,
+      290,
+      300,
+      309,
+      324,
+      340,
+      355,
+      370,
+      384,
+      399,
+      422,
+      444,
+      466,
+      488,
+      507,
+      527,
+      566,
+      606,
+      640,
+      675,
+      710,
+      744,
+      777,
+      816,
+      854,
+      899,
+      944,
+      988,
+      1033,
+      1093,
+      1178,
+      1242,
+      1292,
+      1352,
+      1452,
+      1471,
+      1508,
+      1525,
+      1592,
+      1660,
+      1714,
+      1987,
+      2129,
+      2205,
+      2291,
+      2364,
+      2585,
+      2760,
+      3146,
+      3755,
+      3930,
+      3985,
+      4044,
+      4079,
+      4134,
+      4182,
+      4230,
+      4266,
+      4302,
+      4328,
+      4354,
+      4380,
+      4407,
+      4438,
+      4470,
+      4502,
+      4534,
+      4575,
+      4613,
+      4644,
+      4684,
+      4700,
+      4717,
+      4739,
+      4761,
+      4782,
+      4804,
+      4841,
+      4874,
+      4938,
+      5005,
+      5098,
+      5348,
+      5556,
+      5658,
+      5972,
+      6211,
+      6233,
+      6252,
+      6273,
+      6294,
+      6323,
+      6351,
+      6376,
+      6396,
+      6414,
+      6444,
+      6470,
+      6492,
+      6513,
+      6528,
+      6544,
+      6558,
+      6572,
+      6586,
+      6599,
+      6611,
+      6624,
+      6658,
+      6691,
+      6728,
+      6756,
+      6856,
+      6896,
+      6933,
+      6995
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.9472016384886155,
+    "rapid_planner_selected_samples": 133,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6996,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 133,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.3802758455276489,
+    "raw_replay_rms_error_rad": 0.008884797686015926,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9358574819032203,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0163061832914864,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.960955125336238,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0005671154624551,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9723949401250599,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9833160645993158,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005416460335254669,
+      0.0003874450922012329,
+      0.00041783973574638367,
+      0.002260815352201462,
+      0.0014216899871826172,
+      0.006556391716003418
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7513071541429633,
+    "replay_smoothing_max_deviation_rad": 0.006556391716003418,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001798771321773529,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.2889292240142822,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 27.244155883789062,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.8739872959036992,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 400.95269775390625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 7390.44482421875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 463.11864526079967,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5506842136383057,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.18617266588868256,
+    "replay_smoothing_rms_deviation_rad": 0.0008402366693796532,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.1421115398406982,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 27.688404083251953,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.8008176968136569,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 401.1800842285156,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 7186.43115234375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 455.39200370041607,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5591061115264893,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.18530625499718534,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0054310850746482,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953461971049216,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 2.0160000000000005,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006556391716003418,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.3802758455276489,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.5239295959472656,
+    "stage_planned_to_measured_rms_error_rad": 0.011670895101052486,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1251,
+    "stopped_early": false,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "max_error_rad=0.3803",
+    "target_wall_accel_p95_abs_rad_s2": 0.7109581828117371,
+    "target_wall_accel_peak_abs_rad_s2": 65.23726654052734,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.033390119002433494,
+    "target_wall_accel_rms_rad_s2": 1.5468292004870678,
+    "target_wall_jerk_p95_abs_rad_s3": 15.885210990905762,
+    "target_wall_jerk_peak_abs_rad_s3": 977.677734375,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 0.06672308300039731,
+    "target_wall_jerk_rms_rad_s3": 19.835092658868934,
+    "target_wall_smoothness_samples": 1251,
+    "target_wall_velocity_peak_abs_rad_s": 4.351734161376953,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 7.444003131240606e-06,
+    "target_wall_velocity_rms_rad_s": 0.12365353076780915,
+    "tcp_pose_count": 1251,
+    "timestamp_count": 1251,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "max_error_rad=0.3803",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.2500000000000027,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.1699999999999993,
+    "window_lag_best_lag_p95_abs_s": 1.1859999999999995,
+    "window_lag_count": 37,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": -0.009999999999998233,
+    "window_lag_worst_end_s": 1.0,
+    "window_lag_worst_max_error_rad": 0.3829939365386963,
+    "window_lag_worst_rms_error_rad": 0.038246600049305426,
+    "window_lag_worst_start_s": 0.0,
+    "zero_lag_max_error_rad": 0.3802758455276489,
+    "zero_lag_p95_error_rad": 0.001825337065383792,
+    "zero_lag_rms_error_rad": 0.008884797686015926,
+    "zero_lag_samples": 1251,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 0.45999999999999996
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153553.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076c5c55160977eed44950e4887f6894b4e87a1d46463cb7985811c169b658df
+size 133470

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153814.json

@@ -0,0 +1,684 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:38:15",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153814.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1201,
+    "actual_playback_duration_s": 40.050659895990975,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006613969802856445,
+    "aligned_p95_error_rad": 0.001961231231689453,
+    "aligned_rms_error_rad": 0.0008809108920143275,
+    "aligned_samples": 1201,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 22.961,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153814.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153814.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1201,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1201,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6448585114785403,
+    "image_frame_counts": {
+      "cam_scene": 1201,
+      "cam_wrist": 1201
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005694389343261719,
+      0.004744380712509155,
+      0.004550963640213013,
+      0.004790458828210831,
+      0.006613969802856445,
+      0.005501780658960342
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001764245331287384,
+      0.0018581151962280273,
+      0.001860111951828003,
+      0.0013122204691171646,
+      0.002083420753479004,
+      0.0022983551025390625
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009161363112459204,
+      0.0008603637227177113,
+      0.0008708318929473554,
+      0.0005680104514196955,
+      0.0009888238819674583,
+      0.001008828921878945
+    ],
+    "joint_lag_samples": [
+      1201,
+      1201,
+      1201,
+      1201,
+      1201,
+      1201
+    ],
+    "joint_lag_worst_time_s": [
+      22.953000000000003,
+      23.889000000000003,
+      22.953000000000003,
+      2.6710000000000003,
+      22.961,
+      23.880000000000003
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 12,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.007272713002748787,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003956817992730066,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004315989796305075,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005689318120130332,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2800,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007374918001005426,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003994577506091446,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00436774355766829,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005792570906633045,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.007298671000171453,
+    "leadthrough_capture_host_receive_dt_median_s": 0.00399637600639835,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004332147400418762,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005713349351426586,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.012860584000009112,
+    "leadthrough_capture_loop_late_median_s": 0.007983506584423594,
+    "leadthrough_capture_loop_late_p95_s": 0.008363481500418856,
+    "leadthrough_capture_loop_late_p99_s": 0.009873845227994024,
+    "leadthrough_capture_loop_late_warn_count": 7049,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007335239992244169,
+    "leadthrough_capture_read_duration_median_s": 0.003979168992373161,
+    "leadthrough_capture_read_duration_p95_s": 0.004347185799269937,
+    "leadthrough_capture_read_duration_p99_s": 0.005766731681651422,
+    "leadthrough_capture_read_duration_warn_count": 3148,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 43,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.00372430682182312,
+      0.0023820661008358,
+      0.0026257485151290894,
+      0.0017125457525253296,
+      0.0026358366012573242,
+      0.007328331470489502
