hub_archive: flex_to_biotek_v2/raw +119 files (2026-10-20)

.gitattributes

@@ -1135,3 +1135,14 @@ flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000012_20261015_124046.hdf5 fi
 flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000013_20261015_124555.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000014_20261015_124952.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000015_20261015_125140.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000016_20261015_125721.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_15-33-28/episode_000000_20261019_154127.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_15-33-28/episode_000001_20261019_154347.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_15-33-28/episode_000002_20261019_154612.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_15-57-38/episode_000000_20261019_160031.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_15-57-38/episode_000001_20261019_160705.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000000_20261019_161433.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000001_20261019_163940.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000002_20261019_164956.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000003_20261019_165205.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-10-19_16-12-17/episode_000004_20261019_165555.hdf5 filter=lfs diff=lfs merge=lfs -text

flex_to_biotek_v2/raw/2026-10-15_11-39-43/episode_000016_20261015_125721.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2a70a0cb3c437116825edc4f1175fa846db3f396c9a30bb1a7c8edbd3088a2
+size 1443305482

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_114059.json

@@ -0,0 +1,493 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:41:00",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_114059.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 553,
+    "actual_playback_duration_s": 18.756693379953504,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_114059.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_114059.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 553,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 553,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.7574789346560659,
+    "image_frame_counts": {
+      "cam_scene": 553,
+      "cam_wrist": 553
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 31,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0062232669442892075,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003976935055106878,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004239597730338574,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004762253994122145,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3024,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006271136924624443,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004002557136118412,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004267188534140587,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004797637853771447,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.00620886217802763,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004004202783107758,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042555792257189745,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004770942907780408,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.017886159010231495,
+    "leadthrough_capture_loop_late_median_s": 0.01367485336959362,
+    "leadthrough_capture_loop_late_p95_s": 0.013939273310825229,
+    "leadthrough_capture_loop_late_p99_s": 0.014552763979882,
+    "leadthrough_capture_loop_late_warn_count": 7144,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006238551810383797,
+    "leadthrough_capture_read_duration_median_s": 0.003991008270531893,
+    "leadthrough_capture_read_duration_p95_s": 0.0042537869419902565,
+    "leadthrough_capture_read_duration_p99_s": 0.004786128271371123,
+    "leadthrough_capture_read_duration_warn_count": 3364,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 2,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003777831792831421,
+      0.0024260058999061584,
+      0.0022346600890159607,
+      0.001348225399851799,
+      0.0035359859466552734,
+      0.005584657192230225
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005584657192230225,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017648786306381226,
+      0.0015451610088348389,
+      0.0018797218799591064,
+      0.00040446687489748,
+      0.001384139060974121,
+      0.00372469425201416
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007338393479585648,
+      0.0006433565285988152,
+      0.0006924685440026224,
+      0.00019902223721146584,
+      0.0006681347731500864,
+      0.0013063374208286405
+    ],
+    "leadthrough_delta_samples": 6191,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005584657192230225,
+    "leadthrough_delta_worst_from_rad": -0.29315152764320374,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 23.082,
+    "leadthrough_delta_worst_to_rad": -0.2875668704509735,
+    "leadthrough_duration_s": 24.762,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6190,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5919999999999987,
+    "leadthrough_final_stillness_removed_samples": 148,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6191,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7144,
+    "leadthrough_initial_stillness_first_motion_index": 805,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.215,
+    "leadthrough_initial_stillness_removed_samples": 804,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 804,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003777831792831421,
+      0.0024260058999061584,
+      0.0022346600890159607,
+      0.001348225399851799,
+      0.0035359859466552734,
+      0.005584657192230225
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005584657192230225,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9444579482083787,
+      0.6065014749763371,
+      0.7273107767104827,
+      0.44681193927922147,
+      0.8839964866635232,
+      1.4606714248656674
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 79.524,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.762,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2198,
+      5280
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4428284846486067,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08706454932689667,
+    "rapid_planner_max_dt_s": 2.5229999999999997,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0077288150787353516,
+    "rapid_planner_median_dt_s": 0.10000000000000053,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      57,
+      76,
+      98,
+      120,
+      132,
+      143,
+      166,
+      188,
+      210,
+      232,
+      250,
+      269,
+      280,
+      292,
+      304,
+      316,
+      328,
+      339,
+      350,
+      362,
+      378,
+      394,
+      410,
+      427,
+      454,
+      473,
+      520,
+      587,
+      633,
+      688,
+      736,
+      779,
+      798,
+      837,
+      887,
+      912,
+      968,
+      1061,
+      1130,
+      1172,
+      1299,
+      1366,
+      1489,
+      1617,
+      1861,
+      1991,
+      2198,
+      2829,
+      2886,
+      2958,
+      2990,
+      3042,
+      3082,
+      3117,
+      3146,
+      3176,
+      3213,
+      3250,
+      3287,
+      3316,
+      3345,
+      3370,
+      3396,
+      3421,
+      3446,
+      3482,
+      3518,
+      3568,
+      3605,
+      3620,
+      3634,
+      3653,
+      3672,
+      3687,
+      3702,
+      3718,
+      3733,
+      3750,
+      3766,
+      3782,
+      3798,
+      3822,
+      3846,
+      3868,
+      3890,
+      3926,
+      4035,
+      4266,
+      4562,
+      4792,
+      4873,
+      5085,
+      5280,
+      5510,
+      5533,
+      5552,
+      5570,
+      5586,
+      5603,
+      5632,
+      5661,
+      5690,
+      5719,
+      5734,
+      5749,
+      5762,
+      5774,
+      5787,
+      5800,
+      5816,
+      5831,
+      5846,
+      5862,
+      5882,
+      5900,
+      5936,
+      5973,
+      6025,
+      6054,
+      6076,
+      6191
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.988431221639751,
+    "rapid_planner_selected_samples": 122,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6192,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 122,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.003797590732574463,
+    "raw_replay_rms_error_rad": 0.0007102684570162735,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9313177806403267,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9968663458851228,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9851432412892842,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9955845168363271,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0072586280038929,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9945079650345853,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005475720390677452,
+      0.00032967329025268555,
+      0.0006621032953262329,
+      0.002295881509780884,
+      0.0024340152740478516,
+      0.005502820014953613
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.6305767294385958,
+    "replay_smoothing_max_deviation_rad": 0.005502820014953613,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0017027948051691055,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.0419182777404785,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.2420654296875,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.020596808104996,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 497.27496337890625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11583.6015625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 765.1661388478096,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3957880735397339,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19728998562822936,
+    "replay_smoothing_rms_deviation_rad": 0.0008233040338983399,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.764310359954834,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 43.10655975341797,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.975720530164622,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 495.0792541503906,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11667.6826171875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 760.9638196589061,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3624578714370728,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1965292049517683,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9761208719758327,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961438454463944,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.3,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005502820014953613,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.003797590732574463,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.030589818954467773,
+    "stage_planned_to_measured_rms_error_rad": 0.005848273534038587,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 553,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 553,
+    "timestamp_count": 553,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_114059.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55df15955ca223c4627f49d44e0a4d1f8694d53834639db9171c9d383eca2e5
+size 55561

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115124.json

@@ -0,0 +1,491 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:51:25",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115124.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 669,
+    "actual_playback_duration_s": 22.401318359188735,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115124.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115124.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 669,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 669,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.9805786106013892,
+    "image_frame_counts": {
+      "cam_scene": 669,
+      "cam_wrist": 669
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 8,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006347966380417347,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003997031599283218,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004211685806512833,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004440626278519626,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3232,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006386785767972469,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040222639217972755,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004236369859427214,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004485320141538978,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006380502134561539,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004021028522402048,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004228635039180517,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004396475795656441,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014067492447793484,
+    "leadthrough_capture_loop_late_median_s": 0.0074803633615374565,
+    "leadthrough_capture_loop_late_p95_s": 0.0077081209048628805,
+    "leadthrough_capture_loop_late_p99_s": 0.007928826808929439,
+    "leadthrough_capture_loop_late_warn_count": 6565,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006371232680976391,
+    "leadthrough_capture_read_duration_median_s": 0.004011698067188263,
+    "leadthrough_capture_read_duration_p95_s": 0.004225291311740875,
+    "leadthrough_capture_read_duration_p99_s": 0.004470185935497284,
+    "leadthrough_capture_read_duration_warn_count": 3496,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 16,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0042883604764938354,
+      0.0026544928550720215,
+      0.0026680901646614075,
+      0.001388372853398323,
+      0.0018665194511413574,
+      0.009405221790075302
+    ],
+    "leadthrough_delta_max_abs_rad": 0.009405221790075302,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002384244231507182,
+      0.0019542269874364138,
+      0.0020480568055063486,
+      0.0003474826808087528,
+      0.0010935335885733366,
+      0.004760777112096548
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008972709765657783,
+      0.0007228021859191358,
+      0.0007798275910317898,
+      0.0001851870329119265,
+      0.00042871772893704474,
+      0.0017147561302408576
+    ],
+    "leadthrough_delta_samples": 5712,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.009405221790075302,
+    "leadthrough_delta_worst_from_rad": 0.054236408323049545,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 21.737,
+    "leadthrough_delta_worst_to_rad": 0.06364163011312485,
+    "leadthrough_duration_s": 22.845,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5711,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6920000000000002,
+    "leadthrough_final_stillness_removed_samples": 173,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5712,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6565,
+    "leadthrough_initial_stillness_first_motion_index": 680,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.716,
+    "leadthrough_initial_stillness_removed_samples": 679,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 679,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0042883604764938354,
+      0.0026544928550720215,
+      0.0026680901646614075,
+      0.001388372853398323,
+      0.0018665194511413574,
+      0.009405221790075302
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.009405221790075302,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.072090119123101,
+      0.6636232137683732,
+      0.7637937863667517,
+      0.46259102722014117,
+      0.5430976549784137,
+      2.3513054475201285
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 75.69,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 22.845,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2170,
+      4888
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4487639190373478,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08680832386016846,
+    "rapid_planner_max_dt_s": 2.3470000000000013,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00783240795135498,
+    "rapid_planner_median_dt_s": 0.0920000000000023,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      52,
+      70,
+      82,
+      92,
+      101,
+      112,
+      122,
+      133,
+      144,
+      152,
+      159,
+      174,
+      182,
+      190,
+      205,
+      220,
+      235,
+      243,
+      251,
+      267,
+      278,
+      288,
+      298,
+      308,
+      318,
+      329,
+      340,
+      350,
+      366,
+      381,
+      405,
+      433,
+      477,
+      521,
+      581,
+      625,
+      669,
+      721,
+      762,
+      802,
+      870,
+      914,
+      931,
+      1029,
+      1134,
+      1206,
+      1305,
+      1368,
+      1473,
+      1550,
+      1710,
+      2170,
+      2757,
+      2857,
+      2940,
+      2985,
+      3018,
+      3049,
+      3074,
+      3100,
+      3126,
+      3152,
+      3182,
+      3211,
+      3234,
+      3257,
+      3280,
+      3302,
+      3330,
+      3358,
+      3386,
+      3415,
+      3470,
+      3521,
+      3539,
+      3556,
+      3573,
+      3590,
+      3606,
+      3623,
+      3649,
+      3670,
+      3708,
+      3747,
+      3792,
+      3838,
+      3939,
+      4218,
+      4515,
+      4732,
+      4821,
+      4888,
+      5132,
+      5180,
+      5212,
+      5257,
+      5293,
+      5321,
+      5336,
+      5351,
+      5365,
+      5379,
+      5392,
+      5399,
+      5406,
+      5412,
+      5418,
+      5424,
+      5431,
+      5440,
+      5450,
+      5463,
+      5476,
+      5517,
+      5649,
+      5672,
+      5687,
+      5702,
+      5712
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.973750583792455,
+    "rapid_planner_selected_samples": 120,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5713,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 120,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005384325981140137,
+    "raw_replay_rms_error_rad": 0.000872138133506509,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9408537771396619,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0173475370364318,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9866033828077421,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9664178697418199,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0021549854643652,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9956320238106792,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0007116645574569702,
+      0.00048273056745529175,
+      0.0006362795829772949,
+      0.0017983242869377136,
+      0.0025406479835510254,
+      0.008697286248207092
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9966355981991779,
+    "replay_smoothing_max_deviation_rad": 0.008697286248207092,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019720785785466433,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.9138052463531494,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.33420944213867,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.6645569394261854,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 453.18182373046875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16481.5859375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 923.9481817168902,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.3502562046051025,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2340585929864701,
+    "replay_smoothing_rms_deviation_rad": 0.0010559336269189005,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.6823184490203857,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.380859375,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.6154642729294606,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 437.9630126953125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16517.103515625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 919.9123980589845,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.228245973587036,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23295215636426034,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9480864125455774,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952728220395919,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 21.813,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008697286248207092,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005384325981140137,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.02938598394393921,
+    "stage_planned_to_measured_rms_error_rad": 0.006020257534675999,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 669,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 669,
+    "timestamp_count": 669,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115124.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7316f7b7acbdc57b7d0bcf7a9da85bd33a00e60a19afb722617085fd76aaaba
+size 70038

