Upload flex_to_biotek_v2 data through 2026-08-30 (part 3)
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- .gitattributes +76 -0
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| 470 |
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|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_operator_stop_20260807_163843.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 52835
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_operator_stop_20260807_165829.json
ADDED
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@@ -0,0 +1,476 @@
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|
| 1 |
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{
|
| 2 |
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"attempt": 1,
|
| 3 |
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|
| 4 |
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"running": 1,
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
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| 8 |
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"created_at": "2026-08-07T16:58:30",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_operator_stop_20260807_165829.npz",
|
| 11 |
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|
| 12 |
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"0": "connect_to_path",
|
| 13 |
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|
| 14 |
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"2": "settle",
|
| 15 |
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|
| 16 |
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},
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 367 |
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| 368 |
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| 369 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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|
| 376 |
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| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
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|
| 393 |
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|
| 394 |
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|
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|
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| 465 |
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| 466 |
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| 474 |
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|
| 475 |
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|
| 476 |
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}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_operator_stop_20260807_165829.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:12e8b4c99821cc222fb36a6ef3e6d1a66624cc4431b02204595ac087e62cb16b
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| 3 |
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size 96693
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_163722.json
ADDED
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@@ -0,0 +1,653 @@
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| 1 |
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| 2 |
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| 3 |
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"return_measured_wall_velocity_peak_joint": -1,
|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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| 578 |
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| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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"sent_wall_jerk_peak_joint": -1,
|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"sent_wall_velocity_peak_joint": -1,
|
| 593 |
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|
| 594 |
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|
| 595 |
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| 596 |
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| 597 |
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| 598 |
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| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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"strict_tracking_reason": "max_error_rad=0.1277",
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| 607 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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| 612 |
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| 613 |
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| 614 |
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| 615 |
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| 616 |
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| 617 |
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| 618 |
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| 619 |
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| 620 |
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|
| 621 |
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"target_wall_velocity_rms_rad_s": 0.22670176074866716,
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| 622 |
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| 623 |
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"timestamp_count": 987,
|
| 624 |
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"tool_failures": 0,
|
| 625 |
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"tracking_geometry_pass": false,
|
| 626 |
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"tracking_geometry_reason": "max_error_rad=0.1277",
|
| 627 |
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"tracking_pass": true,
|
| 628 |
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"tracking_reason": "ok",
|
| 629 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 630 |
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"tracking_threshold_max_error_rad": 0.08726646259971647,
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| 631 |
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| 632 |
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|
| 633 |
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"tracking_timing_pass": true,
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| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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"window_lag_best_lag_p95_abs_s": 1.116999999999999,
|
| 639 |
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"window_lag_count": 23,
|
| 640 |
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|
| 641 |
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"window_lag_worst_best_lag_s": 1.8900000000000032,
|
| 642 |
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|
| 643 |
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| 644 |
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"window_lag_worst_rms_error_rad": 0.006126876606374267,
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| 645 |
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| 646 |
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"zero_lag_max_error_rad": 0.12771129608154297,
|
| 647 |
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"zero_lag_p95_error_rad": 0.00205408688634634,
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| 648 |
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"zero_lag_rms_error_rad": 0.0019905043364018913,
|
| 649 |