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007328331470489502,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0020316310692578554,
+      0.001831832341849804,
+      0.0020966792944818735,
+      0.0004358061123639345,
+      0.001483201514929533,
+      0.004952011164277792
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008194855763576925,
+      0.0007258576224558055,
+      0.0008486494771204889,
+      0.00019656415679492056,
+      0.000651031790766865,
+      0.001591130276210606
+    ],
+    "leadthrough_delta_samples": 6088,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.007328331470489502,
+    "leadthrough_delta_worst_from_rad": -0.6477827429771423,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.7429999999999999,
+    "leadthrough_delta_worst_to_rad": -0.6551110744476318,
+    "leadthrough_duration_s": 24.348999999999997,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6087,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.9510000000000005,
+    "leadthrough_final_stillness_removed_samples": 238,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6088,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7049,
+    "leadthrough_initial_stillness_first_motion_index": 723,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.888,
+    "leadthrough_initial_stillness_removed_samples": 722,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 722,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.00372430682182312,
+      0.0023820661008358,
+      0.0026257485151290894,
+      0.0017125457525253296,
+      0.0026358366012573242,
+      0.007328331470489502
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007328331470489502,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9310767054562961,
+      0.6729799012342834,
+      0.7358193397521694,
+      0.4281364381312845,
+      0.6589591503146963,
+      2.442777156830103
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.167968511581421,
+    "leadthrough_velocity_rms_rad_s": 0.23066897375214596,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006613969802856445,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5018224716186523,
+    "measured_wall_accel_peak_abs_rad_s2": 3.10239839553833,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 26.779421023995383,
+    "measured_wall_accel_rms_rad_s2": 0.2718296401252284,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.108342170715332,
+    "measured_wall_jerk_peak_abs_rad_s3": 68.6224594116211,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 28.011669958999846,
+    "measured_wall_jerk_rms_rad_s3": 4.3612065795042545,
+    "measured_wall_smoothness_samples": 1201,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7474338412284851,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 43.546577914996305,
+    "measured_wall_velocity_rms_rad_s": 0.1020781823301279,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006613969802856445,
+    "moving_aligned_p95_error_rad": 0.0022063644137233496,
+    "moving_aligned_rms_error_rad": 0.0010088069070855524,
+    "moving_aligned_samples": 907,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 22.961,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005694389343261719,
+      0.004744380712509155,
+      0.004550963640213013,
+      0.004790458828210831,
+      0.006613969802856445,
+      0.005501780658960342
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002006989438086748,
+      0.002069018082693219,
+      0.0022729337215423584,
+      0.002892587799578905,
+      0.002429744927212596,
+      0.003005159553140402
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010769727291434343,
+      0.0009799017801898002,
+      0.0010590639467397335,
+      0.0013455686558404188,
+      0.001338194623242455,
+      0.0016362007624806738
+    ],
+    "moving_joint_lag_samples": [
+      765,
+      793,
+      726,
+      156,
+      589,
+      429
+    ],
+    "moving_joint_lag_worst_time_s": [
+      22.953000000000003,
+      23.889000000000003,
+      22.953000000000003,
+      2.6710000000000003,
+      22.961,
+      23.880000000000003
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.167397975921631,
+    "playback_velocity_rms_rad_s": 0.39802717527065073,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.698,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.348999999999997,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2527,
+      5340
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4413155977474489,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.0869482159614563,
+    "rapid_planner_max_dt_s": 2.604000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0077024102210998535,
+    "rapid_planner_median_dt_s": 0.09850000000000048,
+    "rapid_planner_path_max_error_rad": 0.006613969802856445,
+    "rapid_planner_path_p95_error_rad": 0.002915501594543457,
+    "rapid_planner_path_rms_error_rad": 0.0014942856567370592,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      36,
+      52,
+      65,
+      82,
+      91,
+      100,
+      109,
+      118,
+      130,
+      142,
+      154,
+      166,
+      178,
+      184,
+      191,
+      198,
+      204,
+      216,
+      225,
+      234,
+      243,
+      252,
+      260,
+      268,
+      276,
+      285,
+      296,
+      306,
+      316,
+      326,
+      343,
+      362,
+      396,
+      430,
+      462,
+      483,
+      504,
+      540,
+      577,
+      629,
+      699,
+      730,
+      762,
+      792,
+      823,
+      859,
+      887,
+      937,
+      1020,
+      1080,
+      1120,
+      1188,
+      1291,
+      1326,
+      1385,
+      1407,
+      1445,
+      1466,
+      1541,
+      1626,
+      1807,
+      1894,
+      1962,
+      2054,
+      2108,
+      2527,
+      3178,
+      3317,
+      3465,
+      3517,
+      3559,
+      3607,
+      3636,
+      3666,
+      3695,
+      3724,
+      3744,
+      3765,
+      3806,
+      3827,
+      3848,
+      3889,
+      3911,
+      3933,
+      3958,
+      3984,
+      4008,
+      4032,
+      4044,
+      4056,
+      4067,
+      4078,
+      4090,
+      4101,
+      4116,
+      4131,
+      4167,
+      4194,
+      4239,
+      4302,
+      4558,
+      4674,
+      4886,
+      5090,
+      5340,
+      5572,
+      5599,
+      5623,
+      5657,
+      5683,
+      5704,
+      5724,
+      5761,
+      5779,
+      5794,
+      5809,
+      5827,
+      5847,
+      5873,
+      5890,
+      5905,
+      5922,
+      5939,
+      5959,
+      5990,
+      6025,
+      6056,
+      6088
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.9817658107834655,
+    "rapid_planner_selected_samples": 129,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6089,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 129,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006613969802856445,
+    "raw_replay_rms_error_rad": 0.0008809108920143275,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9595554228731152,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9863236996762266,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9895609773751982,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9950459305604583,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9849799826913602,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9968821580733345,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.000538170337677002,
+      0.0004057884216308594,
+      0.0008486509323120117,
+      0.0035749077796936035,
+      0.0019066333770751953,
+      0.008491039276123047
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9730014359405624,
+    "replay_smoothing_max_deviation_rad": 0.008491039276123047,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0024688243865966797,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.941786766052246,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 71.80655670166016,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.315151436173209,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1203.4130859375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19501.189453125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1103.4763791644475,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1806678771972656,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.23186599158138968,
+    "replay_smoothing_rms_deviation_rad": 0.0011166028115907993,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.701473712921143,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 70.82450866699219,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.270105472701551,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1197.4512939453125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19208.28125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1100.0359142444036,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.167968511581421,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23066897375214596,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9941763870836825,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9948374583910312,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.3550000000000004,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008491039276123047,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006613969802856445,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.043322205543518066,
+    "stage_planned_to_measured_rms_error_rad": 0.006052102908652535,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1201,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7536543607711792,
+    "target_wall_accel_peak_abs_rad_s2": 3.934844493865967,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 3.600057734991424,
+    "target_wall_accel_rms_rad_s2": 0.37752516519818213,
+    "target_wall_jerk_p95_abs_rad_s3": 16.898616790771484,
+    "target_wall_jerk_peak_abs_rad_s3": 82.85523223876953,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 12.00005884199345,
+    "target_wall_jerk_rms_rad_s3": 8.181477686105385,
+    "target_wall_smoothness_samples": 1201,
+    "target_wall_velocity_peak_abs_rad_s": 0.8054981231689453,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 27.300054740990163,
+    "target_wall_velocity_rms_rad_s": 0.10293872364291988,
+    "tcp_pose_count": 1201,