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115327.json

@@ -0,0 +1,510 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:53:28",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115327.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 619,
+    "actual_playback_duration_s": 20.850579891353846,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115327.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115327.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 619,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 619,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.6105050768996529,
+    "image_frame_counts": {
+      "cam_scene": 619,
+      "cam_wrist": 619
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 29,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006410432048141956,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003975153900682926,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004286633245646953,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004731926769018174,
+    "leadthrough_capture_egm_poll_duration_warn_count": 4332,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006452800706028938,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004000251181423664,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0043127264361828566,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004767854604870086,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006465057842433453,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003997297957539558,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004299811786040664,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004718613857403399,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.011248771101236343,
+    "leadthrough_capture_loop_late_median_s": 0.0055882856249809265,
+    "leadthrough_capture_loop_late_p95_s": 0.005921544507145882,
+    "leadthrough_capture_loop_late_p99_s": 0.006374800447374583,
+    "leadthrough_capture_loop_late_warn_count": 9467,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006436888128519058,
+    "leadthrough_capture_read_duration_median_s": 0.0039895204827189445,
+    "leadthrough_capture_read_duration_p95_s": 0.0043007246218621726,
+    "leadthrough_capture_read_duration_p99_s": 0.0047531986422836795,
+    "leadthrough_capture_read_duration_warn_count": 4545,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 18,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0021227896213531494,
+      0.0025314688682556152,
+      0.0031606368720531464,
+      0.0013907700777053833,
+      0.0019875764846801758,
+      0.006133556365966797
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006133556365966797,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.001447301940061152,
+      0.0019330934155732393,
+      0.0016718328697606921,
+      0.000492792169097811,
+      0.0011885109124705195,
+      0.0032634870149195194
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005301562487147748,
+      0.000695487076882273,
+      0.0007126361015252769,
+      0.00022204556444194168,
+      0.0004324476467445493,
+      0.001115172985009849
+    ],
+    "leadthrough_delta_samples": 8539,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006133556365966797,
+    "leadthrough_delta_worst_from_rad": -1.0460952520370483,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 22.226000000000003,
+    "leadthrough_delta_worst_to_rad": -1.0399616956710815,
+    "leadthrough_duration_s": 34.153,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 8538,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6110000000000042,
+    "leadthrough_final_stillness_removed_samples": 153,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 8539,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 9467,
+    "leadthrough_initial_stillness_first_motion_index": 775,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.095,
+    "leadthrough_initial_stillness_removed_samples": 774,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 774,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0021227896213531494,
+      0.0025314688682556152,
+      0.0031606368720531464,
+      0.0013907700777053833,
+      0.0019875764846801758,
+      0.006133556365966797
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006133556365966797,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.5306974053385815,
+      0.7042735815047951,
+      0.7901592180130227,
+      0.4128565390904588,
+      0.5139311154683236,
+      1.5333890914911872
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 98.306,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 34.153,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      4150,
+      7516
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.43574557847930345,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08616425096988678,
+    "rapid_planner_max_dt_s": 2.072999999999997,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007605195045471191,
+    "rapid_planner_median_dt_s": 0.11200000000000099,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      68,
+      85,
+      104,
+      130,
+      144,
+      157,
+      172,
+      186,
+      201,
+      216,
+      234,
+      251,
+      266,
+      280,
+      295,
+      310,
+      326,
+      341,
+      360,
+      379,
+      398,
+      417,
+      437,
+      457,
+      478,
+      498,
+      518,
+      538,
+      567,
+      597,
+      661,
+      697,
+      733,
+      773,
+      816,
+      1004,
+      1036,
+      1103,
+      1259,
+      1281,
+      1304,
+      1341,
+      1402,
+      1443,
+      1484,
+      1548,
+      1582,
+      1610,
+      1653,
+      1675,
+      1940,
+      2042,
+      2097,
+      2165,
+      2328,
+      2404,
+      2516,
+      2634,
+      2777,
+      2892,
+      2960,
+      3034,
+      3136,
+      3572,
+      3662,
+      4150,
+      4668,
+      4955,
+      5119,
+      5307,
+      5353,
+      5396,
+      5420,
+      5443,
+      5470,
+      5498,
+      5512,
+      5527,
+      5540,
+      5554,
+      5568,
+      5582,
+      5595,
+      5609,
+      5628,
+      5646,
+      5681,
+      5712,
+      5742,
+      5767,
+      5792,
+      5822,
+      5851,
+      5878,
+      5904,
+      5939,
+      5959,
+      5976,
+      5994,
+      6013,
+      6037,
+      6061,
+      6085,
+      6120,
+      6155,
+      6186,
+      6213,
+      6238,
+      6275,
+      6327,
+      6412,
+      6638,
+      7088,
+      7516,
+      7763,
+      7803,
+      7864,
+      7899,
+      7960,
+      8015,
+      8050,
+      8085,
+      8106,
+      8127,
+      8148,
+      8195,
+      8209,
+      8230,
+      8251,
+      8295,
+      8312,
+      8327,
+      8344,
+      8362,
+      8380,
+      8398,
+      8478,
+      8539
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.936847925480523,
+    "rapid_planner_selected_samples": 139,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 8540,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 139,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005311489105224609,
+    "raw_replay_rms_error_rad": 0.0008523315468313832,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9385810626131429,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9759585208752063,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9736962703030797,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9595815258608849,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9755218172250616,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9932110359906453,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009881556034088135,
+      0.00048661231994628906,
+      0.0005271562840789557,
+      0.002995643764734268,
+      0.004224181175231934,
+      0.006706953048706055
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7685602121200641,
+    "replay_smoothing_max_deviation_rad": 0.006706953048706055,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002368709072470665,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.310333490371704,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.75921630859375,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.54830599737015,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 524.8005981445312,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11816.0068359375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 641.1163218413599,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5332400798797607,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.17209373761189697,
+    "replay_smoothing_rms_deviation_rad": 0.0010487379186317287,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.1070163249969482,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.70718002319336,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.4812760452302847,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 503.5889587402344,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11526.7724609375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 636.763806206569,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5032440423965454,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.17061223810787918,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9804361770365619,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9913913224003603,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 21.978,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006706953048706055,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005311489105224609,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03792813420295715,
+    "stage_planned_to_measured_rms_error_rad": 0.006377003605291168,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 619,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 619,
+    "timestamp_count": 619,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_115327.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:882a2dcc11f2cec2fc05ea8e0f22f536d89eeb98adf17f59891d043981d52f02
+size 65102

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_121413.json

@@ -0,0 +1,509 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:14:14",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_121413.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 712,
+    "actual_playback_duration_s": 23.783317977562547,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_121413.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_121413.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 712,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 712,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.7805999073638751,
+    "image_frame_counts": {
+      "cam_scene": 712,
+      "cam_wrist": 712
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 25,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0057787541300058365,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003970867022871971,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.00427883006632328,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004674407541751863,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3935,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005876236595213413,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004001234658062458,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00431257514283061,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004716000659391285,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005654701963067055,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003999046515673399,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004297711234539747,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004679208463057876,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.017460547387599945,
+    "leadthrough_capture_loop_late_median_s": 0.013342310674488544,
+    "leadthrough_capture_loop_late_p95_s": 0.013679759297519922,
+    "leadthrough_capture_loop_late_p99_s": 0.014065262377262118,
+    "leadthrough_capture_loop_late_warn_count": 8815,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005848206579685211,
+    "leadthrough_capture_read_duration_median_s": 0.00398824829608202,
+    "leadthrough_capture_read_duration_p95_s": 0.004298254754394292,
+    "leadthrough_capture_read_duration_p99_s": 0.004698653705418114,
+    "leadthrough_capture_read_duration_warn_count": 4227,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002917766571044922,
+      0.002336926758289337,
+      0.002855047583580017,
+      0.0011420967057347298,
+      0.0028444528579711914,
+      0.007061108946800232
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007061108946800232,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0016686198068782687,
+      0.001845125574618578,
+      0.0019239321118220687,
+      0.0005879157688468695,
+      0.0012823636643588543,
+      0.0032739401794970036
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006487155915237963,
+      0.0006793969077989459,
+      0.0007416207809001207,
+      0.00020912520994897932,
+      0.0004817030858248472,
+      0.001237237360328436
+    ],
+    "leadthrough_delta_samples": 7618,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.007061108946800232,
+    "leadthrough_delta_worst_from_rad": -0.1118745431303978,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 29.355999999999998,
+    "leadthrough_delta_worst_to_rad": -0.10481343418359756,
+    "leadthrough_duration_s": 30.468,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7617,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.4960000000000022,
+    "leadthrough_final_stillness_removed_samples": 124,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7618,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 8815,
+    "leadthrough_initial_stillness_first_motion_index": 1073,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 4.288,
+    "leadthrough_initial_stillness_removed_samples": 1072,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1072,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.002917766571044922,
+      0.002336926758289337,
+      0.002855047583580017,
+      0.0011420967057347298,
+      0.0028444528579711914,
+      0.007061108946800232
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007061108946800232,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7460812727609988,
+      0.686029593149795,
+      0.8703209459781317,
+      0.3229752182960388,
+      0.711113214493192,
+      2.00995430350296
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 90.936,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 30.468,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3338,
+      6772
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4423503714067058,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08675539493560791,
+    "rapid_planner_max_dt_s": 2.812000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007720470428466797,
+    "rapid_planner_median_dt_s": 0.1039999999999992,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      36,
+      73,
+      85,
+      97,
+      109,
+      118,
+      128,
+      137,
+      146,
+      158,
+      169,
+      188,
+      206,
+      224,
+      242,
+      256,
+      269,
+      286,
+      303,
+      314,
+      326,
+      337,
+      348,
+      360,
+      372,
+      395,
+      422,
+      444,
+      476,
+      510,
+      546,
+      636,
+      696,
+      718,
+      749,
+      771,
+      827,
+      881,
+      963,
+      1039,
+      1152,
+      1198,
+      1256,
+      1310,
+      1365,
+      1399,
+      1438,
+      1539,
+      1712,
+      1734,
+      1769,
+      1802,
+      1859,
+      2029,
+      2114,
+      2269,
+      2303,
+      2344,
+      2843,
+      3338,
+      3949,
+      4080,
+      4142,
+      4218,
+      4271,
+      4364,
+      4399,
+      4423,
+      4456,
+      4482,
+      4507,
+      4539,
+      4558,
+      4577,
+      4596,
+      4616,
+      4635,
+      4654,
+      4674,
+      4696,
+      4719,
+      4748,
+      4778,
+      4807,
+      4836,
+      4859,
+      4882,
+      4920,
+      4940,
+      4961,
+      4986,
+      5011,
+      5027,
+      5047,
+      5067,
+      5103,
+      5122,
+      5144,
+      5166,
+      5196,
+      5286,
+      5322,
+      5357,
+      5379,
+      5434,
+      5502,
+      5570,
+      5665,
+      5748,
+      5800,
+      6069,
+      6772,
+      6895,
+      7018,
+      7048,
+      7076,
+      7108,
+      7138,
+      7158,
+      7179,
+      7204,
+      7228,
+      7244,
+      7261,
+      7283,
+      7298,
+      7309,
+      7320,
+      7331,
+      7342,
+      7352,
+      7361,
+      7372,
+      7383,
+      7425,
+      7467,
+      7618
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.97071797980097,
+    "rapid_planner_selected_samples": 138,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7619,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 138,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005934387445449829,
+    "raw_replay_rms_error_rad": 0.0008562395919984569,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8712504011434749,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.973454062637484,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9284971292797062,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.8020555973052979,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.8020555973052979
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9665700284392498,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9457488606136643,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.975024651487061,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00039643049240112305,
+      0.00042724609375,
+      0.0006202459335327148,
+      0.0021712034940719604,
+      0.0023859739303588867,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002294099424034357,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.3320705890655518,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 58.90923309326172,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.8586682765620417,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 320.52886962890625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16132.8876953125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 454.8856206736738,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7948589324951172,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.18542681210955195,
+    "replay_smoothing_rms_deviation_rad": 0.0010738307654628658,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0318174362182617,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.34543228149414,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.7257681590711147,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 309.8135986328125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15257.66015625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 443.52469376382425,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7156288623809814,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.18375910126379913,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9558572160297889,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9910060965467739,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 2.9829999999999997,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005934387445449829,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03024427965283394,
+    "stage_planned_to_measured_rms_error_rad": 0.006230716828116227,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 712,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 712,
+    "timestamp_count": 712,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_121413.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f765355cfb3a59146f95e44a643fca2043b947ee7ba604765d2776fb6ba57521
+size 74785

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_122649.json

@@ -0,0 +1,500 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:26:50",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_122649.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 1060,
+    "actual_playback_duration_s": 35.46430777106434,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_122649.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_122649.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1060,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1060,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4486462060808112,
+    "image_frame_counts": {
+      "cam_scene": 1060,
+      "cam_wrist": 1060
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 19,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005762825720012188,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003976644482463598,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004285045433789492,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004590261960402131,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3176,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005874117836356163,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004000967368483543,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004313559643924236,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004616136122494937,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005756450816988945,
+    "leadthrough_capture_host_receive_dt_median_s": 0.00400132592767477,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004298360645771026,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004593836925923824,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.012541564181447029,
+    "leadthrough_capture_loop_late_median_s": 0.00581555999815464,
+    "leadthrough_capture_loop_late_p95_s": 0.0061364867724478245,
+    "leadthrough_capture_loop_late_p99_s": 0.006475542671978474,
+    "leadthrough_capture_loop_late_warn_count": 6976,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005854783579707146,
+    "leadthrough_capture_read_duration_median_s": 0.0039895325899124146,
+    "leadthrough_capture_read_duration_p95_s": 0.004301519365981221,
+    "leadthrough_capture_read_duration_p99_s": 0.0046031177043914795,
+    "leadthrough_capture_read_duration_warn_count": 3355,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0027975142002105713,
+      0.0019654128700494766,
+      0.0028074979782104492,
+      0.0021829232573509216,
+      0.0023093819618225098,
+      0.006853163242340088
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006853163242340088,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019342601299285889,
+      0.0015767216682434082,
+      0.002053290605545044,
+      0.0005344972014427185,
+      0.0012146234512329102,
+      0.0035856962203979492
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007403758354485035,
+      0.0006761114345863461,
+      0.000793822284322232,
+      0.00027140550082549453,
+      0.00048728202818892896,
+      0.001411482342518866
+    ],
+    "leadthrough_delta_samples": 6121,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006853163242340088,
+    "leadthrough_delta_worst_from_rad": -0.3359208405017853,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.068,
+    "leadthrough_delta_worst_to_rad": -0.34277400374412537,
+    "leadthrough_duration_s": 24.481,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6120,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.3200000000000003,
+    "leadthrough_final_stillness_removed_samples": 80,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6121,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6976,
+    "leadthrough_initial_stillness_first_motion_index": 775,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.095,
+    "leadthrough_initial_stillness_removed_samples": 774,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 774,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0027975142002105713,
+      0.0019654128700494766,
+      0.0028074979782104492,
+      0.0021829232573509216,
+      0.0023093819618225098,
+      0.006853163242340088
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006853163242340088,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7510085900624308,
+      0.6527408647040279,
+      0.9209116299946754,
+      0.54573081433773,
+      0.7500052452087118,
+      1.764496167500747
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.962,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.481,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2325,
+      5014
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44781692398109607,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08680680394172668,
+    "rapid_planner_max_dt_s": 2.468,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00781587976962328,
+    "rapid_planner_median_dt_s": 0.11050000000000004,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      26,
+      70,
+      91,
+      157,
+      175,
+      191,
+      207,
+      224,
+      232,
+      240,
+      248,
+      255,
+      262,
+      270,
+      278,
+      285,
+      292,
+      300,
+      315,
+      330,
+      344,
+      361,
+      378,
+      390,
+      403,
+      412,
+      422,
+      432,
+      442,
+      452,
+      462,
+      478,
+      492,
+      506,
+      535,
+      570,
+      592,
+      612,
+      692,
+      722,
+      777,
+      820,
+      863,
+      894,
+      930,
+      971,
+      1032,
+      1091,
+      1147,
+      1209,
+      1374,
+      1394,
+      1431,
+      1453,
+      1603,
+      1699,
+      1770,
+      1889,
+      2325,
+      2942,
+      2994,
+      3059,
+      3098,
+      3134,
+      3168,
+      3193,
+      3218,
+      3247,
+      3276,
+      3320,
+      3365,
+      3400,
+      3434,
+      3464,
+      3495,
+      3526,
+      3557,
+      3584,
+      3611,
+      3638,
+      3664,
+      3679,
+      3698,
+      3719,
+      3740,
+      3755,
+      3770,
+      3784,
+      3799,
+      3818,
+      3836,
+      3874,
+      3927,
+      3949,
+      3988,
+      4007,
+      4067,
+      4240,
+      4443,
+      4716,
+      5014,
+      5184,
+      5234,
+      5272,
+      5311,
+      5341,
+      5371,
+      5400,
+      5430,
+      5460,
+      5504,
+      5530,
+      5558,
+      5574,
+      5590,
+      5621,
+      5646,
+      5672,
+      5712,
+      5728,
+      5744,
+      5768,
+      5786,
+      5805,
+      5862,
+      5906,
+      6028,
+      6121
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.973663498880538,
+    "rapid_planner_selected_samples": 129,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6122,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 129,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.00523221492767334,
+    "raw_replay_rms_error_rad": 0.0007821257415548883,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9773664994732663,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9930620245473483,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9861562969293026,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9846182933728471,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9709795889181596,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9948447637481178,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005560517311096191,
+      0.0004399418830871582,
+      0.0007888972759246826,
+      0.002073824405670166,
+      0.0019942522048950195,
+      0.004954218864440918
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.5677116678308226,
+    "replay_smoothing_max_deviation_rad": 0.004954218864440918,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0016894296277314425,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.264353275299072,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 41.38064956665039,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.121372818434535,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1657.3531494140625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11731.5732421875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 803.4313162718488,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7123185396194458,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20616747955865647,
+    "replay_smoothing_rms_deviation_rad": 0.000842820299026332,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.099935531616211,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 41.09355163574219,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.0781614599631815,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1631.8602294921875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11391.1181640625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 799.2894380243067,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6990118026733398,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2052649538592315,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9922288192072818,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.995622366333638,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 2.352,
+    "replay_smoothing_wrist_max_deviation_rad": 0.004954218864440918,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.00523221492767334,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.0339350700378418,
+    "stage_planned_to_measured_rms_error_rad": 0.00558737511164031,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1060,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 1060,
+    "timestamp_count": 1060,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_122649.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fa54b94fa388b1f776bc270333e638f32c097e6812b6f28bd28a127b6c0c51
+size 108678