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"zero_lag_samples": 987,
|
| 650 |
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"zero_lag_worst_joint": 2,
|
| 651 |
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"zero_lag_worst_time_s": 15.142
|
| 652 |
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}
|
| 653 |
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}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_163722.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6eff834d3dad6f7db4d281dd3902563d82074e4ae03927084bf1f147e5cdb740
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| 3 |
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size 103128
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164007.json
ADDED
|
@@ -0,0 +1,655 @@
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"stage_target_to_sent_rms_error_rad": null,
|
| 605 |
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|
| 606 |
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"stopped_early": false,
|
| 607 |
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"strict_tracking_pass": true,
|
| 608 |
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"strict_tracking_reason": "ok",
|
| 609 |
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"target_wall_accel_p95_abs_rad_s2": 0.7654451131820679,
|
| 610 |
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"target_wall_accel_peak_abs_rad_s2": 6.614272594451904,
|
| 611 |
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"target_wall_accel_peak_joint": 5,
|
| 612 |
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"target_wall_accel_peak_time_s": 23.30007442799979,
|
| 613 |
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"target_wall_accel_rms_rad_s2": 0.3789655687159719,
|
| 614 |
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"target_wall_jerk_p95_abs_rad_s3": 18.846405029296875,
|
| 615 |
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"target_wall_jerk_peak_abs_rad_s3": 157.3571014404297,
|
| 616 |
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"target_wall_jerk_peak_joint": 5,
|
| 617 |
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"target_wall_jerk_peak_time_s": 23.26673701599975,
|
| 618 |
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"target_wall_jerk_rms_rad_s3": 8.973877179928127,
|
| 619 |
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|
| 620 |
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"target_wall_velocity_peak_abs_rad_s": 0.9217339158058167,
|
| 621 |
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"target_wall_velocity_peak_joint": 5,
|
| 622 |
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"target_wall_velocity_peak_time_s": 23.26673701599975,
|
| 623 |
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"target_wall_velocity_rms_rad_s": 0.10006997929607324,
|
| 624 |
+
"tcp_pose_count": 995,
|
| 625 |
+
"timestamp_count": 995,
|
| 626 |
+
"tool_failures": 0,
|
| 627 |
+
"tracking_geometry_pass": true,
|
| 628 |
+
"tracking_geometry_reason": "ok",
|
| 629 |
+
"tracking_pass": true,
|
| 630 |
+
"tracking_reason": "ok",
|
| 631 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 632 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 633 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 634 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 635 |
+
"tracking_timing_pass": true,
|
| 636 |
+
"tracking_timing_reason": "ok",
|
| 637 |
+
"window_lag_best_lag_max_s": 1.5800000000000032,
|
| 638 |
+
"window_lag_best_lag_median_s": 0.0,
|
| 639 |
+
"window_lag_best_lag_min_s": -0.829999999999999,
|
| 640 |
+
"window_lag_best_lag_p95_abs_s": 1.3300000000000027,
|
| 641 |
+
"window_lag_count": 21,
|
| 642 |
+
"window_lag_window_s": 1.0,
|
| 643 |
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"window_lag_worst_best_lag_s": 0.0,
|
| 644 |
+
"window_lag_worst_end_s": 3.0,
|
| 645 |
+
"window_lag_worst_max_error_rad": 0.004875451326370239,
|
| 646 |
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"window_lag_worst_rms_error_rad": 0.0016399460178743773,
|
| 647 |
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"window_lag_worst_start_s": 2.0,
|
| 648 |
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"zero_lag_max_error_rad": 0.004875451326370239,
|
| 649 |
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"zero_lag_p95_error_rad": 0.0018936846172437072,
|
| 650 |
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"zero_lag_rms_error_rad": 0.0007962337959763808,
|
| 651 |
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"zero_lag_samples": 995,
|
| 652 |
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"zero_lag_worst_joint": 2,
|
| 653 |
+
"zero_lag_worst_time_s": 2.404
|
| 654 |
+
}
|
| 655 |
+
}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164007.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:db32994de19e9f74f852dda49a8f39a273d084606410591e28dc1621971e158b
|
| 3 |
+
size 103168
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164146.json
ADDED
|
@@ -0,0 +1,651 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-07T16:41:47",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164146.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 986,
|
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"window_lag_best_lag_max_s": 0.9500000000000028,
|
| 634 |
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"window_lag_best_lag_median_s": 0.0,
|
| 635 |
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"window_lag_best_lag_min_s": -1.1999999999999993,
|
| 636 |
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"window_lag_best_lag_p95_abs_s": 1.0699999999999992,
|
| 637 |
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"window_lag_count": 24,
|
| 638 |
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"window_lag_window_s": 1.0,
|
| 639 |
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"window_lag_worst_best_lag_s": 0.9500000000000028,
|
| 640 |
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|
| 641 |
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"window_lag_worst_max_error_rad": 0.019200921058654785,
|
| 642 |
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"window_lag_worst_rms_error_rad": 0.004459139287371184,
|
| 643 |
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"window_lag_worst_start_s": 14.0,
|
| 644 |
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"zero_lag_max_error_rad": 0.004795938730239868,
|
| 645 |
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"zero_lag_p95_error_rad": 0.0018703341484069824,
|
| 646 |
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"zero_lag_rms_error_rad": 0.0008251926290624984,
|
| 647 |
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"zero_lag_samples": 986,
|
| 648 |
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"zero_lag_worst_joint": 0,
|
| 649 |
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"zero_lag_worst_time_s": 15.754
|
| 650 |
+
}
|
| 651 |
+
}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164146.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:188cb8d1c8cd2a079c3da6c7c2fa7aee1b44e428234f20a008b4120ab6b9c92f
|
| 3 |
+
size 104339
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164312.json
ADDED
|
@@ -0,0 +1,650 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-07T16:43:13",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164312.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