+    "timestamp_count": 1201,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.7100000000000035,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.4580000000000024,
+    "window_lag_count": 29,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.7100000000000035,
+    "window_lag_worst_end_s": 10.5,
+    "window_lag_worst_max_error_rad": 0.02492976188659668,
+    "window_lag_worst_rms_error_rad": 0.002062755117247667,
+    "window_lag_worst_start_s": 9.5,
+    "zero_lag_max_error_rad": 0.006613969802856445,
+    "zero_lag_p95_error_rad": 0.001961231231689453,
+    "zero_lag_rms_error_rad": 0.0008809108920143275,
+    "zero_lag_samples": 1201,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 22.961
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_153814.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6211c686124e5ded86656368fc6441aa67b14f413c2e11a11284834e38a574
+size 127250

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_154235.json

@@ -0,0 +1,668 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:42:36",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_154235.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1157,
+    "actual_playback_duration_s": 38.58118495698727,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005527853965759277,
+    "aligned_p95_error_rad": 0.001881515490822494,
+    "aligned_rms_error_rad": 0.0007981738679312853,
+    "aligned_samples": 1157,
+    "aligned_worst_joint": 2,
+    "aligned_worst_time_s": 5.555000000000001,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_154235.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_154235.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1157,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1157,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6852830540771095,
+    "image_frame_counts": {
+      "cam_scene": 1157,
+      "cam_wrist": 1157
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.003963947296142578,
+      0.004668295383453369,
+      0.005527853965759277,
+      0.004867149516940117,
+      0.005473613739013672,
+      0.004229068756103516
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0018214896554127336,
+      0.0017165716271847486,
+      0.0015414468944072723,
+      0.0008931013871915638,
+      0.0021674870513379574,
+      0.0024508147034794092
+    ],
+    "joint_lag_rms_error_rad": [
+      0.000822066620219365,
+      0.0007758319645872306,
+      0.0007101245742945267,
+      0.0005008337581210719,
+      0.0008948574474625633,
+      0.000994434090207234
+    ],
+    "joint_lag_samples": [
+      1157,
+      1157,
+      1157,
+      1157,
+      1157,
+      1157
+    ],
+    "joint_lag_worst_time_s": [
+      14.926000000000002,
+      4.903,
+      5.555000000000001,
+      4.903,
+      5.555000000000001,
+      1.2359999999999998
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.007999999914318323,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 23,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.007594984999741428,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003963615992688574,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0043272665061522275,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005149194900877776,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3224,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 2,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007658607006305829,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0039955214961082675,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004367112760519376,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005198705555958439,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.007675655986531638,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003995628503616899,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004340502645209199,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005171074116224189,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
+    "leadthrough_capture_loop_late_max_s": 0.040314030295121484,
+    "leadthrough_capture_loop_late_median_s": 0.0374923033232335,
+    "leadthrough_capture_loop_late_p95_s": 0.03795010042813374,
+    "leadthrough_capture_loop_late_p99_s": 0.038640731867053545,
+    "leadthrough_capture_loop_late_warn_count": 7391,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007633731001988053,
+    "leadthrough_capture_read_duration_median_s": 0.0039821050013415515,
+    "leadthrough_capture_read_duration_p95_s": 0.0043494014971656725,
+    "leadthrough_capture_read_duration_p99_s": 0.005178703695128207,
+    "leadthrough_capture_read_duration_warn_count": 3474,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.008000000000000007,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 10,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0033140480518341064,
+      0.0023413188755512238,
+      0.0022702068090438843,
+      0.001584913581609726,
+      0.003162682056427002,
+      0.007689088582992554
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007689088582992554,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002220373833552003,
+      0.0018557780422270298,
+      0.0019885594956576824,
+      0.00025337698752991855,
+      0.0015390904154628515,
+      0.003707852214574814
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008226608042605221,
+      0.0007233854848891497,
+      0.0008332416182383895,
+      0.00016712886281311512,
+      0.0006149125401861966,
+      0.0014418789651244879
+    ],
+    "leadthrough_delta_samples": 5724,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.007689088582992554,
+    "leadthrough_delta_worst_from_rad": -0.2576206922531128,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.484,
+    "leadthrough_delta_worst_to_rad": -0.26530978083610535,
+    "leadthrough_duration_s": 22.893,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5666,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5667,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7391,
+    "leadthrough_initial_stillness_first_motion_index": 1667,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 6.668,
+    "leadthrough_initial_stillness_removed_samples": 1666,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1666,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0033140480518341064,
+      0.0023413188755512238,
+      0.0022702068090438843,
+      0.001584913581609726,
+      0.003162682056427002,
+      0.007689088582992554
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007689088582992554,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0925630728403313,
+      0.7715175549188957,
+      0.7360978052019794,
+      0.528304527203222,
+      1.054227352142294,
+      1.9222721457479233
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.9028335809707642,
+    "leadthrough_velocity_rms_rad_s": 0.21586628033555214,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005527853965759277,
+    "measured_wall_accel_p95_abs_rad_s2": 0.48157453536987305,
+    "measured_wall_accel_peak_abs_rad_s2": 2.3377280235290527,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 43.265809200995136,
+    "measured_wall_accel_rms_rad_s2": 0.22712247530639104,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.158656120300293,
+    "measured_wall_jerk_peak_abs_rad_s3": 43.96157455444336,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 25.59849339799257,
+    "measured_wall_jerk_rms_rad_s3": 3.823844208488478,
+    "measured_wall_smoothness_samples": 1157,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6057085394859314,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 41.49913646400091,
+    "measured_wall_velocity_rms_rad_s": 0.09581202915290087,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005527853965759277,
+    "moving_aligned_p95_error_rad": 0.002089262008666992,
+    "moving_aligned_rms_error_rad": 0.0009214302526894287,
+    "moving_aligned_samples": 866,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 5.555000000000001,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.003963947296142578,
+      0.004668295383453369,
+      0.005527853965759277,
+      0.004867149516940117,
+      0.005473613739013672,
+      0.004229068756103516
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0021353370975703,
+      0.0018675324972718954,
+      0.0018745996057987213,
+      0.0033810772001743317,
+      0.0024149303790181875,
+      0.0032517968211323023
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.00101605007696788,
+      0.0009131117652674156,
+      0.0008593003711000036,
+      0.0015163165427946408,
+      0.0011881589302329834,
+      0.0017023300347174682
+    ],
+    "moving_joint_lag_samples": [
+      704,
+      777,
+      708,
+      86,
+      547,
+      373
+    ],
+    "moving_joint_lag_worst_time_s": [
+      14.926000000000002,
+      4.903,
+      5.555000000000001,
+      4.903,
+      5.555000000000001,
+      1.2359999999999998
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 3.007439613342285,
+    "playback_velocity_rms_rad_s": 0.37963572025898085,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 75.786,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 22.893,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2419,
+      4867
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4349421774781807,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08573839068412781,
+    "rapid_planner_max_dt_s": 2.2439999999999998,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007591173052787781,
+    "rapid_planner_median_dt_s": 0.11200000000000188,
+    "rapid_planner_path_max_error_rad": 0.005527853965759277,
+    "rapid_planner_path_p95_error_rad": 0.002802737429738045,
+    "rapid_planner_path_rms_error_rad": 0.0014028997062830095,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      46,
+      61,
+      76,
+      88,
+      99,
+      106,
+      113,
+      120,
+      127,
+      134,
+      141,
+      148,
+      155,
+      164,
+      174,
+      184,
+      193,
+      202,
+      212,
+      222,
+      231,
+      241,
+      251,
+      271,
+      295,
+      338,
+      366,
+      390,
+      412,
+      466,
+      520,
+      550,
+      573,
+      596,
+      617,