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123011.json

@@ -0,0 +1,505 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:30:12",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123011.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 603,
+    "actual_playback_duration_s": 20.615192340686917,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123011.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123011.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 603,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 603,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.7078177627703662,
+    "image_frame_counts": {
+      "cam_scene": 603,
+      "cam_wrist": 603
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 6,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.00520091038197279,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039836568757891655,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042582410387694836,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.00444508582353592,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3657,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005269903689622879,
+    "leadthrough_capture_host_loop_dt_median_s": 0.00400608591735363,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004281913582235575,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004474429329857231,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0050501469522714615,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004007645882666111,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042733718175441025,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004449922591447831,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014571345411241055,
+    "leadthrough_capture_loop_late_median_s": 0.008118408732116222,
+    "leadthrough_capture_loop_late_p95_s": 0.008405037224292755,
+    "leadthrough_capture_loop_late_p99_s": 0.008633999153971672,
+    "leadthrough_capture_loop_late_warn_count": 7959,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.00524528231471777,
+    "leadthrough_capture_read_duration_median_s": 0.0039955247193574905,
+    "leadthrough_capture_read_duration_p95_s": 0.0042722603306174275,
+    "leadthrough_capture_read_duration_p99_s": 0.004462890531867742,
+    "leadthrough_capture_read_duration_warn_count": 3909,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.00339391827583313,
+      0.0019390471279621124,
+      0.0020736753940582275,
+      0.0018227994441986084,
+      0.003462851047515869,
+      0.005760788917541504
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005760788917541504,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0013787222560495138,
+      0.0013805716298520565,
+      0.0015650808345526457,
+      0.0006369613111019135,
+      0.001024489989504218,
+      0.0031361873261630535
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006468551582656801,
+      0.0005844203988090158,
+      0.0006260452209971845,
+      0.0002521979040466249,
+      0.0004843279311899096,
+      0.0012363333953544497
+    ],
+    "leadthrough_delta_samples": 7282,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005760788917541504,
+    "leadthrough_delta_worst_from_rad": -1.0394500494003296,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 2.04,
+    "leadthrough_delta_worst_to_rad": -1.045210838317871,
+    "leadthrough_duration_s": 29.125,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7281,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.4230000000000018,
+    "leadthrough_final_stillness_removed_samples": 106,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7282,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7959,
+    "leadthrough_initial_stillness_first_motion_index": 571,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.279,
+    "leadthrough_initial_stillness_removed_samples": 570,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 570,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.00339391827583313,
+      0.0019390471279621124,
+      0.0020736753940582275,
+      0.0018227994441986084,
+      0.003462851047515869,
+      0.005760788917541504
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005760788917541504,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.8484795689579991,
+      0.4847617819907968,
+      0.6898939609529369,
+      0.4556998610499047,
+      0.8657127618786782,
+      1.527984937032006
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 88.25,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 29.125,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2912,
+      6231
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4004676514161876,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08550074696540833,
+    "rapid_planner_max_dt_s": 2.1729999999999983,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.006989479064941406,
+    "rapid_planner_median_dt_s": 0.12400000000000233,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      38,
+      97,
+      126,
+      153,
+      180,
+      206,
+      232,
+      258,
+      283,
+      308,
+      350,
+      391,
+      412,
+      433,
+      452,
+      471,
+      484,
+      496,
+      508,
+      521,
+      540,
+      557,
+      596,
+      636,
+      673,
+      724,
+      738,
+      756,
+      773,
+      804,
+      821,
+      838,
+      855,
+      892,
+      920,
+      933,
+      948,
+      987,
+      1038,
+      1074,
+      1091,
+      1131,
+      1154,
+      1346,
+      1462,
+      1482,
+      1511,
+      1525,
+      1542,
+      1564,
+      1583,
+      1641,
+      1703,
+      1740,
+      1816,
+      1919,
+      2015,
+      2075,
+      2147,
+      2529,
+      2603,
+      2912,
+      3455,
+      3515,
+      3583,
+      3670,
+      3733,
+      3789,
+      3822,
+      3855,
+      3906,
+      3956,
+      3989,
+      4022,
+      4058,
+      4106,
+      4155,
+      4222,
+      4254,
+      4287,
+      4320,
+      4364,
+      4391,
+      4410,
+      4431,
+      4446,
+      4461,
+      4477,
+      4493,
+      4510,
+      4528,
+      4556,
+      4583,
+      4602,
+      4621,
+      4681,
+      4741,
+      4835,
+      4935,
+      5015,
+      5272,
+      5495,
+      5730,
+      5915,
+      6231,
+      6352,
+      6523,
+      6563,
+      6594,
+      6626,
+      6651,
+      6684,
+      6726,
+      6751,
+      6780,
+      6797,
+      6814,
+      6830,
+      6845,
+      6859,
+      6872,
+      6890,
+      6907,
+      6930,
+      6946,
+      6960,
+      6975,
+      6995,
+      7015,
+      7083,
+      7152,
+      7196,
+      7282
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.898831946333878,
+    "rapid_planner_selected_samples": 134,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7283,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 134,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.004246976226568222,
+    "raw_replay_rms_error_rad": 0.0008289552683277441,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9118380835580229,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8219061972556277,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.8946189811559652,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.8950070142745972,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.8950070142745972
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9679729485301606,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8188205868059846,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9421244660754151,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0015286430716514587,
+      0.00044351816177368164,
+      0.00045353174209594727,
+      0.004391536116600037,
+      0.005484580993652344,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002834009937942028,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.3032989501953125,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 44.9653434753418,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.8536984208669005,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 301.1656188964844,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12352.5908203125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 412.61931800040446,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4401376247406006,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.1771999114228358,
+    "replay_smoothing_rms_deviation_rad": 0.0013454761560606223,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.1002357006073,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 36.95729446411133,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.658353792646368,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 291.5201721191406,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10114.5556640625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 388.738754663533,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4022141695022583,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.17481409530754652,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9736667839331168,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9865360197071643,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.412,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.004246976226568222,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.039871394634246826,
+    "stage_planned_to_measured_rms_error_rad": 0.005855509154665628,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 603,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 603,
+    "timestamp_count": 603,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123011.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88efed37e52b76160953c3d8e3012d368bd95dc5c1754b53d2df97746f031ae5
+size 63582

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123144.json

@@ -0,0 +1,491 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:31:45",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123144.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 624,
+    "actual_playback_duration_s": 21.066854933276772,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123144.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123144.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 624,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 624,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.823921738561413,
+    "image_frame_counts": {
+      "cam_scene": 624,
+      "cam_wrist": 624
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 36,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005025669001042843,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003980504814535379,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004274906357750297,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004542242176830769,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3312,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005057784728705883,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040027080103755,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004301037546247244,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004575545452535153,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005024341866374016,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004002372734248638,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004290104657411575,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004542329423129559,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013393422588706017,
+    "leadthrough_capture_loop_late_median_s": 0.008223563432693481,
+    "leadthrough_capture_loop_late_p95_s": 0.008546413853764534,
+    "leadthrough_capture_loop_late_p99_s": 0.008802035870030523,
+    "leadthrough_capture_loop_late_warn_count": 7156,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005044955760240555,
+    "leadthrough_capture_read_duration_median_s": 0.003992758691310883,
+    "leadthrough_capture_read_duration_p95_s": 0.004290272248908877,
+    "leadthrough_capture_read_duration_p99_s": 0.004563394514843821,
+    "leadthrough_capture_read_duration_warn_count": 3481,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0031949877738952637,
+      0.0020516961812973022,
+      0.002048902213573456,
+      0.0006645247340202332,
+      0.0029535293579101562,
+      0.007004201412200928
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007004201412200928,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.001703845919109881,
+      0.0015228657284751534,
+      0.001639282563701272,
+      0.0002660500758793205,
+      0.001442551612854004,
+      0.003767838701605797
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.00070686120307073,
+      0.0006267816643230617,
+      0.0006729392916895449,
+      0.00011276221630396321,
+      0.0005600365111604333,
+      0.0013589398004114628
+    ],
+    "leadthrough_delta_samples": 6393,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.007004201412200928,
+    "leadthrough_delta_worst_from_rad": -0.3521253168582916,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 23.668999999999997,
+    "leadthrough_delta_worst_to_rad": -0.3451211154460907,
+    "leadthrough_duration_s": 25.569000000000003,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6341,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6342,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7156,
+    "leadthrough_initial_stillness_first_motion_index": 763,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.048,
+    "leadthrough_initial_stillness_removed_samples": 762,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 762,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0031949877738952637,
+      0.0020516961812973022,
+      0.002048902213573456,
+      0.0006645247340202332,
+      0.0029535293579101562,
+      0.007004201412200928
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007004201412200928,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.061141490936239,
+      0.6741806864738209,
+      0.6740465760230763,
+      0.16613118350505815,
+      0.8910099665323555,
+      2.3271342118580254
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 81.138,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.569000000000003,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2418,
+      5334
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.40626648202152843,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08682358264923096,
+    "rapid_planner_max_dt_s": 2.2439999999999998,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0070906877517700195,
+    "rapid_planner_median_dt_s": 0.1039999999999992,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      52,
+      81,
+      106,
+      136,
+      151,
+      166,
+      182,
+      197,
+      212,
+      226,
+      241,
+      256,
+      273,
+      290,
+      324,
+      347,
+      362,
+      376,
+      388,
+      400,
+      412,
+      423,
+      435,
+      446,
+      462,
+      521,
+      604,
+      629,
+      664,
+      698,
+      719,
+      738,
+      756,
+      774,
+      809,
+      844,
+      889,
+      912,
+      989,
+      1084,
+      1259,
+      1480,
+      1676,
+      1953,
+      2418,
+      2979,
+      3070,
+      3157,
+      3223,
+      3286,
+      3339,
+      3387,
+      3452,
+      3501,
+      3550,
+      3586,
+      3622,
+      3666,
+      3709,
+      3738,
+      3767,
+      3815,
+      3846,
+      3878,
+      3904,
+      3929,
+      3957,
+      3991,
+      4024,
+      4044,
+      4065,
+      4080,
+      4094,
+      4109,
+      4124,
+      4143,
+      4161,
+      4189,
+      4243,
+      4333,
+      4405,
+      4544,
+      4802,
+      4985,
+      5085,
+      5148,
+      5334,
+      5606,
+      5631,
+      5654,
+      5684,
+      5714,
+      5738,
+      5761,
+      5794,
+      5828,
+      5850,
+      5871,
+      5883,
+      5895,
+      5907,
+      5914,
+      5921,
+      5928,
+      5935,
+      5952,
+      5968,
+      5991,
+      6015,
+      6030,
+      6045,
+      6060,
+      6074,
+      6089,
+      6129,
+      6232,
+      6257,
+      6312,
+      6393
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.974624848006217,
+    "rapid_planner_selected_samples": 120,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6394,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 120,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005965113639831543,
+    "raw_replay_rms_error_rad": 0.0008095933040391433,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9837950523895258,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9540236523987589,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9768372400240418,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9817334148178857,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9533269755695153,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9919732444725645,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0014593005180358887,
+      0.0003979988396167755,
+      0.0006180405616760254,
+      0.0015767738223075867,
+      0.0035306215286254883,
+      0.008183479309082031
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9377576595502854,
+    "replay_smoothing_max_deviation_rad": 0.008183479309082031,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0022107544355094433,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.9833984375,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.28083419799805,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.7814545428654163,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 934.00244140625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15475.8701171875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 708.0277108391757,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.075103521347046,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19476151808012185,
+    "replay_smoothing_rms_deviation_rad": 0.0010381684078966007,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.902642726898193,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.417388916015625,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.717028378904986,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 916.94140625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14753.564453125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 702.3445454976198,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.979661464691162,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1933206416690948,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9540061227432509,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9926018423699373,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.7640000000000002,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008183479309082031,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005965113639831543,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.0511624813079834,
+    "stage_planned_to_measured_rms_error_rad": 0.0060679227781759775,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 624,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 624,
+    "timestamp_count": 624,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123144.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fa14be3aee53d63c2ab35261ac30568b0b8bc3bb1b0da92286028342eb6e7a
+size 63729

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123713.json

@@ -0,0 +1,509 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:37:14",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123713.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 614,
+    "actual_playback_duration_s": 20.82422946766019,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123713.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123713.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 614,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 614,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.6328783572714621,
+    "image_frame_counts": {
+      "cam_scene": 614,
+      "cam_wrist": 614
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 20,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005389083176851273,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003979680594056845,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004284869460389018,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004527102606371044,
+    "leadthrough_capture_egm_poll_duration_warn_count": 4129,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005456062965095043,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004002070054411888,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004309903644025326,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004565904326736927,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0054673319682478905,
+    "leadthrough_capture_host_receive_dt_median_s": 0.00399978831410408,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042982490733265875,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004536392427980899,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.01461056899279356,
+    "leadthrough_capture_loop_late_median_s": 0.009131005499511957,
+    "leadthrough_capture_loop_late_p95_s": 0.009455574071034789,
+    "leadthrough_capture_loop_late_p99_s": 0.009728023298084736,
+    "leadthrough_capture_loop_late_warn_count": 8970,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.0054308753460645676,
+    "leadthrough_capture_read_duration_median_s": 0.003991974052041769,
+    "leadthrough_capture_read_duration_p95_s": 0.004298431053757668,
+    "leadthrough_capture_read_duration_p99_s": 0.004552013706415892,
+    "leadthrough_capture_read_duration_warn_count": 4341,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0037458837032318115,
+      0.00320298969745636,
+      0.0028262734413146973,
+      0.001041429117321968,
+      0.003529369831085205,
+      0.00568351149559021
+    ],
+    "leadthrough_delta_max_abs_rad": 0.00568351149559021,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018141729524359107,
+      0.0020844638347625732,
+      0.0014804777456447482,
+      0.0003821169084403664,
+      0.0010873673018068075,
+      0.003521620761603117
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.000713020097464323,
+      0.0007371947285719216,
+      0.0006536383298225701,
+      0.00015984453784767538,
+      0.0004954516771249473,
+      0.0011756770545616746
+    ],
+    "leadthrough_delta_samples": 8227,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.00568351149559021,
+    "leadthrough_delta_worst_from_rad": -0.3701022267341614,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 30.404,
+    "leadthrough_delta_worst_to_rad": -0.36441871523857117,
+    "leadthrough_duration_s": 32.903999999999996,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 8212,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 8213,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 8970,
+    "leadthrough_initial_stillness_first_motion_index": 743,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.968,
+    "leadthrough_initial_stillness_removed_samples": 742,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 742,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0037458837032318115,
+      0.00320298969745636,
+      0.0028262734413146973,
+      0.001041429117321968,
+      0.003529369831085205,
+      0.00568351149559021
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.00568351149559021,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9364709258084719,
+      1.0420953234036368,
+      0.7065683603284384,
+      0.3151850154002388,
+      0.8823424577717903,
+      1.8272002538044554
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 95.80799999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 32.903999999999996,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3031,
+      7067
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.48094777040644787,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08654874563217163,
+    "rapid_planner_max_dt_s": 2.548,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.008394122123718262,
+    "rapid_planner_median_dt_s": 0.10000000000000009,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      45,
+      74,
+      98,
+      123,
+      144,
+      166,
+      188,
+      209,
+      223,
+      237,
+      254,
+      272,
+      290,
+      308,
+      329,
+      350,
+      378,
+      392,
+      407,
+      418,
+      429,
+      440,
+      450,
+      460,
+      470,
+      488,
+      505,
+      522,
+      540,
+      560,
+      583,
+      638,
+      702,
+      765,
+      853,
+      894,
+      934,
+      993,
+      1089,
+      1181,
+      1231,
+      1274,
+      1323,
+      1396,
+      1463,
+      1573,
+      1746,
+      1827,
+      1921,
+      1980,
+      2003,
+      2334,
+      2394,
+      3031,
+      3377,
+      3662,
+      3712,
+      3757,
+      3814,
+      3851,
+      3880,
+      3909,
+      3932,
+      3955,
+      3978,
+      4002,
+      4025,
+      4048,
+      4064,
+      4081,
+      4114,
+      4140,
+      4167,
+      4208,
+      4259,
+      4300,
+      4340,
+      4354,
+      4367,
+      4380,
+      4392,
+      4404,
+      4416,
+      4438,
+      4460,
+      4494,
+      4538,
+      4570,
+      4603,
+      4640,
+      4768,
+      4909,
+      4997,
+      5124,
+      5462,
+      5678,
+      5825,
+      6167,
+      6250,
+      6342,
+      6416,
+      6496,
+      7067,
+      7355,
+      7379,
+      7402,
+      7438,
+      7474,
+      7498,
+      7522,
+      7540,
+      7559,
+      7575,
+      7591,
+      7602,
+      7612,
+      7621,
+      7630,
+      7638,
+      7647,
+      7658,
+      7670,
+      7681,
+      7692,
+      7707,
+      7722,
+      7750,
+      7783,
+      7801,
+      7820,
+      7840,
+      7863,
+      7903,
+      7944,
+      8011,
+      8136,
+      8227
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.958877846874753,
+    "rapid_planner_selected_samples": 138,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 8228,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 138,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.45522642135620117,
+    "raw_replay_rms_error_rad": 0.013297206875418889,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9734215006213099,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9562555009064831,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9849536096955528,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9965337034852956,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9653732493767322,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.995059925327815,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005043148994445801,
+      0.0004362165927886963,
+      0.0006130039691925049,
+      0.0026764534413814545,
+      0.0025183558464050293,
+      0.005234092473983765
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.5997828213270524,
+    "replay_smoothing_max_deviation_rad": 0.005234092473983765,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0018487093038856983,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.7961018085479736,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.675540924072266,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.669395102168892,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 810.5219116210938,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14518.7548828125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 684.8173267840108,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6323356628417969,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.18362595523256497,
+    "replay_smoothing_rms_deviation_rad": 0.0007881984851745261,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.695207118988037,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.28378677368164,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.6292303415848792,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 807.71240234375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14016.017578125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 681.4342780528916,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.584722876548767,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.18283177788181787,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9708314978488316,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956750267153613,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 30.868,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005234092473983765,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.45522642135620117,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.6685941219329834,
+    "stage_planned_to_measured_rms_error_rad": 0.017083062730697676,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 614,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 614,
+    "timestamp_count": 614,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123713.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020f2d2e8fc31216c9cf73efe79e2cbad5fa25e4d2d1100cfb50d48a29dd15e6
+size 62201