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"action_frame_count": 964,
|
| 20 |
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"actual_playback_duration_s": 32.14859266199983,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.005120396614074707,
|
| 23 |
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"aligned_p95_error_rad": 0.0017706801882013679,
|
| 24 |
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"aligned_rms_error_rad": 0.0007710842753671733,
|
| 25 |
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"aligned_samples": 964,
|
| 26 |
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"aligned_worst_joint": 5,
|
| 27 |
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"aligned_worst_time_s": 2.204,
|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
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"debug_sidecar_event_count": 0,
|
| 32 |
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"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164312.json",
|
| 33 |
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"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164312.npz",
|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 964,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 964,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 2.0526492569275847,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 964,
|
| 46 |
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"cam_wrist": 964
|
| 47 |
+
},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
| 51 |
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0.0,
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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],
|
| 56 |
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-07T16:44:47",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164446.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 998,
|
| 20 |
+
"actual_playback_duration_s": 33.287518257000556,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.12065303325653076,
|
| 23 |
+
"aligned_p95_error_rad": 0.0019442320335656404,
|
| 24 |
+
"aligned_rms_error_rad": 0.0029698456440048955,
|
| 25 |
+
"aligned_samples": 998,
|
| 26 |
+
"aligned_worst_joint": 4,
|
| 27 |
+
"aligned_worst_time_s": 0.42900000000000027,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164446.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164446.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 998,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 998,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.8457176743554504,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 998,
|
| 46 |
+
"cam_wrist": 998
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
-0.009999999999998233,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.10512791574001312,
|
| 58 |
+
0.07788728922605515,
|
| 59 |
+
0.0501897931098938,
|
| 60 |
+
0.0035965130664408207,
|
| 61 |
+
0.12065303325653076,
|
| 62 |
+
0.11994776129722595
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.0018397023668512702,
|
| 66 |
+
0.0014675684506073594,
|
| 67 |
+
0.001989109208807349,
|
| 68 |
+
0.0013954669702798128,
|
| 69 |
+
0.001732074422761798,
|
| 70 |
+
0.002777963411062956
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.0034280042781846946,
|
| 74 |
+
0.0025643724512498054,
|
| 75 |
+
0.0018507476832949385,
|
| 76 |
+
0.0005644888145908723,
|
| 77 |
+
0.003900325346406476,
|
| 78 |
+
0.003949143782476813
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
998,
|
| 82 |
+
998,
|
| 83 |
+
998,
|
| 84 |
+
998,
|
| 85 |
+
998,
|
| 86 |
+
998
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
0.42900000000000027,
|
| 90 |
+
0.42900000000000027,
|
| 91 |
+
0.42900000000000027,
|
| 92 |
+
13.715000000000002,
|
| 93 |
+
0.42900000000000027,
|
| 94 |
+
0.42900000000000027
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164446.npz
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164617.json
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-07T16:46:18",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164617.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 972,
|
| 20 |
+
"actual_playback_duration_s": 32.41346845699991,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.12366767227649689,
|
| 23 |
+
"aligned_p95_error_rad": 0.0020313882268965244,
|
| 24 |
+
"aligned_rms_error_rad": 0.002968534034505122,
|
| 25 |
+
"aligned_samples": 972,
|
| 26 |
+
"aligned_worst_joint": 0,
|
| 27 |
+
"aligned_worst_time_s": 0.536,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164617.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164617.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 972,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 972,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.7432219241153009,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 972,
|
| 46 |
+
"cam_wrist": 972
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
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|
| 58 |
+
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
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"joint_lag_p95_error_rad": [
|
| 65 |
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|
| 66 |
+
0.0019296796526759863,
|
| 67 |
+
0.002098259748890996,
|
| 68 |
+
0.00042286902316845953,
|
| 69 |
+
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|
| 70 |
+
0.002668035915121436
|
| 71 |
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],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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0.0005759861747426262,
|
| 77 |
+
0.0015633598974929747,
|
| 78 |
+
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|
| 79 |
+
],
|
| 80 |
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"joint_lag_samples": [
|
| 81 |
+
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|
| 82 |
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972,
|
| 83 |
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972,
|
| 84 |
+
972,
|
| 85 |
+
972,
|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"joint_lag_worst_time_s": [
|
| 89 |
+
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|
| 90 |
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0.536,
|
| 91 |
+
0.536,
|
| 92 |
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0.536,
|
| 93 |
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0.536,
|
| 94 |
+
0.536
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
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"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
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"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
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"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
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"leadthrough_capture_controller_tm_gap_warn": false,
|
| 101 |
+
"leadthrough_capture_controller_tm_gap_warn_count": 0,
|
| 102 |
+
"leadthrough_capture_dropped_ticks": 0,
|
| 103 |
+
"leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
|
| 104 |
+
"leadthrough_capture_egm_client_seqno_gap_count_final": 0,
|
| 105 |
+
"leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
|
| 106 |
+
"leadthrough_capture_egm_drained_packet_events": 1,
|
| 107 |
+