+      648,
+      680,
+      711,
+      738,
+      794,
+      929,
+      1056,
+      1179,
+      1257,
+      1306,
+      1452,
+      1491,
+      1589,
+      1667,
+      1826,
+      2079,
+      2419,
+      2980,
+      3039,
+      3134,
+      3184,
+      3231,
+      3268,
+      3298,
+      3339,
+      3368,
+      3396,
+      3433,
+      3470,
+      3507,
+      3544,
+      3572,
+      3600,
+      3630,
+      3657,
+      3687,
+      3717,
+      3745,
+      3775,
+      3796,
+      3817,
+      3838,
+      3858,
+      3876,
+      3893,
+      3910,
+      3928,
+      3960,
+      3986,
+      4077,
+      4206,
+      4466,
+      4601,
+      4812,
+      4867,
+      5049,
+      5097,
+      5127,
+      5157,
+      5176,
+      5212,
+      5234,
+      5259,
+      5277,
+      5290,
+      5304,
+      5329,
+      5348,
+      5367,
+      5386,
+      5404,
+      5421,
+      5451,
+      5481,
+      5535,
+      5576,
+      5724
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.912447928444299,
+    "rapid_planner_selected_samples": 113,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5725,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 113,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005527853965759277,
+    "raw_replay_rms_error_rad": 0.0007981738679312853,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9794614137763734,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9803211306902961,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.977485451888299,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9947655251399753,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.991605644326479,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9889285075546443,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0010319352149963379,
+      0.00048188865184783936,
+      0.0005497634410858154,
+      0.0028549805283546448,
+      0.0030548572540283203,
+      0.007302522659301758
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8368074628354997,
+    "replay_smoothing_max_deviation_rad": 0.007302522659301758,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0016841136384755373,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.025672435760498,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 38.714229583740234,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.062578061968541,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1256.41259765625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11715.9267578125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 783.2894001946742,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9212216138839722,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21683395713520498,
+    "replay_smoothing_rms_deviation_rad": 0.0008903753644379014,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.901913642883301,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.95237731933594,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.9936255008465107,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1249.8359375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11617.5791015625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 774.6172175178916,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9028335809707642,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21586628033555214,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9904289891492348,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9955372451232375,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.5629999999999997,
+    "replay_smoothing_wrist_max_deviation_rad": 0.007302522659301758,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005527853965759277,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.034162938594818115,
+    "stage_planned_to_measured_rms_error_rad": 0.005682268440765186,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1157,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7033397555351257,
+    "target_wall_accel_peak_abs_rad_s2": 3.4503490924835205,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 1.3000584559922572,
+    "target_wall_accel_rms_rad_s2": 0.328575944198352,
+    "target_wall_jerk_p95_abs_rad_s3": 14.990612983703613,
+    "target_wall_jerk_peak_abs_rad_s3": 102.85398864746094,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 1.3333902250014944,
+    "target_wall_jerk_rms_rad_s3": 7.326213724378788,
+    "target_wall_smoothness_samples": 1157,
+    "target_wall_velocity_peak_abs_rad_s": 0.594740092754364,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.30018972499238,
+    "target_wall_velocity_rms_rad_s": 0.09667925306856945,
+    "tcp_pose_count": 1157,
+    "timestamp_count": 1157,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 0.010000000000001563,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.1399999999999992,
+    "window_lag_best_lag_p95_abs_s": 0.5184999999999997,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.010000000000001563,
+    "window_lag_worst_end_s": 5.5,
+    "window_lag_worst_max_error_rad": 0.005333220586180687,
+    "window_lag_worst_rms_error_rad": 0.0016167062612379096,
+    "window_lag_worst_start_s": 4.5,
+    "zero_lag_max_error_rad": 0.005527853965759277,
+    "zero_lag_p95_error_rad": 0.001881515490822494,
+    "zero_lag_rms_error_rad": 0.0007981738679312853,
+    "zero_lag_samples": 1157,
+    "zero_lag_worst_joint": 2,
+    "zero_lag_worst_time_s": 5.555000000000001
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_154235.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f36ce370b6fb0da5bab1c0f8e137c3f9cadd3c52d73c2d8b577fae9082b9b8
+size 121378

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155005.json

@@ -0,0 +1,677 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:50:06",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155005.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1161,
+    "actual_playback_duration_s": 38.71627739399264,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.39344996213912964,
+    "aligned_p95_error_rad": 0.0018010437488555908,
+    "aligned_rms_error_rad": 0.008432462979587467,
+    "aligned_samples": 1161,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 0.6560000000000001,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155005.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155005.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1161,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1161,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6307770268309103,
+    "image_frame_counts": {
+      "cam_scene": 1161,
+      "cam_wrist": 1161
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.030699659138917923,
+      0.3733091950416565,
+      0.1925497055053711,
+      0.07096270471811295,
+      0.39344996213912964,
+      0.39181798696517944
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0016517937183380127,
+      0.001821070909500122,
+      0.0016499459743499756,
+      0.00046209897845983505,
+      0.0016930103302001953,
+      0.002489745616912842
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0011922189661756875,
+      0.010991104564469223,
+      0.005713347830169541,
+      0.0021010148989436504,
+      0.011569349644615421,
+      0.011554495556657784
+    ],
+    "joint_lag_samples": [
+      1161,
+      1161,
+      1161,
+      1161,
+      1161,
+      1161
+    ],
+    "joint_lag_worst_time_s": [
+      0.6560000000000001,
+      0.6560000000000001,
+      0.6560000000000001,
+      0.6560000000000001,
+      0.6560000000000001,
+      0.6560000000000001
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.009000000078231096,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 30,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.011548791007953696,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039535569958388805,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004321374392020516,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.0048175226821331315,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2820,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 2,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.011644532991340384,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040018864965531975,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004382089249702403,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004892540004948385,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 1,
+    "leadthrough_capture_host_receive_dt_max_s": 0.011613474009209312,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004004644491942599,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004349010494479444,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004837168547237524,
+    "leadthrough_capture_host_receive_gap_warn": true,
+    "leadthrough_capture_host_receive_gap_warn_count": 1,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
+    "leadthrough_capture_loop_late_max_s": 0.04923069616779685,
+    "leadthrough_capture_loop_late_median_s": 0.04561668771202676,
+    "leadthrough_capture_loop_late_p95_s": 0.04602380954602268,
+    "leadthrough_capture_loop_late_p99_s": 0.04666969363694079,
+    "leadthrough_capture_loop_late_warn_count": 6937,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.0116054370009806,
+    "leadthrough_capture_read_duration_median_s": 0.003982505004387349,
+    "leadthrough_capture_read_duration_p95_s": 0.004355416999896988,
+    "leadthrough_capture_read_duration_p99_s": 0.004864790955325592,
+    "leadthrough_capture_read_duration_warn_count": 3227,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.009000000000000341,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 4,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0027527809143066406,
+      0.001987781375646591,
+      0.0025011077523231506,
+      0.0010959580540657043,
+      0.0019505023956298828,
+      0.006227016448974609
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006227016448974609,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0020896545611321926,
+      0.001659770030528307,
+      0.0020125508308410645,
+      0.00046912216930650175,
+      0.0013685583835467696,
+      0.004898818675428629