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123844.json

@@ -0,0 +1,673 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:38:45",
+  "event_log": [
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76225",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:27:56"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76226",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:29:43"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76227",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:29:57"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76228",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:31:41"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76229",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:31:55"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76230",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:33:18"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76231",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:33:18"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76232",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:33:24"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76233",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:34:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76234",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:34:48"
+    }
+  ],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123844.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 684,
+    "actual_playback_duration_s": 23.09610097296536,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 10,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123844.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123844.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 684,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 684,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.9086871374656866,
+    "image_frame_counts": {
+      "cam_scene": 684,
+      "cam_wrist": 684
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 3,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0062990933656692505,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003966053947806358,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042639622464776036,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004347758926451206,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2801,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.00631389394402504,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003989116288721561,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004287481075152755,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00437697940506041,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006317229010164738,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003988356329500675,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042795848567038774,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004357604216784238,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014431923627853394,
+    "leadthrough_capture_loop_late_median_s": 0.006566080264747143,
+    "leadthrough_capture_loop_late_p95_s": 0.006848113797605038,
+    "leadthrough_capture_loop_late_p99_s": 0.006938174683600664,
+    "leadthrough_capture_loop_late_warn_count": 7107,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006306525319814682,
+    "leadthrough_capture_read_duration_median_s": 0.0039791567251086235,
+    "leadthrough_capture_read_duration_p95_s": 0.004276605416089296,
+    "leadthrough_capture_read_duration_p99_s": 0.004363856837153434,
+    "leadthrough_capture_read_duration_warn_count": 3023,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002968907356262207,
+      0.0020337235182523727,
+      0.0020936429500579834,
+      0.0011978233233094215,
+      0.00287020206451416,
+      0.006277918815612793
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006277918815612793,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018488314235582948,
+      0.0015643283259123564,
+      0.0016708428738638759,
+      0.0004585765127558261,
+      0.0015026149339973927,
+      0.003507273970171809
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007319957367144525,
+      0.0006655405159108341,
+      0.0006842028233222663,
+      0.00018249698041472584,
+      0.0005826454726047814,
+      0.0013107815757393837
+    ],
+    "leadthrough_delta_samples": 6355,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006277918815612793,
+    "leadthrough_delta_worst_from_rad": -0.3476569950580597,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.7879999999999998,
+    "leadthrough_delta_worst_to_rad": -0.3539349138736725,
+    "leadthrough_duration_s": 25.417,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6354,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.8759999999999977,
+    "leadthrough_final_stillness_removed_samples": 219,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6355,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7107,
+    "leadthrough_initial_stillness_first_motion_index": 533,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.128,
+    "leadthrough_initial_stillness_removed_samples": 532,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 532,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.002968907356262207,
+      0.0020337235182523727,
+      0.0020936429500579834,
+      0.0011978233305853792,
+      0.00287020206451416,
+      0.006277918815612793
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006277918815612793,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7422268390659631,
+      0.508430879563375,
+      0.6217161814371509,
+      0.3051981329917792,
+      0.7175505161289377,
+      2.090245485305707
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.834,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.417,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2619,
+      5441
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4465782585029437,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08583366870880127,
+    "rapid_planner_max_dt_s": 2.3149999999999995,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0077942609786987305,
+    "rapid_planner_median_dt_s": 0.11050000000000093,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      58,
+      75,
+      94,
+      116,
+      137,
+      153,
+      169,
+      185,
+      193,
+      201,
+      209,
+      217,
+      235,
+      262,
+      276,
+      290,
+      304,
+      318,
+      332,
+      347,
+      366,
+      405,
+      425,
+      445,
+      464,
+      515,
+      534,
+      627,
+      687,
+      773,
+      813,
+      840,
+      867,
+      893,
+      919,
+      954,
+      992,
+      1029,
+      1111,
+      1144,
+      1205,
+      1257,
+      1298,
+      1324,
+      1365,
+      1430,
+      1480,
+      1529,
+      1555,
+      1608,
+      1693,
+      1797,
+      2006,
+      2232,
+      2619,
+      3198,
+      3248,
+      3312,
+      3366,
+      3424,
+      3459,
+      3494,
+      3530,
+      3565,
+      3599,
+      3633,
+      3678,
+      3722,
+      3773,
+      3824,
+      3857,
+      3890,
+      3908,
+      3923,
+      3946,
+      3970,
+      3991,
+      4012,
+      4025,
+      4038,
+      4051,
+      4064,
+      4086,
+      4107,
+      4135,
+      4164,
+      4210,
+      4237,
+      4292,
+      4346,
+      4447,
+      4549,
+      4829,
+      4922,
+      5441,
+      5686,
+      5721,
+      5753,
+      5799,
+      5837,
+      5860,
+      5882,
+      5922,
+      5947,
+      5972,
+      5988,
+      6004,
+      6014,
+      6023,
+      6032,
+      6042,
+      6060,
+      6075,
+      6100,
+      6119,
+      6138,
+      6161,
+      6180,
+      6193,
+      6231,
+      6271,
+      6355
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.917906957138431,
+    "rapid_planner_selected_samples": 123,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6356,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 123,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.004819810390472412,
+    "raw_replay_rms_error_rad": 0.0007252518127636572,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9707222540403839,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9776703696599286,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9648190142690484,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.8344867825508118,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.8344867825508118
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.972665202690205,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9901714745695284,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9845418572468674,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009497255086898804,
+      0.0004488229751586914,
+      0.0009740889072418213,
+      0.002927010878920555,
+      0.00334089994430542,
+      0.008726648986339569
+    ],
+    "replay_smoothing_max_deviation_normalized": 1.0000003201651197,
+    "replay_smoothing_max_deviation_rad": 0.008726648986339569,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002336442470550537,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.371089458465576,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.97313690185547,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.588798932404143,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 447.9457702636719,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13839.857421875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 639.5065488652102,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.866485357284546,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19427910998882916,
+    "replay_smoothing_rms_deviation_rad": 0.001091407516735569,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.2723915576934814,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.76793670654297,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.49772243410293,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 435.7012634277344,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13703.83203125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 629.6209653412886,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7959883213043213,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19268573095562458,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9622300621298272,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9917985055969414,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 24.741,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008726648986339569,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.004819810390472412,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.04675823450088501,
+    "stage_planned_to_measured_rms_error_rad": 0.006012777711707183,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 684,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 684,
+    "timestamp_count": 684,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_123844.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4abe3bae10e14bcab0b30561f4215522bd55782948aeb4e44797c0924e9a5a6c
+size 69090

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124229.json

@@ -0,0 +1,686 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:42:31",
+  "event_log": [
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76231",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:33:18"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76232",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:33:24"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76233",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:34:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76234",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:34:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76235",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:34:56"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76236",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:35:05"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76237",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:36:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76238",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:37:02"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76239",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:38:34"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76240",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:38:34"
+    }
+  ],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124229.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 664,
+    "actual_playback_duration_s": 22.599486578255892,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 10,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124229.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124229.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 664,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 664,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.8830338990448908,
+    "image_frame_counts": {
+      "cam_scene": 664,
+      "cam_wrist": 664
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 13,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005347860045731068,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003981596790254116,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004230665601789951,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004296089969575405,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3111,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005387534387409687,
+    "leadthrough_capture_host_loop_dt_median_s": 0.00400414178147912,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004253442538902164,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004329719850793481,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.004924912005662918,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004005145281553268,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004246913734823466,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.00429951136931777,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013204371556639671,
+    "leadthrough_capture_loop_late_median_s": 0.00745810754597187,
+    "leadthrough_capture_loop_late_p95_s": 0.007702862098813057,
+    "leadthrough_capture_loop_late_p99_s": 0.007847053445875645,
+    "leadthrough_capture_loop_late_warn_count": 7185,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005372091196477413,
+    "leadthrough_capture_read_duration_median_s": 0.00399378128349781,
+    "leadthrough_capture_read_duration_p95_s": 0.004243375919759274,
+    "leadthrough_capture_read_duration_p99_s": 0.004316530525684357,
+    "leadthrough_capture_read_duration_warn_count": 3443,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.00308072566986084,
+      0.0019366443157196045,
+      0.0026680901646614075,
+      0.0018413765355944633,
+      0.002148151397705078,
+      0.006946057081222534
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006946057081222534,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0018176913727074862,
+      0.0016342885792255402,
+      0.001992301782593131,
+      0.0005111881182529032,
+      0.0009953916305676103,
+      0.004421578254550695
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007397612207569182,
+      0.0006229410064406693,
+      0.000724883982911706,
+      0.00021222126088105142,
+      0.00042305627721361816,
+      0.0015174762811511755
+    ],
+    "leadthrough_delta_samples": 6399,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006946057081222534,
+    "leadthrough_delta_worst_from_rad": -0.41504669189453125,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.49700000000000033,
+    "leadthrough_delta_worst_to_rad": -0.4219927489757538,
+    "leadthrough_duration_s": 25.593,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6398,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.4239999999999995,
+    "leadthrough_final_stillness_removed_samples": 106,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6399,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7185,
+    "leadthrough_initial_stillness_first_motion_index": 680,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.715,
+    "leadthrough_initial_stillness_removed_samples": 679,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 679,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.00308072566986084,
+      0.0019366443157196045,
+      0.0026680901646614075,
+      0.0018413765355944633,
+      0.002148151397705078,
+      0.006946057081222534
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006946057081222534,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7701814174649527,
+      0.588292876879439,
+      0.8211930592854506,
+      0.4603441338985643,
+      0.5370378494265672,
+      2.3017724355064386
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 81.186,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.593,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2662,
+      5373
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.40820294737293283,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08631324768066406,
+    "rapid_planner_max_dt_s": 2.367000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007124485448002815,
+    "rapid_planner_median_dt_s": 0.11599999999999966,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      16,
+      28,
+      46,
+      56,
+      65,
+      74,
+      82,
+      91,
+      100,
+      109,
+      118,
+      126,
+      135,
+      144,
+      152,
+      161,
+      170,
+      180,
+      189,
+      201,
+      213,
+      228,
+      242,
+      257,
+      272,
+      282,
+      291,
+      300,
+      310,
+      320,
+      329,
+      338,
+      348,
+      363,
+      382,
+      425,
+      468,
+      527,
+      563,
+      593,
+      631,
+      670,
+      707,
+      730,
+      750,
+      917,
+      979,
+      1031,
+      1093,
+      1138,
+      1165,
+      1226,
+      1276,
+      1293,
+      1363,
+      1438,
+      1460,
+      1498,
+      1518,
+      1629,
+      1751,
+      1858,
+      1939,
+      2143,
+      2662,
+      3254,
+      3298,
+      3364,
+      3393,
+      3453,
+      3484,
+      3511,
+      3547,
+      3578,
+      3610,
+      3640,
+      3670,
+      3700,
+      3749,
+      3805,
+      3838,
+      3872,
+      3917,
+      3942,
+      3968,
+      3998,
+      4029,
+      4049,
+      4071,
+      4100,
+      4130,
+      4160,
+      4188,
+      4222,
+      4255,
+      4276,
+      4296,
+      4341,
+      4371,
+      4452,
+      4496,
+      4684,
+      4764,
+      4920,
+      5087,
+      5235,
+      5373,
+      5526,
+      5630,
+      5685,
+      5735,
+      5779,
+      5816,
+      5852,
+      5888,
+      5908,
+      5924,
+      5946,
+      5963,
+      5980,
+      6002,
+      6012,
+      6023,
+      6036,
+      6049,
+      6063,
+      6080,
+      6105,
+      6124,
+      6144,
+      6164,
+      6177,
+      6211,
+      6295,
+      6399
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.9453848081693925,
+    "rapid_planner_selected_samples": 136,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6400,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 136,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.004928377456963062,
+    "raw_replay_rms_error_rad": 0.0007776349711673928,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8958161580937481,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9791622808034782,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9864305470056773,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.8894825577735901,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.8894825577735901
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9974674484992703,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.989587439014923,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9958678123659928,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00045128539204597473,
+      0.0007457733154296875,
+      0.0012302249670028687,
+      0.004487968981266022,
+      0.0024141669273376465,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0021643510553985834,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.9773471355438232,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 68.4219970703125,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.7553367153533137,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 560.6444091796875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18265.38671875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 953.977453009483,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0561821460723877,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20830988812828094,
+    "replay_smoothing_rms_deviation_rad": 0.0010758260665876048,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.562971830368042,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 66.9962387084961,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.704378850316473,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 559.2245483398438,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18075.197265625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 950.0354391750355,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.041426181793213,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20699164126288128,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9928236103463106,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9936717028786082,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.4089999999999998,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.004928377456963062,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03549358248710632,
+    "stage_planned_to_measured_rms_error_rad": 0.006227339440445462,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 664,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 664,
+    "timestamp_count": 664,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124229.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b169eb2ec49f0051bc0614bbff0bca2676284116dbf59a8c9a6a183419e2ad0
+size 69027