"leadthrough_capture_egm_drained_packet_max": 39,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006300762000137183,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003942041999835055,
|
| 111 |
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"leadthrough_capture_egm_poll_duration_p95_s": 0.004292763999728777,
|
| 112 |
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"leadthrough_capture_egm_poll_duration_p99_s": 0.004956918800235143,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2100,
|
| 114 |
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"leadthrough_capture_egm_recorded_seqno_jump_count": 0,
|
| 115 |
+
"leadthrough_capture_egm_recorded_seqno_step_max": 1,
|
| 116 |
+
"leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
|
| 117 |
+
"leadthrough_capture_expected_dt_s": 0.004,
|
| 118 |
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"leadthrough_capture_host_loop_dt_max_s": 0.006455071999880602,
|
| 119 |
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"leadthrough_capture_host_loop_dt_median_s": 0.004006029500033037,
|
| 120 |
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"leadthrough_capture_host_loop_dt_p95_s": 0.004354735900187734,
|
| 121 |
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"leadthrough_capture_host_loop_dt_p99_s": 0.005041198329845429,
|
| 122 |
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"leadthrough_capture_host_loop_gap_warn": false,
|
| 123 |
+
"leadthrough_capture_host_loop_gap_warn_count": 0,
|
| 124 |
+
"leadthrough_capture_host_receive_dt_max_s": 0.006381512999723782,
|
| 125 |
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"leadthrough_capture_host_receive_dt_median_s": 0.004006011500223394,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004335761949414518,
|
| 127 |
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| 647 |
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164617.npz
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size 100786
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164750.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
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},
|
| 17 |
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"reason": "rapid_planner_completed_candidate",
|
| 18 |
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"summary": {
|
| 19 |
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"action_frame_count": 995,
|
| 20 |
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"actual_playback_duration_s": 33.18783262599936,
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"attempt": 1,
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"diagnostic_samples": 995,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"duration_ratio": 1.9288522972218625,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 995,
|
| 46 |
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"cam_wrist": 995
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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],
|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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],
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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],
|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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"leadthrough_capture_host_receive_gap_warn_count": 0,
|
| 130 |
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"leadthrough_capture_leadthrough_start_arm_mode": "",
|
| 131 |
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"leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
|
| 132 |
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"leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
|
| 133 |
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"leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
|
| 134 |
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"leadthrough_capture_leadthrough_start_joints_deg": [
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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],
|
| 142 |
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"leadthrough_capture_leadthrough_start_joints_rad": [
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"leadthrough_capture_leadthrough_start_pose_enabled": true,
|
| 151 |
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"leadthrough_capture_leadthrough_start_pose_locked": true,
|
| 152 |
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"leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v008",
|
| 153 |
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"leadthrough_capture_leadthrough_start_pose_notes": "",
|
| 154 |
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"leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
|
| 155 |
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"leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
|
| 156 |
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"leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
|
| 157 |
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"leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
|
| 158 |
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"leadthrough_capture_leadthrough_start_pose_uploaded": true,
|
| 159 |
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"leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
|
| 160 |
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"leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
|
| 161 |
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"leadthrough_capture_leadthrough_start_tcp_pos_m": [],
|
| 162 |
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"leadthrough_capture_leadthrough_start_tcp_quat": [],
|
| 163 |
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"leadthrough_capture_leadthrough_start_tool_command_supported": false,
|
| 164 |
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"leadthrough_capture_leadthrough_start_tool_commanded": false,
|
| 165 |
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"leadthrough_capture_leadthrough_start_tool_io_backend": "",
|
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| 647 |
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_164750.npz
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version https://git-lfs.github.com/spec/v1
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size 102560
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165058.json
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| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 43 |
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| 47 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 130 |
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| 131 |
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| 154 |
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| 155 |
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| 156 |
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| 187 |
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| 188 |
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| 653 |
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|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165058.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 103667
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165344.json
ADDED
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@@ -0,0 +1,654 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 7 |