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007810466922819614,
+      0.0006837127730250359,
+      0.000794977939222008,
+      0.0001873001892818138,
+      0.000520272646099329,
+      0.0015451316721737385
+    ],
+    "leadthrough_delta_samples": 5935,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006227016448974609,
+    "leadthrough_delta_worst_from_rad": -0.9388861656188965,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 15.146999999999998,
+    "leadthrough_delta_worst_to_rad": -0.9326591491699219,
+    "leadthrough_duration_s": 23.741,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5934,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6649999999999991,
+    "leadthrough_final_stillness_removed_samples": 166,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5935,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6937,
+    "leadthrough_initial_stillness_first_motion_index": 836,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.34,
+    "leadthrough_initial_stillness_removed_samples": 835,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 835,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.009000000000000341,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0027527809143066406,
+      0.001987781375646591,
+      0.0025011077523231506,
+      0.0010959580540657043,
+      0.0019505023956298828,
+      0.006227016448974609
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006227016448974609,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9142557779958397,
+      0.6560695668061326,
+      0.8301076789696696,
+      0.36451965570448447,
+      0.5702376365661405,
+      2.0738641420999375
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8123154640197754,
+    "leadthrough_velocity_rms_rad_s": 0.21731210573625376,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.39344996213912964,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4716991186141968,
+    "measured_wall_accel_peak_abs_rad_s2": 570.9823608398438,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 14.914952883002115,
+    "measured_wall_accel_rms_rad_s2": 12.17655025785201,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.305264472961426,
+    "measured_wall_jerk_peak_abs_rad_s3": 8733.365234375,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 14.946530840010382,
+    "measured_wall_jerk_rms_rad_s3": 150.61665694331006,
+    "measured_wall_smoothness_samples": 1161,
+    "measured_wall_velocity_peak_abs_rad_s": 34.98056411743164,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 14.88526410900522,
+    "measured_wall_velocity_rms_rad_s": 0.5665485987809812,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.39344996213912964,
+    "moving_aligned_p95_error_rad": 0.00206032395362854,
+    "moving_aligned_rms_error_rad": 0.009820252636410239,
+    "moving_aligned_samples": 856,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 0.6560000000000001,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.010000000000001563,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.030699659138917923,
+      0.3733091950416565,
+      0.1925497055053711,
+      0.005752893164753914,
+      0.39344996213912964,
+      0.39181798696517944
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.00202082353644073,
+      0.002122115110978484,
+      0.0022559568751603365,
+      0.0026263713371008635,
+      0.002315336838364601,
+      0.0031302510760724545
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0014825326578402434,
+      0.013726233280986698,
+      0.007443818721089662,
+      0.0015444930410801485,
+      0.016625661281523842,
+      0.019594045993701733
+    ],
+    "moving_joint_lag_samples": [
+      735,
+      744,
+      683,
+      125,
+      562,
+      403
+    ],
+    "moving_joint_lag_worst_time_s": [
+      0.6560000000000001,
+      0.6560000000000001,
+      0.6560000000000001,
+      23.409,
+      0.6560000000000001,
+      0.6560000000000001
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 66.5993881225586,
+    "playback_velocity_rms_rad_s": 2.131846910110679,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 77.482,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 23.741,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2242,
+      5086
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4345707859420613,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08693033456802368,
+    "rapid_planner_max_dt_s": 2.1880000000000006,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007584691047668457,
+    "rapid_planner_median_dt_s": 0.10799999999999965,
+    "rapid_planner_path_max_error_rad": 0.39344996213912964,
+    "rapid_planner_path_p95_error_rad": 0.0028864145278930664,
+    "rapid_planner_path_rms_error_rad": 0.011631175195940346,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      41,
+      55,
+      69,
+      80,
+      91,
+      102,
+      113,
+      120,
+      128,
+      142,
+      156,
+      164,
+      171,
+      182,
+      194,
+      206,
+      217,
+      228,
+      240,
+      251,
+      262,
+      276,
+      290,
+      304,
+      317,
+      335,
+      349,
+      370,
+      438,
+      476,
+      498,
+      520,
+      565,
+      598,
+      632,
+      658,
+      685,
+      715,
+      750,
+      786,
+      843,
+      891,
+      965,
+      1032,
+      1141,
+      1231,
+      1301,
+      1353,
+      1504,
+      1600,
+      1727,
+      1815,
+      2242,
+      2789,
+      2878,
+      2959,
+      3055,
+      3160,
+      3209,
+      3269,
+      3303,
+      3337,
+      3370,
+      3404,
+      3426,
+      3447,
+      3468,
+      3490,
+      3520,
+      3550,
+      3582,
+      3615,
+      3646,
+      3678,
+      3701,
+      3721,
+      3738,
+      3748,
+      3759,
+      3770,
+      3780,
+      3790,
+      3801,
+      3818,
+      3838,
+      3859,
+      3933,
+      3999,
+      4059,
+      4262,
+      4338,
+      4485,
+      4709,
+      4821,
+      5086,
+      5293,
+      5324,
+      5351,
+      5397,
+      5426,
+      5454,
+      5491,
+      5521,
+      5540,
+      5559,
+      5580,
+      5601,
+      5628,
+      5651,
+      5663,
+      5675,
+      5686,
+      5698,
+      5710,
+      5722,
+      5738,
+      5750,
+      5794,
+      5827,
+      5881,
+      5935
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.980741282407963,
+    "rapid_planner_selected_samples": 122,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5936,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 122,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.39344996213912964,
+    "raw_replay_rms_error_rad": 0.008432462979587467,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9934265716933546,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9784880093344943,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9885487277369273,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9981655351366427,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9702999242013516,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9949944944807899,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0006837993860244751,
+      0.00033989548683166504,
+      0.0003985762596130371,
+      0.0017027268186211586,
+      0.0013762116432189941,
+      0.005153059959411621
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.5904971790784901,
+    "replay_smoothing_max_deviation_rad": 0.005153059959411621,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001657038927078247,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.6562418937683105,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.600372314453125,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.4233989802888276,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1029.4161376953125,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16578.66796875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 877.1788687025895,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.852245569229126,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21800205639117232,
+    "replay_smoothing_rms_deviation_rad": 0.0007530254579974058,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.61906099319458,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.29673767089844,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.384196706500415,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1027.5277099609375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16086.2802734375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 872.7881450339643,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8123154640197754,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21731210573625376,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9784423265075112,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.996835118593191,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.4080000000000004,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005153059959411621,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.39344996213912964,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 1.0389894247055054,
+    "stage_planned_to_measured_rms_error_rad": 0.01592130007684676,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1161,
+    "stopped_early": false,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "max_error_rad=0.3934",
+    "target_wall_accel_p95_abs_rad_s2": 0.7177785634994507,
+    "target_wall_accel_peak_abs_rad_s2": 290.3900146484375,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.03339615299773868,
+    "target_wall_accel_rms_rad_s2": 5.759468123513115,
+    "target_wall_jerk_p95_abs_rad_s3": 16.02227210998535,
+    "target_wall_jerk_peak_abs_rad_s3": 4353.61376953125,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 0.06672755999898072,
+    "target_wall_jerk_rms_rad_s3": 70.81713205172072,
+    "target_wall_smoothness_samples": 1161,
+    "target_wall_velocity_peak_abs_rad_s": 19.372234344482422,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 1.3497003237716854e-05,
+    "target_wall_velocity_rms_rad_s": 0.30404332842432225,
+    "tcp_pose_count": 1161,