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124401.json

@@ -0,0 +1,676 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:44:03",
+  "event_log": [
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76234",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:34:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76235",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:34:56"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76236",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:35:05"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76237",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:36:48"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76238",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:37:02"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76239",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:38:34"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76240",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:38:34"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76241",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:38:40"
+    },
+    {
+      "actions": "",
+      "argv": [
+        {
+          "type": "string",
+          "value": "T_ROB1"
+        },
+        {
+          "type": "string",
+          "value": "/EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748"
+        }
+      ],
+      "causes": "",
+      "code": "50024",
+      "conseqs": "",
+      "desc": "Task: T_ROB1.Corner path executed as stop point due to some of the following reasons: \n        Program ref. /EgmLeadthroughService/StartPlannerPlayback/MoveAbsJ/748.",
+      "id": "/rw/elog/0/76242",
+      "msgtype": "2",
+      "title": "Corner path failure",
+      "tstamp": "2026-10-15 T 12:40:05"
+    },
+    {
+      "actions": "Make sure all loads are defined correctly.",
+      "argv": [
+        {
+          "type": "string",
+          "value": "ROB_1"
+        }
+      ],
+      "causes": "",
+      "code": "50510",
+      "conseqs": "",
+      "desc": "A mismatch between the expected and actual arm torque sensors for the mechanical unit ROB_1 has been detected.",
+      "id": "/rw/elog/0/76243",
+      "msgtype": "2",
+      "title": "Lead through load mismatch",
+      "tstamp": "2026-10-15 T 12:40:06"
+    }
+  ],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124401.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 588,
+    "actual_playback_duration_s": 19.98929380532354,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 10,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124401.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124401.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 588,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 588,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.7669017381670263,
+    "image_frame_counts": {
+      "cam_scene": 588,
+      "cam_wrist": 588
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 28,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005305834114551544,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.00399757781997323,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004205361660569906,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004284882973879576,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3662,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005344262346625328,
+    "leadthrough_capture_host_loop_dt_median_s": 0.00402032770216465,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004228436388075352,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004316979087889195,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005342153832316399,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004019510932266712,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004223378375172615,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004286644794046879,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014191586524248123,
+    "leadthrough_capture_loop_late_median_s": 0.00822006817907095,
+    "leadthrough_capture_loop_late_p95_s": 0.008441437082365156,
+    "leadthrough_capture_loop_late_p99_s": 0.00855933821760118,
+    "leadthrough_capture_loop_late_warn_count": 7442,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005322513170540333,
+    "leadthrough_capture_read_duration_median_s": 0.00401012459769845,
+    "leadthrough_capture_read_duration_p95_s": 0.004217772418633104,
+    "leadthrough_capture_read_duration_p99_s": 0.0043023210577666764,
+    "leadthrough_capture_read_duration_warn_count": 3965,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002989262342453003,
+      0.00210562814027071,
+      0.0021272003650665283,
+      0.002308763563632965,
+      0.002823472023010254,
+      0.00598791241645813
+    ],
+    "leadthrough_delta_max_abs_rad": 0.00598791241645813,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019400825258344412,
+      0.0016002953052520752,
+      0.0016455232398584485,
+      0.00044042058289051056,
+      0.0013681051786988974,
+      0.0039535826072096825
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007400738541036844,
+      0.0006187850376591086,
+      0.0006533393752761185,
+      0.00023586340830661356,
+      0.000539156433660537,
+      0.0014107009628787637
+    ],
+    "leadthrough_delta_samples": 6517,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.00598791241645813,
+    "leadthrough_delta_worst_from_rad": -0.2572995126247406,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.5880000000000001,
+    "leadthrough_delta_worst_to_rad": -0.26328742504119873,
+    "leadthrough_duration_s": 26.065,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6516,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7959999999999994,
+    "leadthrough_final_stillness_removed_samples": 199,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6517,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7442,
+    "leadthrough_initial_stillness_first_motion_index": 726,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.9,
+    "leadthrough_initial_stillness_removed_samples": 725,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 725,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.002989262342453003,
+      0.00210562814027071,
+      0.0021272003650665283,
+      0.002308763563632965,
+      0.002823472023010254,
+      0.00598791241645813
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.00598791241645813,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7473155856130012,
+      0.5264070350675017,
+      0.5741715431213161,
+      0.7598002751670255,
+      0.9411573410033823,
+      1.4969781041145311
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.13,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.065,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2986,
+      5679
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.42300220639620506,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08660168200731277,
+    "rapid_planner_max_dt_s": 2.279,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007382781244814396,
+    "rapid_planner_median_dt_s": 0.11200000000000188,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      57,
+      72,
+      86,
+      96,
+      107,
+      121,
+      135,
+      149,
+      163,
+      178,
+      194,
+      204,
+      213,
+      222,
+      232,
+      242,
+      251,
+      260,
+      270,
+      288,
+      305,
+      322,
+      340,
+      354,
+      368,
+      382,
+      395,
+      408,
+      422,
+      446,
+      473,
+      524,
+      565,
+      635,
+      808,
+      833,
+      850,
+      868,
+      885,
+      909,
+      936,
+      1014,
+      1094,
+      1210,
+      1272,
+      1312,
+      1349,
+      1537,
+      1686,
+      1748,
+      1806,
+      1861,
+      1943,
+      2013,
+      2156,
+      2268,
+      2349,
+      2382,
+      2428,
+      2596,
+      2986,
+      3556,
+      3601,
+      3660,
+      3690,
+      3746,
+      3781,
+      3820,
+      3854,
+      3887,
+      3925,
+      3963,
+      3998,
+      4033,
+      4064,
+      4094,
+      4134,
+      4177,
+      4211,
+      4242,
+      4267,
+      4292,
+      4318,
+      4330,
+      4343,
+      4361,
+      4379,
+      4396,
+      4412,
+      4434,
+      4457,
+      4497,
+      4525,
+      4548,
+      4606,
+      4670,
+      4753,
+      4952,
+      5182,
+      5391,
+      5451,
+      5679,
+      5921,
+      5963,
+      5990,
+      6016,
+      6048,
+      6077,
+      6105,
+      6137,
+      6167,
+      6185,
+      6203,
+      6230,
+      6244,
+      6258,
+      6278,
+      6295,
+      6312,
+      6331,
+      6346,
+      6374,
+      6415,
+      6446,
+      6517
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.961910877753061,
+    "rapid_planner_selected_samples": 126,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6518,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 126,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005768239498138428,
+    "raw_replay_rms_error_rad": 0.0008310308868721366,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8752241449736625,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9658059775522903,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9230686458942201,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0013883569413564,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9933684743080269,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9632236970461643,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005506426095962524,
+      0.0006077289581298828,
+      0.00091552734375,
+      0.004799023270606995,
+      0.0022437572479248047,
+      0.007235050201416016
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8290756886351521,
+    "replay_smoothing_max_deviation_rad": 0.007235050201416016,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0021070935763418674,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.3037984371185303,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 29.921323776245117,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.5828068712917946,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 292.10650634765625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 7904.3603515625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 359.63516062069306,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4965273141860962,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.1968456243896721,
+    "replay_smoothing_rms_deviation_rad": 0.001028322313851941,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0163400173187256,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 28.898193359375,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.461039395395384,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 292.5120544433594,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 7851.9423828125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 346.4091090008551,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5037208795547485,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1956665478161845,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0048068386727473,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9940101458838957,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.483,
+    "replay_smoothing_wrist_max_deviation_rad": 0.007235050201416016,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005768239498138428,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03820836544036865,
+    "stage_planned_to_measured_rms_error_rad": 0.0066455385654250005,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 588,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 588,
+    "timestamp_count": 588,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_124401.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c2c282f0d43be5c4e99f2e297df3147ad1c55d18167bafe40828512b5a99cd
+size 59052

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_125312.json

@@ -0,0 +1,489 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:53:13",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_125312.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 726,
+    "actual_playback_duration_s": 24.31240648869425,
+    "aligned_best_lag_s": null,
+    "aligned_max_error_rad": null,
+    "aligned_p95_error_rad": null,
+    "aligned_rms_error_rad": null,
+    "aligned_worst_joint": -1,
+    "aligned_worst_time_s": null,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": false,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_125312.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_125312.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 726,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 726,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.929799850416638,
+    "image_frame_counts": {
+      "cam_scene": 726,
+      "cam_wrist": 726
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 33,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0053921714425086975,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003964339382946491,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004262954508885741,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.0043756757397204644,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3005,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005442583933472633,
+    "leadthrough_capture_host_loop_dt_median_s": 0.00398719497025013,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00428608525544405,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00441492311656475,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005447194911539555,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003987586125731468,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004281008616089821,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004386578500270843,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.012837744317948818,
+    "leadthrough_capture_loop_late_median_s": 0.008682080544531345,
+    "leadthrough_capture_loop_late_p95_s": 0.00896376147866249,
+    "leadthrough_capture_loop_late_p99_s": 0.009065843261778355,
+    "leadthrough_capture_loop_late_warn_count": 7562,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005423182621598244,
+    "leadthrough_capture_read_duration_median_s": 0.0039773671887815,
+    "leadthrough_capture_read_duration_p95_s": 0.00427633598446846,
+    "leadthrough_capture_read_duration_p99_s": 0.004400312285870314,
+    "leadthrough_capture_read_duration_warn_count": 3223,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003448277711868286,
+      0.002660900354385376,
+      0.0019254609942436218,
+      0.0017580874264240265,
+      0.002840876579284668,
+      0.005041763186454773
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005041763186454773,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0016985625261440873,
+      0.0014459369704127312,
+      0.0014528654282912612,
+      0.0005649951635859907,
+      0.0015142858028411865,
+      0.0029188664630055428
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007181587861850858,
+      0.0006355550140142441,
+      0.0006124896463006735,
+      0.00023904880799818784,
+      0.0005779247148893774,
+      0.0011011592578142881
+    ],
+    "leadthrough_delta_samples": 6538,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005041763186454773,
+    "leadthrough_delta_worst_from_rad": -0.08767659217119217,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 25.289,
+    "leadthrough_delta_worst_to_rad": -0.0826348289847374,
+    "leadthrough_duration_s": 26.148,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6537,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7639999999999993,
+    "leadthrough_final_stillness_removed_samples": 191,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6538,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7562,
+    "leadthrough_initial_stillness_first_motion_index": 833,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.328,
+    "leadthrough_initial_stillness_removed_samples": 832,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 832,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003448277711868286,
+      0.002660900354385376,
+      0.0019254609942436218,
+      0.0017580874264240265,
+      0.002840876579284668,
+      0.005041763186454773
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005041763186454773,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.8620694279667837,
+      0.6652250885961218,
+      0.4861603180568679,
+      0.4395218566062502,
+      0.7102191448209298,
+      1.3554096221923315
+    ],
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0,
+    "moving_aligned_best_lag_s": null,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.29599999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.148,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2675,
+      5623
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4439055201033531,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.08328717947006226,
+    "rapid_planner_max_dt_s": 2.4129999999999985,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00774761289358139,
+    "rapid_planner_median_dt_s": 0.10899999999999999,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      43,
+      77,
+      98,
+      119,
+      138,
+      156,
+      174,
+      192,
+      215,
+      238,
+      262,
+      285,
+      298,
+      312,
+      326,
+      340,
+      356,
+      373,
+      392,
+      419,
+      442,
+      466,
+      484,
+      529,
+      606,
+      683,
+      742,
+      773,
+      795,
+      834,
+      872,
+      900,
+      953,
+      1030,
+      1107,
+      1188,
+      1255,
+      1319,
+      1401,
+      1495,
+      1552,
+      1654,
+      1846,
+      2072,
+      2675,
+      3248,
+      3321,
+      3398,
+      3486,
+      3539,
+      3584,
+      3628,
+      3674,
+      3720,
+      3760,
+      3796,
+      3832,
+      3863,
+      3894,
+      3928,
+      3964,
+      3984,
+      4011,
+      4038,
+      4064,
+      4091,
+      4131,
+      4179,
+      4221,
+      4263,
+      4288,
+      4312,
+      4335,
+      4358,
+      4382,
+      4405,
+      4459,
+      4486,
+      4514,
+      4561,
+      4636,
+      4804,
+      5016,
+      5099,
+      5287,
+      5623,
+      5897,
+      5921,
+      5941,
+      5962,
+      5983,
+      6008,
+      6034,
+      6057,
+      6080,
+      6105,
+      6124,
+      6143,
+      6164,
+      6175,
+      6186,
+      6196,
+      6207,
+      6222,
+      6236,
+      6268,
+      6284,
+      6297,
+      6310,
+      6328,
+      6340,
+      6351,
+      6371,
+      6406,
+      6441,
+      6476,
+      6538
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.772003871183204,
+    "rapid_planner_selected_samples": 118,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6539,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 118,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.0058165788650512695,
+    "raw_replay_rms_error_rad": 0.0008707936841212137,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9556161849799895,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0056828507264723,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9761446418246567,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0040941559466785,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9897897752166502,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9917530551321491,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0023099109530448914,
+      0.0004616975784301758,
+      0.000574946403503418,
+      0.0023250579833984375,
+      0.0040138959884643555,
+      0.0072591304779052734
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8318350850812125,
+    "replay_smoothing_max_deviation_rad": 0.0072591304779052734,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001954694977030158,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.464049816131592,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.085731506347656,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.7168874209693934,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 804.0859375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10665.4345703125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 679.6682123215936,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.259467601776123,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.17645579379141543,
+    "replay_smoothing_rms_deviation_rad": 0.000958805448898008,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.265918254852295,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 39.3078498840332,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.6520750984200836,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 807.3779907226562,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10556.5380859375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 674.0630260461467,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.23514986038208,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.17518383915737354,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9806920468936638,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9927916527606601,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.863,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0072591304779052734,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0058165788650512695,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.036480069160461426,
+    "stage_planned_to_measured_rms_error_rad": 0.005393745687043239,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 726,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 726,
+    "timestamp_count": 726,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_operator_stop_20261015_125312.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d18b5c7182d22d27e2ac35c278956bafa872c673da042f9f518938fa1ff0938
+size 76089