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| 11 |
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| 16 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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| 579 |
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| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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"sent_wall_jerk_peak_joint": -1,
|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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| 598 |
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| 599 |
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| 600 |
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| 601 |
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| 602 |
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| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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"strict_tracking_pass": true,
|
| 607 |
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"strict_tracking_reason": "ok",
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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| 612 |
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| 613 |
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| 614 |
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| 615 |
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| 616 |
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| 619 |
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| 620 |
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| 621 |
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| 622 |
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| 623 |
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"tcp_pose_count": 992,
|
| 624 |
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"timestamp_count": 992,
|
| 625 |
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"tool_failures": 0,
|
| 626 |
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"tracking_geometry_pass": true,
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| 627 |
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"tracking_geometry_reason": "ok",
|
| 628 |
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"tracking_pass": true,
|
| 629 |
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"tracking_reason": "ok",
|
| 630 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 631 |
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| 632 |
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|
| 633 |
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| 634 |
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"tracking_timing_pass": true,
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| 635 |
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|
| 636 |
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| 637 |
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|
| 638 |
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|
| 639 |
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"window_lag_best_lag_p95_abs_s": 1.1035000000000026,
|
| 640 |
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"window_lag_count": 22,
|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 644 |
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| 645 |
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| 646 |
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|
| 647 |
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"zero_lag_max_error_rad": 0.006920278072357178,
|
| 648 |
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"zero_lag_p95_error_rad": 0.0017352354479953647,
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| 649 |
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"zero_lag_rms_error_rad": 0.000798028183758352,
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| 650 |
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"zero_lag_samples": 992,
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| 651 |
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"zero_lag_worst_joint": 1,
|
| 652 |
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"zero_lag_worst_time_s": 8.527000000000001
|
| 653 |
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}
|
| 654 |
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}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165344.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:af808695cf98ba6e22c497b88be65a9563dcdb6c20f4d3d43ab66ee2bcb59dc0
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| 3 |
+
size 104636
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165701.json
ADDED
|
@@ -0,0 +1,666 @@
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| 595 |
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|
| 596 |
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| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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"sent_wall_jerk_peak_joint": -1,
|
| 601 |
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|
| 602 |
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| 603 |
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|
| 604 |
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|
| 605 |
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| 606 |
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| 608 |
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| 611 |
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| 617 |
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|
| 618 |
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| 619 |
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| 620 |
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| 626 |
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| 635 |
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| 636 |
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| 637 |
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|
| 638 |
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"tracking_geometry_pass": true,
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| 639 |
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"tracking_geometry_reason": "ok",
|
| 640 |
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|
| 641 |
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"tracking_reason": "ok",
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| 642 |
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| 643 |
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| 644 |
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| 645 |
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| 646 |
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|
| 647 |
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| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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| 652 |
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|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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| 658 |
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| 659 |
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| 660 |
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| 661 |
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| 662 |
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"zero_lag_samples": 1087,