+    "timestamp_count": 1161,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "max_error_rad=0.3934",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.7600000000000033,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.009999999999998233,
+    "window_lag_best_lag_p95_abs_s": 1.3650000000000029,
+    "window_lag_count": 31,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 1.5,
+    "window_lag_worst_max_error_rad": 0.39344996213912964,
+    "window_lag_worst_rms_error_rad": 0.03239156024413177,
+    "window_lag_worst_start_s": 0.5,
+    "zero_lag_max_error_rad": 0.39344996213912964,
+    "zero_lag_p95_error_rad": 0.0018010437488555908,
+    "zero_lag_rms_error_rad": 0.008432462979587467,
+    "zero_lag_samples": 1161,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 0.6560000000000001
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155005.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cabe854c040e0ae54f600b50def101738eb9894ee9c8c849543f490c09a682d
+size 121637

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155258.json

@@ -0,0 +1,697 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:52:59",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155258.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1251,
+    "actual_playback_duration_s": 41.71645948299556,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.00573420524597168,
+    "aligned_p95_error_rad": 0.0018455609679222107,
+    "aligned_rms_error_rad": 0.0008288090053938646,
+    "aligned_samples": 1251,
+    "aligned_worst_joint": 0,
+    "aligned_worst_time_s": 26.941,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155258.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155258.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1251,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1251,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4627089580292973,
+    "image_frame_counts": {
+      "cam_scene": 1251,
+      "cam_wrist": 1251
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.00573420524597168,
+      0.004982292652130127,
+      0.004124447703361511,
+      0.004887079820036888,
+      0.005513668060302734,
+      0.005335330963134766
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0019038915634155273,
+      0.002102956175804138,
+      0.0012845993041992188,
+      0.0008932639611884952,
+      0.0022221803665161133,
+      0.002233847975730896
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009417490372450563,
+      0.0009136155526804277,
+      0.0006060546901532868,
+      0.0005087011300686417,
+      0.0009563341808112557,
+      0.0009269883411901161
+    ],
+    "joint_lag_samples": [
+      1251,
+      1251,
+      1251,
+      1251,
+      1251,
+      1251
+    ],
+    "joint_lag_worst_time_s": [
+      26.941,
+      4.991,
+      3.2470000000000003,
+      28.104,
+      26.936,
+      5.031000000000001
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 29,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006933469994692132,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003943869000067934,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004312797103193588,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004913758259790484,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3256,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007003546998021193,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0039931124993017875,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004368060246633831,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004984090155630839,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006777039001462981,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003992685007688124,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.00434476624650415,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.00493475350085646,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.015481006150366738,
+    "leadthrough_capture_loop_late_median_s": 0.01263992246822454,
+    "leadthrough_capture_loop_late_p95_s": 0.0129950801609084,
+    "leadthrough_capture_loop_late_p99_s": 0.01361885387217626,
+    "leadthrough_capture_loop_late_warn_count": 7947,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006976577002205886,
+    "leadthrough_capture_read_duration_median_s": 0.0039735469908919185,
+    "leadthrough_capture_read_duration_p95_s": 0.004345804000331554,
+    "leadthrough_capture_read_duration_p99_s": 0.004956480774271767,
+    "leadthrough_capture_read_duration_warn_count": 3633,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 2,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003935635089874268,
+      0.0024971142411231995,
+      0.0021571610122919083,
+      0.0022865906357765198,
+      0.0035095810890197754,
+      0.006346285343170166
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006346285343170166,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018883347511291504,
+      0.001614883542060852,
+      0.0017077401280403137,
+      0.00022410496603697538,
+      0.00124397873878479,
+      0.003689078614115715
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007518728962168097,
+      0.0006480865995399654,
+      0.0006630466668866575,
+      0.00022665811411570758,
+      0.000622890773229301,
+      0.0013742181472480297
+    ],
+    "leadthrough_delta_samples": 7131,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006346285343170166,
+    "leadthrough_delta_worst_from_rad": -0.6462403535842896,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.8039999999999998,
+    "leadthrough_delta_worst_to_rad": -0.6525866389274597,
+    "leadthrough_duration_s": 28.52,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7130,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.740000000000002,
+    "leadthrough_final_stillness_removed_samples": 185,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7131,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7947,
+    "leadthrough_initial_stillness_first_motion_index": 631,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.52,
+    "leadthrough_initial_stillness_removed_samples": 630,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 630,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003935635089874268,
+      0.0024971142411231995,
+      0.0021571610122919083,
+      0.0022865906357765198,
+      0.0035095810890197754,
+      0.006346285343170166
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006346285343170166,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.3118783632913729,
+      0.8207870026429184,
+      0.7045393188794187,
+      0.7613971829414079,
+      1.1670589447021043,
+      2.1106203397114274
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.874232530593872,
+    "leadthrough_velocity_rms_rad_s": 0.2041514544655702,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.00573420524597168,
+    "measured_wall_accel_p95_abs_rad_s2": 0.43561190366744995,
+    "measured_wall_accel_peak_abs_rad_s2": 3.4400954246520996,
+    "measured_wall_accel_peak_joint": 3,
+    "measured_wall_accel_peak_time_s": 58.7763216309977,
+    "measured_wall_accel_rms_rad_s2": 0.2707986122952188,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.682371139526367,
+    "measured_wall_jerk_peak_abs_rad_s3": 58.490997314453125,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 58.87702269500005,
+    "measured_wall_jerk_rms_rad_s3": 4.604989441847108,
+    "measured_wall_smoothness_samples": 1251,
+    "measured_wall_velocity_peak_abs_rad_s": 0.683500349521637,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 20.84206834399083,
+    "measured_wall_velocity_rms_rad_s": 0.09818842400227185,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.00573420524597168,
+    "moving_aligned_p95_error_rad": 0.0021375876385718584,
+    "moving_aligned_rms_error_rad": 0.0009436259272815591,
+    "moving_aligned_samples": 945,
+    "moving_aligned_worst_joint": 0,
+    "moving_aligned_worst_time_s": 26.941,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.00573420524597168,
+      0.004982292652130127,
+      0.004124447703361511,
+      0.004887079820036888,
+      0.005513668060302734,
+      0.005335330963134766
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0023757098242640495,
+      0.0022502485662698746,
+      0.0014199585421010852,
+      0.0026814043521881104,
+      0.002866423223167658,
+      0.002856302075088024
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0011506772429209669,
+      0.001044648785853522,
+      0.0007345034021187805,
+      0.001224950981430533,
+      0.0012897663069742931,
+      0.0014328106736183675
+    ],
+    "moving_joint_lag_samples": [
+      805,
+      782,
+      722,
+      110,
+      660,
+      472
+    ],
+    "moving_joint_lag_worst_time_s": [
+      26.941,
+      4.991,
+      3.2470000000000003,
+      28.104,
+      26.936,
+      5.031000000000001
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.9763331413269043,
+    "playback_velocity_rms_rad_s": 0.36737581848027195,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 87.03999999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 28.52,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3326,
+      6404
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.39707304739869126,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08721053600311279,
+    "rapid_planner_max_dt_s": 2.5,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.006930232048034668,
+    "rapid_planner_median_dt_s": 0.11599999999999966,
+    "rapid_planner_path_max_error_rad": 0.00573420524597168,
+    "rapid_planner_path_p95_error_rad": 0.002956423908472061,
+    "rapid_planner_path_rms_error_rad": 0.001423425246519081,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      33,
+      51,
+      69,
+      87,
+      96,
+      106,
+      118,
+      130,
+      139,
+      148,
+      158,
+      167,
+      176,
+      186,
+      195,
+      204,
+      213,
+      222,
+      232,
+      241,
+      252,
+      263,
+      274,
+      285,
+      294,
+      303,
+      312,
+      321,
+      330,
+      339,
+      348,
+      357,
+      369,
+      381,
+      391,
+      405,
+      434,
+      462,
+      491,
+      520,
+      570,
+      619,
+      679,
+      714,
+      730,
+      742,
+      770,
+      789,
+      831,