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114254.json

@@ -0,0 +1,668 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:42:55",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114254.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1155,
+    "actual_playback_duration_s": 38.51142211165279,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005649950355291367,
+    "aligned_p95_error_rad": 0.0020401403307914734,
+    "aligned_rms_error_rad": 0.0008629994154821289,
+    "aligned_samples": 1155,
+    "aligned_worst_joint": 3,
+    "aligned_worst_time_s": 20.801,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114254.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114254.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1155,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1155,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.784505913148269,
+    "image_frame_counts": {
+      "cam_scene": 1155,
+      "cam_wrist": 1155
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004491955041885376,
+      0.003594733774662018,
+      0.0031576454639434814,
+      0.005649950355291367,
+      0.004016399383544922,
+      0.0050550177693367004
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0021719331853091717,
+      0.0020811567083001137,
+      0.001912715146318078,
+      0.0016434084391221404,
+      0.0021444796584546566,
+      0.00217915466055274
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0009157012846934516,
+      0.0008832528670767566,
+      0.0008044512073966436,
+      0.0007505218668993487,
+      0.0008725651853466933,
+      0.0009371065341204901
+    ],
+    "joint_lag_samples": [
+      1155,
+      1155,
+      1155,
+      1155,
+      1155,
+      1155
+    ],
+    "joint_lag_worst_time_s": [
+      4.827,
+      14.297999999999998,
+      1.4549999999999996,
+      20.801,
+      21.277,
+      20.813
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 7,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006219855509698391,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003975371830165386,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004294759593904018,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004649577308446169,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2704,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006309123709797859,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0039984541945159435,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004322006553411484,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00468912061303854,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006240318529307842,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004000259097665548,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.00431061708368361,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004673315826803445,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.0168019887059927,
+    "leadthrough_capture_loop_late_median_s": 0.012255793437361717,
+    "leadthrough_capture_loop_late_p95_s": 0.01258157566189766,
+    "leadthrough_capture_loop_late_p99_s": 0.012972836103290319,
+    "leadthrough_capture_loop_late_warn_count": 6303,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006285877898335457,
+    "leadthrough_capture_read_duration_median_s": 0.003987744450569153,
+    "leadthrough_capture_read_duration_p95_s": 0.004309708625078202,
+    "leadthrough_capture_read_duration_p99_s": 0.004672894701361656,
+    "leadthrough_capture_read_duration_warn_count": 2938,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 2,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003673166036605835,
+      0.002703249454498291,
+      0.0028897933661937714,
+      0.002432793378829956,
+      0.003134489059448242,
+      0.005903422832489014
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005903422832489014,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0023401230573654175,
+      0.0016796886920928955,
+      0.0019407272338867188,
+      0.0006696186028420925,
+      0.0014192461967468262,
+      0.004951596260070801
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008742082864046097,
+      0.0007164827547967434,
+      0.000815672567114234,
+      0.000298544968245551,
+      0.0005843877443112433,
+      0.0015327101573348045
+    ],
+    "leadthrough_delta_samples": 5396,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005903422832489014,
+    "leadthrough_delta_worst_from_rad": -0.9674643278121948,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 13.834,
+    "leadthrough_delta_worst_to_rad": -0.9615609049797058,
+    "leadthrough_duration_s": 21.581,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5395,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.9839999999999982,
+    "leadthrough_final_stillness_removed_samples": 246,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5396,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6303,
+    "leadthrough_initial_stillness_first_motion_index": 661,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.64,
+    "leadthrough_initial_stillness_removed_samples": 660,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 660,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003673166036605835,
+      0.002703249454498291,
+      0.0028897933661937714,
+      0.002432793378829956,
+      0.003134489059448242,
+      0.005903422832489014
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005903422832489014,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.1939009030659542,
+      0.8913576602935454,
+      0.9388973315556488,
+      0.8027429382006023,
+      1.0108550389607365,
+      1.824796199798515
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.5910183191299438,
+    "leadthrough_velocity_rms_rad_s": 0.22723093123392654,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005649950355291367,
+    "measured_wall_accel_p95_abs_rad_s2": 0.47523465752601624,
+    "measured_wall_accel_peak_abs_rad_s2": 2.78713321685791,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 23.05008765589446,
+    "measured_wall_accel_rms_rad_s2": 0.2427909722392039,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.227446556091309,
+    "measured_wall_jerk_peak_abs_rad_s3": 55.704627990722656,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 23.31554144434631,
+    "measured_wall_jerk_rms_rad_s3": 4.033520716871367,
+    "measured_wall_smoothness_samples": 1155,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5766526460647583,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 39.91696064081043,
+    "measured_wall_velocity_rms_rad_s": 0.0960299618049794,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005649950355291367,
+    "moving_aligned_p95_error_rad": 0.0022715535014867783,
+    "moving_aligned_rms_error_rad": 0.0009992191289226082,
+    "moving_aligned_samples": 858,
+    "moving_aligned_worst_joint": 3,
+    "moving_aligned_worst_time_s": 20.801,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004491955041885376,
+      0.003594733774662018,
+      0.0031576454639434814,
+      0.005649950355291367,
+      0.004016399383544922,
+      0.0050550177693367004
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0024532401002943516,
+      0.002244597999379039,
+      0.002164428820833564,
+      0.0035637596156448126,
+      0.0028705536387860775,
+      0.0028553237207233906
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0011482641744395216,
+      0.0010225023062435446,
+      0.0009708363093365175,
+      0.0014945004914417052,
+      0.0012393068848501254,
+      0.0015705571827145316
+    ],
+    "moving_joint_lag_samples": [
+      715,
+      754,
+      718,
+      257,
+      492,
+      375
+    ],
+    "moving_joint_lag_worst_time_s": [
+      4.827,
+      14.297999999999998,
+      1.4549999999999996,
+      20.801,
+      21.277,
+      20.813
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.050689935684204,
+    "playback_velocity_rms_rad_s": 0.40019108470169523,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 73.162,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 21.581,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2185,
+      4693
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4163753754365589,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08696013689041138,
+    "rapid_planner_max_dt_s": 2.0329999999999995,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007267121225595474,
+    "rapid_planner_median_dt_s": 0.10000000000000053,
+    "rapid_planner_path_max_error_rad": 0.005649950355291367,
+    "rapid_planner_path_p95_error_rad": 0.002911460399627685,
+    "rapid_planner_path_rms_error_rad": 0.0014308722168541125,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      26,
+      55,
+      79,
+      103,
+      118,
+      132,
+      147,
+      162,
+      177,
+      192,
+      208,
+      224,
+      237,
+      250,
+      264,
+      277,
+      288,
+      300,
+      311,
+      322,
+      336,
+      351,
+      380,
+      408,
+      435,
+      457,
+      478,
+      527,
+      576,
+      626,
+      676,
+      712,
+      761,
+      812,
+      873,
+      927,
+      1000,
+      1087,
+      1164,
+      1281,
+      1363,
+      1426,
+      1514,
+      1652,
+      1719,
+      1782,
+      2185,
+      2264,
+      2772,
+      2807,
+      2858,
+      2886,
+      2946,
+      2988,
+      3012,
+      3036,
+      3060,
+      3080,
+      3100,
+      3120,
+      3139,
+      3157,
+      3175,
+      3193,
+      3211,
+      3228,
+      3245,
+      3279,
+      3304,
+      3329,
+      3358,
+      3381,
+      3403,
+      3414,
+      3426,
+      3435,
+      3444,
+      3452,
+      3461,
+      3472,
+      3483,
+      3502,
+      3530,
+      3555,
+      3610,
+      3655,
+      3739,
+      3861,
+      4016,
+      4310,
+      4430,
+      4604,
+      4693,
+      4895,
+      4938,
+      4985,
+      5018,
+      5046,
+      5076,
+      5105,
+      5129,
+      5145,
+      5161,
+      5174,
+      5188,
+      5215,
+      5239,
+      5263,
+      5283,
+      5300,
+      5340,
+      5396
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.982448829700466,
+    "rapid_planner_selected_samples": 113,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5397,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 113,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005649950355291367,
+    "raw_replay_rms_error_rad": 0.0008629994154821289,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9774763485775133,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9556557563130056,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9937856878097594,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9968707780876074,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9793356554767734,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9978729429319311,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004919149214401841,
+      0.00039623305201530457,
+      0.0007311701774597168,
+      0.0036538541316986084,
+      0.0023316144943237305,
+      0.0034661293029785156
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.41870084464894697,
+    "replay_smoothing_max_deviation_rad": 0.0036538541316986084,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001676308223977685,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.074897766113281,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.89687728881836,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.319120693080978,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1849.922607421875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14369.1328125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1117.5428412479457,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6287682056427002,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22790671170952068,
+    "replay_smoothing_rms_deviation_rad": 0.0007341183152046499,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.893021583557129,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.46251678466797,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.292280328706845,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1844.1337890625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14072.2041015625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1115.1657638485995,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5910183191299438,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22723093123392654,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9768230455494061,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970348373221433,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 3,
+    "replay_smoothing_worst_time_s": 21.057,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0036538541316986084,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005649950355291367,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.033778607845306396,
+    "stage_planned_to_measured_rms_error_rad": 0.00570196948393804,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1155,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7418861389160156,
+    "target_wall_accel_peak_abs_rad_s2": 3.4531826972961426,
+    "target_wall_accel_peak_joint": 4,
+    "target_wall_accel_peak_time_s": 9.666719980537891,
+    "target_wall_accel_rms_rad_s2": 0.3510240657201136,
+    "target_wall_jerk_p95_abs_rad_s3": 17.33233070373535,
+    "target_wall_jerk_peak_abs_rad_s3": 79.1605453491211,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 26.366726526990533,
+    "target_wall_jerk_rms_rad_s3": 8.010268004418412,
+    "target_wall_smoothness_samples": 1155,
+    "target_wall_velocity_peak_abs_rad_s": 0.6322306394577026,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.600076359696686,
+    "target_wall_velocity_rms_rad_s": 0.09695636779064318,
+    "tcp_pose_count": 1155,
+    "timestamp_count": 1155,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.6800000000000033,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.13,
+    "window_lag_count": 29,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.6700000000000035,
+    "window_lag_worst_end_s": 9.0,
+    "window_lag_worst_max_error_rad": 0.023833751678466797,
+    "window_lag_worst_rms_error_rad": 0.004945954178632216,
+    "window_lag_worst_start_s": 8.0,
+    "zero_lag_max_error_rad": 0.005649950355291367,
+    "zero_lag_p95_error_rad": 0.0020401403307914734,
+    "zero_lag_rms_error_rad": 0.0008629994154821289,
+    "zero_lag_samples": 1155,
+    "zero_lag_worst_joint": 3,
+    "zero_lag_worst_time_s": 20.801
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114254.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b8d84af65ba41ada2a33e2f868e7a318980a60393effd4d0fcbcc5be6cb2f5
+size 118851

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114457.json

@@ -0,0 +1,674 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:44:58",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114457.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1179,
+    "actual_playback_duration_s": 39.3119299756363,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006390929222106934,
+    "aligned_p95_error_rad": 0.0020851099397987127,
+    "aligned_rms_error_rad": 0.0009056512196686076,
+    "aligned_samples": 1179,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 19.71,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114457.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114457.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1179,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1179,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4974261979825658,
+    "image_frame_counts": {
+      "cam_scene": 1179,
+      "cam_wrist": 1179
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004296839237213135,
+      0.0062817782163619995,
+      0.005464911460876465,
+      0.005245071370154619,
+      0.006390929222106934,
+      0.005366802215576172
+    ],
+    "joint_lag_p95_error_rad": [
+      0.002090939786285162,
+      0.002240473637357354,
+      0.002053275238722563,
+      0.0014874818734824657,
+      0.002615976380184293,
+      0.001884162425994873
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008785931880549397,
+      0.0010155618439661996,
+      0.0008727577356830021,
+      0.0006654120648956053,
+      0.0010647635382794293,
+      0.0008830244998607711
+    ],
+    "joint_lag_samples": [
+      1179,
+      1179,
+      1179,
+      1179,
+      1179,
+      1179
+    ],
+    "joint_lag_worst_time_s": [
+      17.445999999999998,
+      19.71,
+      13.343,
+      4.6,
+      19.71,
+      4.6
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 10,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005285540595650673,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003976523410528898,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004289780091494322,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004564114697277546,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3332,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005324588157236576,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003999934531748295,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004318184591829776,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004603426177054644,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005286042578518391,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004001880995929241,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004300149716436863,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004559837784618139,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.008273262530565262,
+    "leadthrough_capture_loop_late_median_s": 0.004084122367203236,
+    "leadthrough_capture_loop_late_p95_s": 0.004416433209553361,
+    "leadthrough_capture_loop_late_p99_s": 0.004643819108605385,
+    "leadthrough_capture_loop_late_warn_count": 4961,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005309467203915119,
+    "leadthrough_capture_read_duration_median_s": 0.003990103956311941,
+    "leadthrough_capture_read_duration_p95_s": 0.0043069673236459495,
+    "leadthrough_capture_read_duration_p99_s": 0.004587955316528678,
+    "leadthrough_capture_read_duration_warn_count": 3601,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0028690099716186523,
+      0.0020013656467199326,
+      0.0020516961812973022,
+      0.0019324563909322023,
+      0.003093719482421875,
+      0.005391716957092285
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005391716957092285,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.001731189084239304,
+      0.001495850970968604,
+      0.0016730360221117735,
+      0.00044563369010575116,
+      0.0014189481735229492,
+      0.003621041774749756
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006781865959055722,
+      0.0006491075619123876,
+      0.0007105364347808063,
+      0.0002629979862831533,
+      0.0005489226314239204,
+      0.0012985540088266134
+    ],
+    "leadthrough_delta_samples": 6564,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005391716957092285,
+    "leadthrough_delta_worst_from_rad": -1.1195920705795288,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.536,
+    "leadthrough_delta_worst_to_rad": -1.124983787536621,
+    "leadthrough_duration_s": 26.253,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6563,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 1.088000000000001,
+    "leadthrough_final_stillness_removed_samples": 272,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6564,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7660,
+    "leadthrough_initial_stillness_first_motion_index": 824,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.291,
+    "leadthrough_initial_stillness_removed_samples": 823,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 823,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0028690099716186523,
+      0.0020013656467199326,
+      0.0020516961812973022,
+      0.0019324563909322023,
+      0.003093719482421875,
+      0.005391716957092285
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005391716957092285,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9407599767048798,
+      0.6534066051244488,
+      0.6771087646484119,
+      0.59821254884201,
+      1.0298490524291601,
+      1.3479292392732198
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.3286024332046509,
+    "leadthrough_velocity_rms_rad_s": 0.19046871929737821,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006390929222106934,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4557936191558838,
+    "measured_wall_accel_peak_abs_rad_s2": 3.2368853092193604,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 40.22983657382429,
+    "measured_wall_accel_rms_rad_s2": 0.2456368294592895,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.812927722930908,
+    "measured_wall_jerk_peak_abs_rad_s3": 57.05510330200195,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 24.39668602310121,
+    "measured_wall_jerk_rms_rad_s3": 4.1596805526021186,
+    "measured_wall_smoothness_samples": 1179,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6487822532653809,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 40.16377504076809,
+    "measured_wall_velocity_rms_rad_s": 0.09607068479174985,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006390929222106934,
+    "moving_aligned_p95_error_rad": 0.002344273729249835,
+    "moving_aligned_rms_error_rad": 0.001039275163533999,
+    "moving_aligned_samples": 883,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 19.71,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004296839237213135,
+      0.0062817782163619995,
+      0.004518479108810425,
+      0.005245071370154619,
+      0.005887389183044434,
+      0.005366802215576172
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002553075784817338,
+      0.0024254918098449707,
+      0.0023057726211845875,
+      0.003179848426952958,
+      0.0030398364178836346,
+      0.0023403579834848642
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010883703649165381,
+      0.0011425531768542107,
+      0.0010269387080475093,
+      0.001507092009758563,
+      0.0014328528171216857,
+      0.0013256381999984391
+    ],
+    "moving_joint_lag_samples": [
+      697,
+      773,
+      666,
+      172,
+      477,
+      404
+    ],
+    "moving_joint_lag_worst_time_s": [
+      17.445999999999998,
+      19.71,
+      1.8679999999999999,
+      4.6,
+      13.459,
+      4.6
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.4588782787322998,
+    "playback_velocity_rms_rad_s": 0.3165616810775266,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.506,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.253,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2426,
+      5724
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4340926727001604,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08651280403137207,
+    "rapid_planner_max_dt_s": 3.2319999999999993,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007576346397399902,
+    "rapid_planner_median_dt_s": 0.11800000000000033,
+    "rapid_planner_path_max_error_rad": 0.006390929222106934,
+    "rapid_planner_path_p95_error_rad": 0.0031554356217384297,
+    "rapid_planner_path_rms_error_rad": 0.001512966271571628,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      30,
+      51,
+      83,
+      98,
+      113,
+      129,
+      145,
+      158,
+      171,
+      184,
+      197,
+      212,
+      227,
+      245,
+      263,
+      279,
+      295,
+      315,
+      335,
+      349,
+      363,
+      377,
+      391,
+      405,
+      419,
+      436,
+      454,
+      486,
+      527,
+      568,
+      598,
+      627,
+      664,
+      702,
+      742,
+      781,
+      814,
+      846,
+      874,
+      896,
+      935,
+      957,
+      1021,
+      1077,
+      1204,
+      1245,
+      1380,
+      1449,
+      1567,
+      1640,
+      1723,
+      1811,
+      2058,
+      2426,
+      3234,
+      3449,
+      3504,
+      3559,
+      3607,
+      3641,
+      3672,
+      3711,
+      3750,
+      3789,
+      3828,
+      3864,
+      3900,
+      3937,
+      3971,
+      4005,
+      4038,
+      4086,
+      4104,
+      4117,
+      4140,
+      4163,
+      4183,
+      4203,
+      4226,
+      4250,
+      4262,
+      4274,
+      4298,
+      4326,
+      4390,
+      4464,
+      4539,
+      4589,
+      4657,
+      4768,
+      5010,
+      5167,
+      5269,
+      5724,
+      6007,
+      6029,
+      6048,
+      6076,
+      6104,
+      6127,
+      6162,
+      6198,
+      6216,
+      6233,
+      6250,
+      6267,
+      6282,
+      6296,
+      6316,
+      6337,
+      6351,
+      6365,
+      6384,
+      6400,
+      6429,
+      6478,
+      6514,
+      6564
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.956818544839994,
+    "rapid_planner_selected_samples": 119,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6565,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 119,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006390929222106934,
+    "raw_replay_rms_error_rad": 0.0009056512196686076,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9729003271867068,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9161746532231005,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9740655438941828,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9742449525064732,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9752617649670818,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9918130578807539,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0006768777966499329,
+      0.0003955736756324768,
+      0.0005398094654083252,
+      0.0025611594319343567,
+      0.0021026134490966797,
+      0.006595423445105553
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7557798608669111,
+    "replay_smoothing_max_deviation_rad": 0.006595423445105553,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0018587824888527393,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.242740631103516,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 36.41501998901367,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.287043992575912,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 731.5128784179688,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 8731.107421875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 576.3762747284454,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3464242219924927,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19140893407245932,
+    "replay_smoothing_rms_deviation_rad": 0.0008786517199393889,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.127763748168945,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 33.362518310546875,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.2277307505383788,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 712.6727294921875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8515.115234375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 571.657515528337,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3286024332046509,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19046871929737821,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9867636154365461,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9950879263831792,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 25.512999999999998,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006595423445105553,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006390929222106934,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03952723741531372,
+    "stage_planned_to_measured_rms_error_rad": 0.005699343283533988,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1179,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7886424660682678,
+    "target_wall_accel_peak_abs_rad_s2": 3.191305637359619,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 8.166743464767933,
+    "target_wall_accel_rms_rad_s2": 0.37299011126454873,
+    "target_wall_jerk_p95_abs_rad_s3": 17.85548973083496,
+    "target_wall_jerk_peak_abs_rad_s3": 79.00526428222656,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 9.866720145568252,
+    "target_wall_jerk_rms_rad_s3": 8.332917574599694,
+    "target_wall_smoothness_samples": 1179,
+    "target_wall_velocity_peak_abs_rad_s": 0.6597582101821899,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 25.833417410962284,
+    "target_wall_velocity_rms_rad_s": 0.09715972137437083,
+    "tcp_pose_count": 1179,
+    "timestamp_count": 1179,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 0.5400000000000023,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.0199999999999991,
+    "window_lag_best_lag_p95_abs_s": 0.7560000000000004,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": -0.009999999999998233,
+    "window_lag_worst_end_s": 14.0,
+    "window_lag_worst_max_error_rad": 0.006492018699645996,
+    "window_lag_worst_rms_error_rad": 0.002477202985907057,
+    "window_lag_worst_start_s": 13.0,
+    "zero_lag_max_error_rad": 0.006390929222106934,
+    "zero_lag_p95_error_rad": 0.0020851099397987127,
+    "zero_lag_rms_error_rad": 0.0009056512196686076,
+    "zero_lag_samples": 1179,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 19.71
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114457.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d92da074ebdba2deb44d8e859be0a1cd749177283e258186f333e2e29e931f
+size 123005