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| 663 |
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"zero_lag_worst_joint": 4,
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| 664 |
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| 665 |
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}
|
| 666 |
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}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165701.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:17328884e25b9b330ab9c3124fbe4b1a2a04e81cf93d21da0abf4327a8396fd3
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| 3 |
+
size 113995
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165958.json
ADDED
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@@ -0,0 +1,663 @@
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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"strict_tracking_reason": "ok",
|
| 617 |
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"target_wall_accel_p95_abs_rad_s2": 0.8598985075950623,
|
| 618 |
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"target_wall_accel_peak_abs_rad_s2": 4.015806674957275,
|
| 619 |
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"target_wall_accel_peak_joint": 2,
|
| 620 |
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|
| 621 |
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"target_wall_accel_rms_rad_s2": 0.3998212300575946,
|
| 622 |
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"target_wall_jerk_p95_abs_rad_s3": 21.82466697692871,
|
| 623 |
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"target_wall_jerk_peak_abs_rad_s3": 113.0935287475586,
|
| 624 |
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|
| 625 |
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"target_wall_jerk_peak_time_s": 2.6334057780004514,
|
| 626 |
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"target_wall_jerk_rms_rad_s3": 9.791271209117387,
|
| 627 |
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"target_wall_smoothness_samples": 1059,
|
| 628 |
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|
| 629 |
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|
| 630 |
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"target_wall_velocity_peak_time_s": 2.6334057780004514,
|
| 631 |
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"target_wall_velocity_rms_rad_s": 0.10418497939623655,
|
| 632 |
+
"tcp_pose_count": 1059,
|
| 633 |
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"timestamp_count": 1059,
|
| 634 |
+
"tool_failures": 0,
|
| 635 |
+
"tracking_geometry_pass": true,
|
| 636 |
+
"tracking_geometry_reason": "ok",
|
| 637 |
+
"tracking_pass": true,
|
| 638 |
+
"tracking_reason": "ok",
|
| 639 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 640 |
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"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 641 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 642 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 643 |
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"tracking_timing_pass": true,
|
| 644 |
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"tracking_timing_reason": "ok",
|
| 645 |
+
"window_lag_best_lag_max_s": 1.030000000000003,
|
| 646 |
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"window_lag_best_lag_median_s": 0.0,
|
| 647 |
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"window_lag_best_lag_min_s": -0.9799999999999991,
|
| 648 |
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"window_lag_best_lag_p95_abs_s": 1.0150000000000017,
|
| 649 |
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"window_lag_count": 27,
|
| 650 |
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"window_lag_window_s": 1.0,
|
| 651 |
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"window_lag_worst_best_lag_s": 0.0,
|
| 652 |
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"window_lag_worst_end_s": 3.0,
|
| 653 |
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"window_lag_worst_max_error_rad": 0.006365712732076645,
|
| 654 |
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"window_lag_worst_rms_error_rad": 0.0018855492611881298,
|
| 655 |
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"window_lag_worst_start_s": 2.0,
|
| 656 |
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"zero_lag_max_error_rad": 0.006365712732076645,
|
| 657 |
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"zero_lag_p95_error_rad": 0.001967895310372114,
|
| 658 |
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"zero_lag_rms_error_rad": 0.0008714863273758835,
|
| 659 |
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"zero_lag_samples": 1059,
|
| 660 |
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"zero_lag_worst_joint": 3,
|
| 661 |
+
"zero_lag_worst_time_s": 2.3680000000000003
|
| 662 |
+
}
|
| 663 |
+
}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_165958.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bcccb5785a0b0e9b0bdf28d037e5007c43c05349f015ee1537a4bb831b188061
|
| 3 |
+
size 111572
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170126.json
ADDED
|
@@ -0,0 +1,648 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-07T17:01:27",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170126.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1009,
|
| 20 |
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|
| 633 |
+
"window_lag_best_lag_p95_abs_s": 1.4320000000000022,
|
| 634 |
+
"window_lag_count": 24,
|
| 635 |
+
"window_lag_window_s": 1.0,
|
| 636 |
+
"window_lag_worst_best_lag_s": 0.020000000000001794,
|
| 637 |
+
"window_lag_worst_end_s": 12.5,
|
| 638 |
+
"window_lag_worst_max_error_rad": 0.005556881427764893,
|
| 639 |
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"window_lag_worst_rms_error_rad": 0.002045679732296702,
|
| 640 |
+
"window_lag_worst_start_s": 11.5,
|
| 641 |
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"zero_lag_max_error_rad": 0.005983889102935791,
|
| 642 |
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"zero_lag_p95_error_rad": 0.0020002054516226053,
|
| 643 |
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"zero_lag_rms_error_rad": 0.0008738511653750278,
|
| 644 |
+
"zero_lag_samples": 1009,
|
| 645 |
+
"zero_lag_worst_joint": 4,
|
| 646 |
+
"zero_lag_worst_time_s": 10.994
|
| 647 |
+
}
|
| 648 |
+
}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170126.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:125d778fe2d2a2e96c5e370acb58d8a6aca9ad5c0c824faa44a5d6da55b77aea
|
| 3 |
+
size 107498
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170302.json
ADDED
|
@@ -0,0 +1,669 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
+
},
|
| 8 |
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"created_at": "2026-08-07T17:03:03",
|
| 9 |
+
"event_log": [],
|
| 10 |
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"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170302.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1067,
|
| 20 |
+
"actual_playback_duration_s": 35.586566134999885,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.005344510078430176,
|
| 23 |
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"aligned_p95_error_rad": 0.0020988399628549814,
|
| 24 |
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"aligned_rms_error_rad": 0.000886483496372698,