+      883,
+      919,
+      955,
+      1052,
+      1125,
+      1321,
+      1339,
+      1372,
+      1390,
+      1519,
+      1602,
+      1730,
+      1863,
+      1947,
+      2110,
+      2187,
+      2244,
+      2579,
+      2660,
+      2814,
+      2906,
+      3093,
+      3326,
+      3951,
+      4033,
+      4096,
+      4140,
+      4210,
+      4257,
+      4293,
+      4338,
+      4374,
+      4410,
+      4453,
+      4474,
+      4496,
+      4526,
+      4555,
+      4588,
+      4621,
+      4645,
+      4669,
+      4698,
+      4727,
+      4757,
+      4787,
+      4817,
+      4859,
+      4891,
+      4907,
+      4923,
+      4953,
+      4983,
+      5021,
+      5059,
+      5133,
+      5200,
+      5256,
+      5309,
+      5363,
+      5584,
+      5653,
+      6018,
+      6102,
+      6404,
+      6501,
+      6575,
+      6597,
+      6618,
+      6638,
+      6657,
+      6672,
+      6688,
+      6706,
+      6723,
+      6751,
+      6766,
+      6779,
+      6798,
+      6817,
+      6834,
+      6850,
+      6875,
+      6903,
+      6920,
+      6936,
+      6963,
+      7005,
+      7042,
+      7073,
+      7104,
+      7131
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.996795642052079,
+    "rapid_planner_selected_samples": 142,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7132,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 142,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.00573420524597168,
+    "raw_replay_rms_error_rad": 0.0008288090053938646,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9834591023413399,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9981084370518313,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9887223885335619,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.7876778244972229,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.7876778244972229
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0033445339455376,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9935869581918134,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9945969278287466,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005915258079767227,
+      0.0004559159278869629,
+      0.0005483627319335938,
+      0.002635430544614792,
+      0.002963542938232422,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0015684479149058461,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.911873817443848,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.162193298339844,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.513852084011355,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2059.24267578125,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17669.376953125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1166.9723128103556,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.884993314743042,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20517888055583772,
+    "replay_smoothing_rms_deviation_rad": 0.0008665136159554404,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.764463424682617,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.04650115966797,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.462946613990903,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2066.1298828125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17556.0625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1160.6670771823867,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.874232530593872,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2041514544655702,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9942913409479986,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9949925348677009,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.079,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.00573420524597168,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03970158100128174,
+    "stage_planned_to_measured_rms_error_rad": 0.005820732668215955,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1251,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7482055425643921,
+    "target_wall_accel_peak_abs_rad_s2": 3.8859081268310547,
+    "target_wall_accel_peak_joint": 3,
+    "target_wall_accel_peak_time_s": 41.433509458001936,
+    "target_wall_accel_rms_rad_s2": 0.3615179955502282,
+    "target_wall_jerk_p95_abs_rad_s3": 16.091596603393555,
+    "target_wall_jerk_peak_abs_rad_s3": 74.69632720947266,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 11.066732253995724,
+    "target_wall_jerk_rms_rad_s3": 7.843020251091631,
+    "target_wall_smoothness_samples": 1251,
+    "target_wall_velocity_peak_abs_rad_s": 0.6842412352561951,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 3.500057637007558,
+    "target_wall_velocity_rms_rad_s": 0.09886613093952258,
+    "tcp_pose_count": 1251,
+    "timestamp_count": 1251,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.2500000000000027,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.0540000000000016,
+    "window_lag_count": 35,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 5.5,
+    "window_lag_worst_max_error_rad": 0.005456000566482544,
+    "window_lag_worst_rms_error_rad": 0.0020997987886426585,
+    "window_lag_worst_start_s": 4.5,
+    "zero_lag_max_error_rad": 0.00573420524597168,
+    "zero_lag_p95_error_rad": 0.0018455609679222107,
+    "zero_lag_rms_error_rad": 0.0008288090053938646,
+    "zero_lag_samples": 1251,
+    "zero_lag_worst_joint": 0,
+    "zero_lag_worst_time_s": 26.941
+  }
+}

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155258.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29001ae0f14c5f3424c233ba6b129c8992abfd0d96bba194b8805e7deedc179
+size 134111

flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155714.json

@@ -0,0 +1,687 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-22T15:57:15",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155714.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1205,
+    "actual_playback_duration_s": 40.186486820006394,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005793333053588867,
+    "aligned_p95_error_rad": 0.0020635484252125025,
+    "aligned_rms_error_rad": 0.000881712631822878,
+    "aligned_samples": 1205,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 3.156,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155714.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-22_15-00-33/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261022_155714.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1205,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1205,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5182472635916127,
+    "image_frame_counts": {
+      "cam_scene": 1205,
+      "cam_wrist": 1205
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004072010517120361,
+      0.005280554294586182,
+      0.005482569336891174,
+      0.005270726978778839,
+      0.005046486854553223,
+      0.005793333053588867
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0019910167902708054,
+      0.00207306444644928,
+      0.0015317914076149464,
+      0.0009726628777571023,
+      0.0023554086219519377,
+      0.0026359129697084427
+    ],
+    "joint_lag_rms_error_rad": [
+      0.000859869093253616,
+      0.0008949812540166251,
+      0.0007772930488035326,
+      0.0005854888100853273,
+      0.0009423071271235514,
+      0.001135434866401823
+    ],
+    "joint_lag_samples": [
+      1205,
+      1205,
+      1205,
+      1205,
+      1205,
+      1205
+    ],
+    "joint_lag_worst_time_s": [
+      23.913,
+      20.589,
+      3.156,
+      20.589,
+      23.921,
+      3.156
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 14,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006366836998495273,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039536509866593406,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004269878403283656,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004717287364765071,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2725,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.00641534999886062,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003980291505286004,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004303147754399106,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004774482559878378,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0063701420003781095,
+    "leadthrough_capture_host_receive_dt_median_s": 0.0039816325006540865,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.00428671275585657,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004731763552990742,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013554744000430219,
+    "leadthrough_capture_loop_late_median_s": 0.0071680394758004695,
+    "leadthrough_capture_loop_late_p95_s": 0.007453404867555946,
+    "leadthrough_capture_loop_late_p99_s": 0.007954326211474835,
+    "leadthrough_capture_loop_late_warn_count": 7237,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006396714001311921,
+    "leadthrough_capture_read_duration_median_s": 0.003968960998463444,
+    "leadthrough_capture_read_duration_p95_s": 0.004288453605840914,
+    "leadthrough_capture_read_duration_p99_s": 0.004752367642358877,
+    "leadthrough_capture_read_duration_warn_count": 2977,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 5,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003083139657974243,
+      0.002268213778734207,
+      0.0023588836193084717,
+      0.002209894359111786,
+      0.0024405717849731445,
+      0.00725942850112915
+    ],
+    "leadthrough_delta_max_abs_rad": 0.00725942850112915,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002114740666002035,
+      0.001756547368131578,
+      0.0019691544584929943,
+      0.00039676798041909933,
+      0.0011182217858731747,
+      0.004548230674117804
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.000766600074712187,
+      0.0007077976479195058,
+      0.0007802345789968967,
+      0.0002601959276944399,
+      0.000507695775013417,
+      0.0014715563738718629
+    ],
+    "leadthrough_delta_samples": 6618,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.00725942850112915,
+    "leadthrough_delta_worst_from_rad": -0.4130489230155945,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.6040000000000001,