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114752.json

@@ -0,0 +1,684 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:47:53",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114752.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1272,
+    "actual_playback_duration_s": 42.418562485836446,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005770266056060791,
+    "aligned_p95_error_rad": 0.002008474664762616,
+    "aligned_rms_error_rad": 0.0009055459607489626,
+    "aligned_samples": 1272,
+    "aligned_worst_joint": 0,
+    "aligned_worst_time_s": 25.296999999999997,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114752.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114752.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1272,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1272,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5631264504490712,
+    "image_frame_counts": {
+      "cam_scene": 1272,
+      "cam_wrist": 1272
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005770266056060791,
+      0.005312021821737289,
+      0.005343794822692871,
+      0.005299128592014313,
+      0.005739569664001465,
+      0.004700958728790283
+    ],
+    "joint_lag_p95_error_rad": [
+      0.002161593409255147,
+      0.0016938142944127321,
+      0.0018148381495848298,
+      0.0014147498877719045,
+      0.00245410087518394,
+      0.0020752756390720606
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0010139143260998497,
+      0.0008497006261708685,
+      0.0008626871647934528,
+      0.0007448136411689835,
+      0.0010121590768755212,
+      0.0009201222778058468
+    ],
+    "joint_lag_samples": [
+      1272,
+      1272,
+      1272,
+      1272,
+      1272,
+      1272
+    ],
+    "joint_lag_worst_time_s": [
+      25.296999999999997,
+      26.593,
+      26.593,
+      26.605,
+      25.276999999999997,
+      25.241999999999997
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 1,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 0,
+    "leadthrough_capture_egm_drained_packet_max": 1,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.04001498129218817,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003980040550231934,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004231090284883976,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.00433712612837553,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3283,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.05027751065790653,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004003448411822319,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0042559273540973665,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004378748908638954,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 2,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005155779421329498,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004004065878689289,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004247152712196112,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0043302880506962535,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.09077359456568956,
+    "leadthrough_capture_loop_late_median_s": 0.0894431690685451,
+    "leadthrough_capture_loop_late_p95_s": 0.08969351928681135,
+    "leadthrough_capture_loop_late_p99_s": 0.08989418097771704,
+    "leadthrough_capture_loop_late_warn_count": 7666,
+    "leadthrough_capture_none_reads": 1,
+    "leadthrough_capture_read_duration_max_s": 0.050273322500288486,
+    "leadthrough_capture_read_duration_median_s": 0.003992980811744928,
+    "leadthrough_capture_read_duration_p95_s": 0.004244775278493762,
+    "leadthrough_capture_read_duration_p99_s": 0.004365115752443672,
+    "leadthrough_capture_read_duration_warn_count": 3647,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000001439,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0034031271934509277,
+      0.0024435818195343018,
+      0.0027635619044303894,
+      0.0014590788632631302,
+      0.0027701854705810547,
+      0.008243978023529053
+    ],
+    "leadthrough_delta_max_abs_rad": 0.008243978023529053,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002039951039478183,
+      0.0015839152038097382,
+      0.0020419710781425238,
+      0.00044940802035853267,
+      0.0015197272878140211,
+      0.0033734499011188745
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007747423369437456,
+      0.0006937624420970678,
+      0.0007014325237832963,
+      0.00020853339810855687,
+      0.0005678262677974999,
+      0.0013675065711140633
+    ],
+    "leadthrough_delta_samples": 6785,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.008243978023529053,
+    "leadthrough_delta_worst_from_rad": -0.9633699059486389,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.032,
+    "leadthrough_delta_worst_to_rad": -0.971613883972168,
+    "leadthrough_duration_s": 27.137,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6784,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7639999999999993,
+    "leadthrough_final_stillness_removed_samples": 191,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6785,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7665,
+    "leadthrough_initial_stillness_first_motion_index": 689,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.751,
+    "leadthrough_initial_stillness_removed_samples": 688,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 688,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0034031271934509277,
+      0.0024435818195343018,
+      0.0027635619044303894,
+      0.0014590788632631302,
+      0.0027701854705810547,
+      0.008243978023529053
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.008243978023529053,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.125186681747394,
+      0.8103946844736428,
+      0.9179910024006813,
+      0.36476971581566076,
+      0.8017222086588238,
+      2.0609945058822614
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.0070223808288574,
+    "leadthrough_velocity_rms_rad_s": 0.20138855244661608,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005770266056060791,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5274279713630676,
+    "measured_wall_accel_peak_abs_rad_s2": 4.472248077392578,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 20.655226416885853,
+    "measured_wall_accel_rms_rad_s2": 0.27768282802721544,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.832184791564941,
+    "measured_wall_jerk_peak_abs_rad_s3": 67.86869812011719,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 57.35482242051512,
+    "measured_wall_jerk_rms_rad_s3": 4.554331166407186,
+    "measured_wall_smoothness_samples": 1272,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7120012044906616,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 20.787500236183405,
+    "measured_wall_velocity_rms_rad_s": 0.09223049769500209,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005770266056060791,
+    "moving_aligned_p95_error_rad": 0.0022469183895736933,
+    "moving_aligned_rms_error_rad": 0.0010314390343969643,
+    "moving_aligned_samples": 962,
+    "moving_aligned_worst_joint": 0,
+    "moving_aligned_worst_time_s": 25.296999999999997,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005770266056060791,
+      0.005312021821737289,
+      0.005186498165130615,
+      0.005299128592014313,
+      0.005739569664001465,
+      0.004700958728790283
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002568654716014862,
+      0.0018593216082081199,
+      0.0021980279125273228,
+      0.004180037882179022,
+      0.0035947381984442472,
+      0.003067195415496826
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0012425681293280744,
+      0.000994025227214048,
+      0.0010054145315807374,
+      0.0017113362894246914,
+      0.0014666931262452753,
+      0.00149708673239523
+    ],
+    "moving_joint_lag_samples": [
+      755,
+      862,
+      771,
+      163,
+      540,
+      446
+    ],
+    "moving_joint_lag_worst_time_s": [
+      25.296999999999997,
+      26.593,
+      26.564999999999998,
+      26.605,
+      25.276999999999997,
+      25.241999999999997
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.382215976715088,
+    "playback_velocity_rms_rad_s": 0.3656669918740044,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 84.274,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 27.137,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2679,
+      5854
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4457722961808822,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08579427748918533,
+    "rapid_planner_max_dt_s": 2.9719999999999995,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007780194282531738,
+    "rapid_planner_median_dt_s": 0.11800000000000033,
+    "rapid_planner_path_max_error_rad": 0.005770266056060791,
+    "rapid_planner_path_p95_error_rad": 0.00321139395236969,
+    "rapid_planner_path_rms_error_rad": 0.0015254945853845647,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      35,
+      55,
+      77,
+      94,
+      111,
+      128,
+      145,
+      154,
+      164,
+      173,
+      182,
+      194,
+      206,
+      218,
+      230,
+      236,
+      243,
+      250,
+      256,
+      262,
+      268,
+      274,
+      281,
+      293,
+      304,
+      321,
+      363,
+      418,
+      479,
+      529,
+      589,
+      609,
+      628,
+      647,
+      670,
+      714,
+      748,
+      819,
+      878,
+      936,
+      973,
+      1033,
+      1061,
+      1121,
+      1170,
+      1214,
+      1252,
+      1270,
+      1304,
+      1324,
+      1403,
+      1491,
+      1545,
+      1611,
+      1723,
+      2192,
+      2278,
+      2679,
+      3422,
+      3506,
+      3583,
+      3626,
+      3695,
+      3736,
+      3779,
+      3812,
+      3844,
+      3876,
+      3907,
+      3940,
+      3972,
+      4002,
+      4032,
+      4060,
+      4087,
+      4120,
+      4152,
+      4181,
+      4210,
+      4235,
+      4252,
+      4270,
+      4283,
+      4296,
+      4308,
+      4321,
+      4341,
+      4359,
+      4410,
+      4454,
+      4480,
+      4500,
+      4520,
+      4549,
+      4626,
+      4694,
+      4735,
+      4805,
+      4992,
+      5090,
+      5362,
+      5460,
+      5688,
+      5854,
+      6090,
+      6154,
+      6191,
+      6216,
+      6242,
+      6268,
+      6294,
+      6347,
+      6382,
+      6400,
+      6419,
+      6433,
+      6447,
+      6468,
+      6491,
+      6509,
+      6527,
+      6547,
+      6563,
+      6580,
+      6615,
+      6687,
+      6735,
+      6785
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.915650006504565,
+    "rapid_planner_selected_samples": 129,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6786,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 129,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005770266056060791,
+    "raw_replay_rms_error_rad": 0.0009055459607489626,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9454328452434082,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.993200075195242,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9815636657238789,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9646213225532787,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.991735512359256,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9945006782673154,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004099407233297825,
+      0.00030840933322906494,
+      0.00046697258949279785,
+      0.002156779170036316,
+      0.002041339874267578,
+      0.007528185844421387
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.862666559233482,
+    "replay_smoothing_max_deviation_rad": 0.007528185844421387,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0020478535443544388,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.347635746002197,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 44.80523681640625,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.969076012997633,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 847.79931640625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12026.111328125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 757.2820238500994,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0592660903930664,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20244701666525183,
+    "replay_smoothing_rms_deviation_rad": 0.0009589190718760491,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.055830478668213,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.50056457519531,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.9143371351307956,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 817.8052978515625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11926.7216796875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 753.1174863585692,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0070223808288574,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20138855244661608,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9746299374287094,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9947716482264298,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.2120000000000002,
+    "replay_smoothing_wrist_max_deviation_rad": 0.007528185844421387,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005770266056060791,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.04228699207305908,
+    "stage_planned_to_measured_rms_error_rad": 0.005470392306475231,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1272,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.717327892780304,
+    "target_wall_accel_peak_abs_rad_s2": 4.274702072143555,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 5.533388325944543,
+    "target_wall_accel_rms_rad_s2": 0.3735822999459134,
+    "target_wall_jerk_p95_abs_rad_s3": 16.651573181152344,
+    "target_wall_jerk_peak_abs_rad_s3": 100.49080657958984,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 2.9333871956914663,
+    "target_wall_jerk_rms_rad_s3": 8.088083740608816,
+    "target_wall_smoothness_samples": 1272,
+    "target_wall_velocity_peak_abs_rad_s": 0.720110297203064,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 3.166735727339983,
+    "target_wall_velocity_rms_rad_s": 0.09319192890026654,
+    "tcp_pose_count": 1272,
+    "timestamp_count": 1272,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.650000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.0399999999999991,
+    "window_lag_best_lag_p95_abs_s": 1.2254999999999994,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 25.5,
+    "window_lag_worst_max_error_rad": 0.005770266056060791,
+    "window_lag_worst_rms_error_rad": 0.0017067241889833675,
+    "window_lag_worst_start_s": 24.5,
+    "zero_lag_max_error_rad": 0.005770266056060791,
+    "zero_lag_p95_error_rad": 0.002008474664762616,
+    "zero_lag_rms_error_rad": 0.0009055459607489626,
+    "zero_lag_samples": 1272,
+    "zero_lag_worst_joint": 0,
+    "zero_lag_worst_time_s": 25.296999999999997
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114752.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac5080d158edebc5e3050e28a38780836f7f17067cedb9b4498d19ba289943f
+size 131237