|
| 25 |
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"aligned_samples": 1067,
|
| 26 |
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"aligned_worst_joint": 1,
|
| 27 |
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"aligned_worst_time_s": 9.279,
|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
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"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170302.json",
|
| 33 |
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"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170302.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1067,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1067,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.9122281641590477,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1067,
|
| 46 |
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"cam_wrist": 1067
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260807_170302.npz
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size 113546
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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},
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"created_at": "2026-08-07T16:49:16",
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| 9 |
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| 10 |
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"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260807_164915.npz",
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| 11 |
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"phase_labels": {
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| 12 |
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"0": "connect_to_path",
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| 13 |
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"1": "return_to_start",
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| 14 |
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"2": "settle",
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| 15 |
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"3": "replay"
|
| 16 |
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},
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| 17 |
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"reason": "rapid_planner_start_failed",
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| 18 |
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"summary": {
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| 19 |
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| 20 |
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| 21 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 35 |
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| 36 |
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| 40 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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},
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| 49 |
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| 50 |
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| 51 |
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| 54 |
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| 71 |
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| 83 |
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|
| 84 |
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|
| 85 |
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"leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
|
| 86 |
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"leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
|
| 87 |
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"leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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],
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| 96 |
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"leadthrough_capture_leadthrough_start_joints_rad": [
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| 97 |
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| 98 |
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| 99 |
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| 103 |
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],
|
| 104 |
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"leadthrough_capture_leadthrough_start_pose_enabled": true,
|
| 105 |
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"leadthrough_capture_leadthrough_start_pose_locked": true,
|
| 106 |
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"leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v008",
|
| 107 |
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"leadthrough_capture_leadthrough_start_pose_notes": "",
|
| 108 |
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"leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
|
| 109 |
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"leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
|
| 110 |
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|
| 111 |
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"leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
|
| 112 |
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"leadthrough_capture_leadthrough_start_pose_uploaded": true,
|
| 113 |
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"leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
|
| 114 |
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"leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
|
| 115 |
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"leadthrough_capture_leadthrough_start_tcp_pos_m": [],
|
| 116 |
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"leadthrough_capture_leadthrough_start_tcp_quat": [],
|
| 117 |
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"leadthrough_capture_leadthrough_start_tool_command_supported": false,
|
| 118 |
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"leadthrough_capture_leadthrough_start_tool_commanded": false,
|
| 119 |
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"leadthrough_capture_leadthrough_start_tool_io_backend": "",
|
| 120 |
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"leadthrough_capture_leadthrough_start_tool_state": 0.0,
|
| 121 |
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"leadthrough_capture_leadthrough_start_tool_state_valid": true,
|
| 122 |
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"leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
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| 454 |
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|
| 455 |
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| 457 |
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| 460 |
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| 461 |
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}
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260807_164915.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 4089
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flex_to_biotek_v2/raw/2026-08-07_16-35-57/session_manifest.json
ADDED
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@@ -0,0 +1,497 @@
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|
| 1 |
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{
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| 2 |