+    "leadthrough_delta_worst_to_rad": -0.42030835151672363,
+    "leadthrough_duration_s": 26.468999999999998,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6585,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6586,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7237,
+    "leadthrough_initial_stillness_first_motion_index": 619,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.472,
+    "leadthrough_initial_stillness_removed_samples": 618,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 618,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003083139657974243,
+      0.002268213778734207,
+      0.0023588836193084717,
+      0.002209894359111786,
+      0.0024405717849731445,
+      0.00725942850112915
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.00725942850112915,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7707849144933033,
+      0.5670534446833624,
+      0.710129737853977,
+      0.552473589777946,
+      0.809748967488576,
+      1.814857125282286
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.7642825841903687,
+    "leadthrough_velocity_rms_rad_s": 0.2087981129867263,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005793333053588867,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4934287667274475,
+    "measured_wall_accel_peak_abs_rad_s2": 2.82019305229187,
+    "measured_wall_accel_peak_joint": 3,
+    "measured_wall_accel_peak_time_s": 15.177942731999792,
+    "measured_wall_accel_rms_rad_s2": 0.251657275016171,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.444042205810547,
+    "measured_wall_jerk_peak_abs_rad_s3": 52.523406982421875,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 25.71183960000053,
+    "measured_wall_jerk_rms_rad_s3": 4.160445367261686,
+    "measured_wall_smoothness_samples": 1205,
+    "measured_wall_velocity_peak_abs_rad_s": 0.700094997882843,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 41.511139809997985,
+    "measured_wall_velocity_rms_rad_s": 0.10230068584266268,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005793333053588867,
+    "moving_aligned_p95_error_rad": 0.0023707870859652758,
+    "moving_aligned_rms_error_rad": 0.0010059905083278726,
+    "moving_aligned_samples": 899,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 3.156,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004072010517120361,
+      0.0034987926483154297,
+      0.005482569336891174,
+      0.004316745325922966,
+      0.005046486854553223,
+      0.005793333053588867
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0025868434458971024,
+      0.002112744841724634,
+      0.0021917312406003475,
+      0.003877572948113084,
+      0.0026448953431099653,
+      0.003384533803910017
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010469259233229313,
+      0.0009515953133479049,
+      0.0010264796738495602,
+      0.001396410795224419,
+      0.0012243883986398302,
+      0.0017437805340066728
+    ],
+    "moving_joint_lag_samples": [
+      766,
+      769,
+      639,
+      142,
+      569,
+      439
+    ],
+    "moving_joint_lag_worst_time_s": [
+      23.913,
+      4.263999999999999,
+      3.156,
+      4.207000000000001,
+      23.921,
+      3.156
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.1660239696502686,
+    "playback_velocity_rms_rad_s": 0.35851459299075683,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.93799999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.468999999999998,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2687,
+      5639
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.42984429503641247,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08447593450546265,
+    "rapid_planner_max_dt_s": 2.4640000000000004,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007502198219299316,
+    "rapid_planner_median_dt_s": 0.10800000000000054,
+    "rapid_planner_path_max_error_rad": 0.005793333053588867,
+    "rapid_planner_path_p95_error_rad": 0.0032504141330718965,
+    "rapid_planner_path_rms_error_rad": 0.0014843604250297515,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      16,
+      43,
+      57,
+      72,
+      82,
+      93,
+      104,
+      114,
+      123,
+      132,
+      141,
+      150,
+      158,
+      166,
+      174,
+      181,
+      189,
+      197,
+      213,
+      228,
+      244,
+      259,
+      274,
+      288,
+      303,
+      318,
+      332,
+      347,
+      362,
+      381,
+      403,
+      440,
+      476,
+      509,
+      538,
+      563,
+      588,
+      618,
+      654,
+      684,
+      719,
+      754,
+      812,
+      839,
+      899,
+      950,
+      1097,
+      1154,
+      1178,
+      1408,
+      1472,
+      1548,
+      1614,
+      1665,
+      1905,
+      2119,
+      2247,
+      2687,
+      3303,
+      3405,
+      3471,
+      3537,
+      3624,
+      3679,
+      3719,
+      3752,
+      3784,
+      3811,
+      3838,
+      3864,
+      3891,
+      3926,
+      3961,
+      3996,
+      4031,
+      4058,
+      4086,
+      4120,
+      4146,
+      4171,
+      4198,
+      4225,
+      4249,
+      4270,
+      4286,
+      4302,
+      4320,
+      4337,
+      4350,
+      4364,
+      4378,
+      4392,
+      4428,
+      4452,
+      4516,
+      4554,
+      4603,
+      4665,
+      4707,
+      4788,
+      4920,
+      5309,
+      5489,
+      5639,
+      5751,
+      5832,
+      5870,
+      5896,
+      5924,
+      5963,
+      6000,
+      6026,
+      6053,
+      6072,
+      6091,
+      6119,
+      6142,
+      6159,
+      6168,
+      6177,
+      6186,
+      6194,
+      6203,
+      6212,
+      6226,
+      6241,
+      6271,
+      6301,
+      6336,
+      6402,
+      6618
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.840114517586571,
+    "rapid_planner_selected_samples": 132,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6619,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 132,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005793333053588867,
+    "raw_replay_rms_error_rad": 0.000881712631822878,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9721025269121814,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9776907005211669,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9504993009853512,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9611495969830006,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9794739694229659,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9796595557310479,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0003139432519674301,
+      0.00041634030640125275,
+      0.000817716121673584,
+      0.0045151859521865845,
+      0.0017205476760864258,
+      0.0065517425537109375
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7507743993835754,
+    "replay_smoothing_max_deviation_rad": 0.0065517425537109375,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0018236424075439572,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.6300549507141113,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 23.437870025634766,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.6767176515483622,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 327.78131103515625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 6229.8466796875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 391.2991651607631,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8142610788345337,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2096209708307489,
+    "replay_smoothing_rms_deviation_rad": 0.0008499579070676463,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.55668306350708,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 22.914987564086914,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.593718955746518,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 315.046875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 6101.97265625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 383.3399662993231,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7642825841903687,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2087981129867263,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9724524241702464,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960745442559419,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.52,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0065517425537109375,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005793333053588867,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.040552377700805664,
+    "stage_planned_to_measured_rms_error_rad": 0.006067366449211974,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1205,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7698420882225037,
+    "target_wall_accel_peak_abs_rad_s2": 3.666177988052368,
+    "target_wall_accel_peak_joint": 4,
+    "target_wall_accel_peak_time_s": 29.133388466012548,
+    "target_wall_accel_rms_rad_s2": 0.36305018196515465,
+    "target_wall_jerk_p95_abs_rad_s3": 16.134641647338867,
+    "target_wall_jerk_peak_abs_rad_s3": 93.43296813964844,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 29.100055861999863,
+    "target_wall_jerk_rms_rad_s3": 7.954351310676513,
+    "target_wall_smoothness_samples": 1205,
+    "target_wall_velocity_peak_abs_rad_s": 0.692782998085022,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.500057678000303,
+    "target_wall_velocity_rms_rad_s": 0.10321542126997411,
+    "tcp_pose_count": 1205,
+    "timestamp_count": 1205,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.8200000000000034,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.009999999999998233,
+    "window_lag_best_lag_p95_abs_s": 0.7349999999999981,
+    "window_lag_count": 35,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 4.5,
+    "window_lag_worst_max_error_rad": 0.004316745325922966,
+    "window_lag_worst_rms_error_rad": 0.0020126934469271774,
+    "window_lag_worst_start_s": 3.5,
+    "zero_lag_max_error_rad": 0.005793333053588867,
+    "zero_lag_p95_error_rad": 0.0020635484252125025,
+    "zero_lag_rms_error_rad": 0.000881712631822878,
+    "zero_lag_samples": 1205,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 3.156
+  }
+}