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"action_type": "state_copy",
|
| 3 |
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"camera_status": {
|
| 4 |
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"cam_scene": {
|
| 5 |
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"backend": "realsense",
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| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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|
| 10 |
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"model": "Intel(R) RealSense(TM) Depth Camera 455",
|
| 11 |
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"name": "cam_scene",
|
| 12 |
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"product_id": "0b5c",
|
| 13 |
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"serial": "324422301529",
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"usb_speed_mbps": 5000.0,
|
| 20 |
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"usb_speed_ok": true
|
| 21 |
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},
|
| 22 |
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|
| 23 |
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"backend": "realsense",
|
| 24 |
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"connected": true,
|
| 25 |
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"error": null,
|
| 26 |
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|
| 27 |
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|
| 28 |
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"model": "Intel(R) RealSense(TM) Depth Camera 405",
|
| 29 |
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"name": "cam_wrist",
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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|
| 38 |
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|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"cameras": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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],
|
| 45 |
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|
| 46 |
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| 47 |
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|
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|
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|
| 50 |
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|
| 51 |
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},
|
| 52 |
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|
| 53 |
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| 55 |
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},
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{
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|
| 78 |
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|
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|
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|
| 96 |
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|
| 97 |
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},
|
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{
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| 99 |
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|
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|
| 101 |
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|
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"file": "episode_000001_20260807_164020.hdf5",
|
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|
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"included": true,
|
| 106 |
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|
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"playback_tracking_pass": true,
|
| 112 |
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|
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|
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|
| 115 |
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|
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-0.49,
|
| 440 |
+
52.285,
|
| 441 |
+
4.341,
|
| 442 |
+
41.395,
|
| 443 |
+
7.983
|
| 444 |
+
],
|
| 445 |
+
"leadthrough_start_joints_rad": [
|
| 446 |
+
0.295419,
|
| 447 |
+
-0.008551,
|
| 448 |
+
0.912542,
|
| 449 |
+
0.075773,
|
| 450 |
+
0.722472,
|
| 451 |
+
0.139336
|
| 452 |
+
],
|
| 453 |
+
"leadthrough_start_pose_enabled": true,
|
| 454 |
+
"leadthrough_start_pose_locked": true,
|
| 455 |
+
"leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v008",
|
| 456 |
+
"leadthrough_start_pose_notes": "",
|
| 457 |
+
"leadthrough_start_pose_project": "flex_to_biotek_v2",
|
| 458 |
+
"leadthrough_start_pose_role": "leadthrough_start",
|
| 459 |
+
"leadthrough_start_pose_saved_task_local": true,
|
| 460 |
+
"leadthrough_start_pose_source": "saved_pose",
|
| 461 |
+
"leadthrough_start_pose_uploaded": true,
|
| 462 |
+
"leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
|
| 463 |
+
"leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
|
| 464 |
+
"leadthrough_start_tcp_pos_m": [],
|
| 465 |
+
"leadthrough_start_tcp_quat": [],
|
| 466 |
+
"leadthrough_start_tool_command_supported": false,
|
| 467 |
+
"leadthrough_start_tool_commanded": false,
|
| 468 |
+
"leadthrough_start_tool_io_backend": "",
|
| 469 |
+
"leadthrough_start_tool_state": 0.0,
|
| 470 |
+
"leadthrough_start_tool_state_valid": true,
|
| 471 |
+
"start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909",
|
| 472 |
+
"start_pose_id": "start_pose_v009",
|
| 473 |
+
"start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v009.json"
|
| 474 |
+
},
|
| 475 |
+
"task_id": "flex_to_biotek_v2",
|
| 476 |
+
"task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
|
| 477 |
+
"tool_signal": "read-only configured",
|
| 478 |
+
"tool_status": {
|
| 479 |
+
"backend": "rws_rapid_feedback",
|
| 480 |
+
"can_command": false,
|
| 481 |
+
"can_read": true,
|
| 482 |
+
"command_failures": 0,
|
| 483 |
+
"command_hysteresis": 0.05,
|
| 484 |
+
"command_mode": "binary",
|
| 485 |
+
"command_signal": "read-only configured",
|
| 486 |
+
"command_threshold": 0.5,
|
| 487 |
+
"configured": true,
|
| 488 |
+
"last_state": null,
|
| 489 |
+
"last_state_age_s": null,
|
| 490 |
+
"message": "read RAPID gripper feedback array configured",
|
| 491 |
+
"ok": true,
|
| 492 |
+
"read_failures": 0,
|
| 493 |
+
"state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
|
| 494 |
+
"state_valid": false
|
| 495 |
+
},
|
| 496 |
+
"updated_at": "2026-08-07T17:03:16"
|
| 497 |
+
}
|
flex_to_biotek_v2/raw/2026-08-07_16-35-57/session_summary.json
ADDED
|
@@ -0,0 +1,688 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"task_id": "flex_to_biotek_v2",
|
| 3 |
+
"task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
|
| 4 |
+
"operator": "Jesse",
|
| 5 |
+
"robot_type": "abb_gofa",
|
| 6 |
+
"collection_mode": "leadthrough_record",
|
| 7 |
+
"action_type": "state_copy",
|
| 8 |
+
"session_started": "2026-08-07T16:35:58",
|
| 9 |
+
"session_ended": "2026-08-07T17:03:16",
|
| 10 |
+
"counts": {
|
| 11 |
+
"attempted": 16,
|
| 12 |
+
"success": 11,
|
| 13 |
+
"failure": 0,
|
| 14 |
+
"discard": 5
|
| 15 |
+
},
|
| 16 |
+
"episodes": [
|
| 17 |
+
{
|
| 18 |
+
"episode_idx": 0,
|
| 19 |
+
"outcome": "success",
|
| 20 |
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version https://git-lfs.github.com/spec/v1
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size 1285214879
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