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114948.json

@@ -0,0 +1,670 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:49:49",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114948.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1154,
+    "actual_playback_duration_s": 38.48035227507353,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.003944827243685722,
+    "aligned_p95_error_rad": 0.0017901499522849917,
+    "aligned_rms_error_rad": 0.0007430451406613182,
+    "aligned_samples": 1154,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 21.373,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114948.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114948.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1154,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1154,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6794113505465686,
+    "image_frame_counts": {
+      "cam_scene": 1154,
+      "cam_wrist": 1154
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.003787718713283539,
+      0.0035579227842390537,
+      0.0035504475235939026,
+      0.003495994955301285,
+      0.003488898277282715,
+      0.003944827243685722
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0018796944059431553,
+      0.001818159711547196,
+      0.0017017190111801028,
+      0.000892589392606169,
+      0.0016176163917407393,
+      0.0022314400412142277
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008194558147496309,
+      0.0008249443090572691,
+      0.0007355316518356257,
+      0.0004399259052023861,
+      0.0006547561260454619,
+      0.0008929772356981945
+    ],
+    "joint_lag_samples": [
+      1154,
+      1154,
+      1154,
+      1154,
+      1154,
+      1154
+    ],
+    "joint_lag_worst_time_s": [
+      21.701,
+      21.717000000000002,
+      2.5959999999999996,
+      3.4949999999999997,
+      2.6439999999999997,
+      21.373
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 18,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006537239998579025,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003977855201810598,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004301113774999976,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004843897782266137,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2786,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.00659564696252346,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004000246524810791,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004326178692281246,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004879450350999832,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006725294515490532,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004002459347248077,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004314876720309257,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004822215661406513,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.012517602182924747,
+    "leadthrough_capture_loop_late_median_s": 0.006789127364754677,
+    "leadthrough_capture_loop_late_p95_s": 0.007126970868557692,
+    "leadthrough_capture_loop_late_p99_s": 0.007763951262459156,
+    "leadthrough_capture_loop_late_warn_count": 6370,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006564917974174023,
+    "leadthrough_capture_read_duration_median_s": 0.003990000579506159,
+    "leadthrough_capture_read_duration_p95_s": 0.004316182807087898,
+    "leadthrough_capture_read_duration_p99_s": 0.004864933192729948,
+    "leadthrough_capture_read_duration_warn_count": 3007,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 7,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0032425522804260254,
+      0.0029549002647399902,
+      0.003479018807411194,
+      0.0018233992159366608,
+      0.0024202466011047363,
+      0.006831049919128418
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006831049919128418,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.002112096641212702,
+      0.002126645063981414,
+      0.002305328845977783,
+      0.0003751061740331352,
+      0.0012525918427854776,
+      0.004084540996700525
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008066141745075583,
+      0.0008410298614762723,
+      0.00085062236757949,
+      0.0002143651363439858,
+      0.0005064360448159277,
+      0.0014865597477182746
+    ],
+    "leadthrough_delta_samples": 5729,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006831049919128418,
+    "leadthrough_delta_worst_from_rad": -0.8807045221328735,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.9750000000000001,
+    "leadthrough_delta_worst_to_rad": -0.887535572052002,
+    "leadthrough_duration_s": 22.913,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5667,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5668,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6370,
+    "leadthrough_initial_stillness_first_motion_index": 641,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.56,
+    "leadthrough_initial_stillness_removed_samples": 640,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 640,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0032425522804260254,
+      0.0029549002647399902,
+      0.003479018807411194,
+      0.0018233992159366608,
+      0.0024202466011047363,
+      0.006831049919128418
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006831049919128418,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0302364826202002,
+      0.9844402472177768,
+      1.1464908408621513,
+      0.455849803984013,
+      0.8027354876201243,
+      2.2716124852497512
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.0292515754699707,
+    "leadthrough_velocity_rms_rad_s": 0.22419842447457058,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.003944827243685722,
+    "measured_wall_accel_p95_abs_rad_s2": 0.44414302706718445,
+    "measured_wall_accel_peak_abs_rad_s2": 2.7823901176452637,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 22.23764660116285,
+    "measured_wall_accel_rms_rad_s2": 0.23459696559683235,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.308647155761719,
+    "measured_wall_jerk_peak_abs_rad_s3": 54.73638153076172,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 41.397201457992196,
+    "measured_wall_jerk_rms_rad_s3": 4.2747284368673855,
+    "measured_wall_smoothness_samples": 1154,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5215059518814087,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 16.831744479946792,
+    "measured_wall_velocity_rms_rad_s": 0.09362712100948485,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.003944827243685722,
+    "moving_aligned_p95_error_rad": 0.0019804618787020445,
+    "moving_aligned_rms_error_rad": 0.0008585487535541634,
+    "moving_aligned_samples": 849,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 21.373,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.003698594868183136,
+      0.0035579227842390537,
+      0.0035504475235939026,
+      0.0030989553779363632,
+      0.0034782886505126953,
+      0.0038719680160284042
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002076259581372142,
+      0.002128925174474716,
+      0.001969058532267809,
+      0.0021664216183125973,
+      0.001991450786590576,
+      0.002767574740573764
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009749669070868621,
+      0.0009827735974593632,
+      0.0009477276145090923,
+      0.0010351894021623537,
+      0.0008702510732137986,
+      0.0013861340076005875
+    ],
+    "moving_joint_lag_samples": [
+      697,
+      779,
+      615,
+      143,
+      496,
+      439
+    ],
+    "moving_joint_lag_worst_time_s": [
+      21.681,
+      21.717000000000002,
+      2.5959999999999996,
+      12.777999999999999,
+      2.5959999999999996,
+      21.341
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.0348665714263916,
+    "playback_velocity_rms_rad_s": 0.39799497364017394,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 75.826,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 22.913,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1993,
+      4754
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.38820746185601473,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08520317077636719,
+    "rapid_planner_max_dt_s": 2.3309999999999995,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.006775498390197754,
+    "rapid_planner_median_dt_s": 0.10000000000000142,
+    "rapid_planner_path_max_error_rad": 0.003944827243685722,
+    "rapid_planner_path_p95_error_rad": 0.002621361054480075,
+    "rapid_planner_path_rms_error_rad": 0.0012835408412153679,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      31,
+      49,
+      67,
+      85,
+      99,
+      113,
+      126,
+      138,
+      148,
+      158,
+      168,
+      178,
+      187,
+      196,
+      205,
+      214,
+      222,
+      231,
+      240,
+      248,
+      260,
+      272,
+      284,
+      295,
+      310,
+      326,
+      345,
+      376,
+      406,
+      465,
+      540,
+      564,
+      608,
+      631,
+      678,
+      746,
+      781,
+      820,
+      855,
+      932,
+      1000,
+      1059,
+      1175,
+      1245,
+      1294,
+      1363,
+      1632,
+      1993,
+      2576,
+      2633,
+      2676,
+      2748,
+      2796,
+      2831,
+      2862,
+      2882,
+      2901,
+      2920,
+      2940,
+      2962,
+      2983,
+      3004,
+      3025,
+      3050,
+      3075,
+      3098,
+      3120,
+      3148,
+      3176,
+      3217,
+      3238,
+      3255,
+      3271,
+      3287,
+      3318,
+      3332,
+      3347,
+      3369,
+      3394,
+      3422,
+      3450,
+      3480,
+      3520,
+      3584,
+      3682,
+      3759,
+      4079,
+      4177,
+      4413,
+      4528,
+      4754,
+      4961,
+      4997,
+      5034,
+      5069,
+      5099,
+      5136,
+      5166,
+      5188,
+      5209,
+      5227,
+      5245,
+      5258,
+      5272,
+      5288,
+      5304,
+      5315,
+      5327,
+      5361,
+      5398,
+      5475,
+      5522,
+      5565,
+      5729
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.881782086618234,
+    "rapid_planner_selected_samples": 115,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5730,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 115,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.003944827243685722,
+    "raw_replay_rms_error_rad": 0.0007430451406613182,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9820491529248669,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.010484041045094,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.991624449413615,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9991327531323762,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0081922450339524,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9972702863911906,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.000654757022857666,
+      0.0004006028175354004,
+      0.0005022585391998291,
+      0.0026612207293510437,
+      0.0017225146293640137,
+      0.00714251259341836
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8184716597840059,
+    "replay_smoothing_max_deviation_rad": 0.00714251259341836,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019647073931992054,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.680647373199463,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.55111694335938,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.41891081243782,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1754.3843994140625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17832.22265625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1142.4750675683063,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0288641452789307,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22512390039792884,
+    "replay_smoothing_rms_deviation_rad": 0.0009521889367903344,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.542773246765137,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 66.23835754394531,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.381900001391523,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1752.8629150390625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17978.30859375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1139.3564378286396,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0292515754699707,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22419842447457058,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0001909591590652,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958890374512773,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 21.249000000000002,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00714251259341836,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.003944827243685722,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03032708168029785,
+    "stage_planned_to_measured_rms_error_rad": 0.005556753600546702,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1154,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7535061240196228,
+    "target_wall_accel_peak_abs_rad_s2": 18.14740753173828,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 36.26672008726746,
+    "target_wall_accel_rms_rad_s2": 0.5285582534326335,
+    "target_wall_jerk_p95_abs_rad_s3": 19.012819290161133,
+    "target_wall_jerk_peak_abs_rad_s3": 261.6370544433594,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 36.233402780257165,
+    "target_wall_jerk_rms_rad_s3": 10.991340527765828,
+    "target_wall_smoothness_samples": 1154,
+    "target_wall_velocity_peak_abs_rad_s": 1.534868597984314,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 36.30005474667996,
+    "target_wall_velocity_rms_rad_s": 0.09862512915621759,
+    "tcp_pose_count": 1154,
+    "timestamp_count": 1154,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.5100000000000033,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.829999999999999,
+    "window_lag_best_lag_p95_abs_s": 1.2500000000000018,
+    "window_lag_count": 29,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 3.5,
+    "window_lag_worst_max_error_rad": 0.0037022829055786133,
+    "window_lag_worst_rms_error_rad": 0.0013478990188128127,
+    "window_lag_worst_start_s": 2.5,
+    "zero_lag_max_error_rad": 0.003944827243685722,
+    "zero_lag_p95_error_rad": 0.0017901499522849917,
+    "zero_lag_rms_error_rad": 0.0007430451406613182,
+    "zero_lag_samples": 1154,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 21.373
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_114948.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede1a2d2f079ecf5a8d30518ba0962b8a01fbf12ecf8fd476fdbef7837ac0b6e
+size 118331

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115555.json

@@ -0,0 +1,689 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:55:56",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115555.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1231,
+    "actual_playback_duration_s": 41.04355646669865,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006447490304708481,
+    "aligned_p95_error_rad": 0.00191594660282135,
+    "aligned_rms_error_rad": 0.0008572236863193168,
+    "aligned_samples": 1231,
+    "aligned_worst_joint": 3,
+    "aligned_worst_time_s": 7.203,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115555.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115555.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1231,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1231,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.485040757894878,
+    "image_frame_counts": {
+      "cam_scene": 1231,
+      "cam_wrist": 1231
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004487872123718262,
+      0.006193280220031738,
+      0.006266534328460693,
+      0.006447490304708481,
+      0.005340933799743652,
+      0.004619956016540527
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0020000897347927094,
+      0.0021403017453849316,
+      0.0014957655221223831,
+      0.0021078046411275864,
+      0.0014937520027160645,
+      0.0019790083169937134
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008848142088756219,
+      0.0009436184069447126,
+      0.0007399201682092827,
+      0.000892085602140062,
+      0.0007100325335116004,
+      0.000942463809732155
+    ],
+    "joint_lag_samples": [
+      1231,
+      1231,
+      1231,
+      1231,
+      1231,
+      1231
+    ],
+    "joint_lag_worst_time_s": [
+      16.678,
+      7.203,
+      7.388000000000001,
+      7.203,
+      26.525000000000002,
+      4.628
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 1,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 0,
+    "leadthrough_capture_egm_drained_packet_max": 1,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.02610907517373562,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003985537216067314,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004261264763772487,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004481926988810292,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3440,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.05007715243846178,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0040087709203362465,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004290881007909775,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00451957859098911,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 2,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006401173770427704,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004009614698588848,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004274226259440184,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004477846380323171,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.07839769404381514,
+    "leadthrough_capture_loop_late_median_s": 0.07566671865060925,
+    "leadthrough_capture_loop_late_p95_s": 0.07593376529403031,
+    "leadthrough_capture_loop_late_p99_s": 0.07630256128497422,
+    "leadthrough_capture_loop_late_warn_count": 7500,
+    "leadthrough_capture_none_reads": 1,
+    "leadthrough_capture_read_duration_max_s": 0.05007337965071201,
+    "leadthrough_capture_read_duration_median_s": 0.003998517990112305,
+    "leadthrough_capture_read_duration_p95_s": 0.004279229696840048,
+    "leadthrough_capture_read_duration_p99_s": 0.004512148685753347,
+    "leadthrough_capture_read_duration_warn_count": 3725,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 10,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0032908618450164795,
+      0.0027371980249881744,
+      0.0021891221404075623,
+      0.002537064254283905,
+      0.0031974315643310547,
+      0.006142515689134598
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006142515689134598,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0021078495774418116,
+      0.0015999256866052747,
+      0.0015112480614334345,
+      0.000803631148301065,
+      0.0013131796149536967,
+      0.004060917068272829
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007699379348196089,
+      0.000637384713627398,
+      0.0006040602456778288,
+      0.00034800329012796283,
+      0.0005065416335128248,
+      0.0013608608860522509
+    ],
+    "leadthrough_delta_samples": 6910,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006142515689134598,
+    "leadthrough_delta_worst_from_rad": -0.06614094227552414,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 25.733,
+    "leadthrough_delta_worst_to_rad": -0.05999842658638954,
+    "leadthrough_duration_s": 27.638,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6907,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.0,
+    "leadthrough_final_stillness_removed_samples": 0,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6908,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7499,
+    "leadthrough_initial_stillness_first_motion_index": 589,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.351,
+    "leadthrough_initial_stillness_removed_samples": 588,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 588,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0032908618450164795,
+      0.0027371980249881744,
+      0.0021891221404075623,
+      0.002537064254283905,
+      0.0031974315643310547,
+      0.006142515689134598
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006142515689134598,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0909636815388584,
+      0.9025459488232589,
+      0.5472805351017078,
+      0.6349639346201974,
+      1.0619958241780196,
+      2.0439103245734396
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.843591570854187,
+    "leadthrough_velocity_rms_rad_s": 0.1981763492181489,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006447490304708481,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5875028967857361,
+    "measured_wall_accel_peak_abs_rad_s2": 4.123324871063232,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 55.64788079634309,
+    "measured_wall_accel_rms_rad_s2": 0.2942832745298312,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.990263938903809,
+    "measured_wall_jerk_peak_abs_rad_s3": 59.72801208496094,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 55.71368534117937,
+    "measured_wall_jerk_rms_rad_s3": 4.861892127871036,
+    "measured_wall_smoothness_samples": 1231,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5876407027244568,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 42.880618846043944,
+    "measured_wall_velocity_rms_rad_s": 0.09575178482966705,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006447490304708481,
+    "moving_aligned_p95_error_rad": 0.002141367644071579,
+    "moving_aligned_rms_error_rad": 0.0009780489310465543,
+    "moving_aligned_samples": 919,
+    "moving_aligned_worst_joint": 3,
+    "moving_aligned_worst_time_s": 7.203,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004487872123718262,
+      0.006193280220031738,
+      0.006266534328460693,
+      0.006341969594359398,
+      0.005340933799743652,
+      0.004619956016540527
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0022606730926781893,
+      0.0024150230456143618,
+      0.001933261752128601,
+      0.0034245343413203955,
+      0.002211958169937134,
+      0.0029285571072250605
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010416123873909278,
+      0.0011277923768883682,
+      0.0009721407059666554,
+      0.0016550153783118828,
+      0.0010051943251986155,
+      0.0014649294410657362
+    ],
+    "moving_joint_lag_samples": [
+      747,
+      792,
+      681,
+      284,
+      438,
+      404
+    ],
+    "moving_joint_lag_worst_time_s": [
+      16.678,
+      7.203,
+      7.388000000000001,
+      7.388000000000001,
+      26.525000000000002,
+      4.628
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 3.3508129119873047,
+    "playback_velocity_rms_rad_s": 0.3596444307817465,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 85.27600000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 27.638,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2766,
+      5851
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4484128046253268,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08480215072631836,
+    "rapid_planner_max_dt_s": 2.5120000000000005,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00782627984881401,
+    "rapid_planner_median_dt_s": 0.10299999999999798,
+    "rapid_planner_path_max_error_rad": 0.006447490304708481,
+    "rapid_planner_path_p95_error_rad": 0.0030325688421726227,
+    "rapid_planner_path_rms_error_rad": 0.0014847427175224874,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      47,
+      63,
+      75,
+      90,
+      105,
+      123,
+      141,
+      156,
+      170,
+      185,
+      200,
+      216,
+      233,
+      245,
+      257,
+      269,
+      281,
+      296,
+      312,
+      328,
+      344,
+      363,
+      382,
+      404,
+      425,
+      446,
+      498,
+      519,
+      543,
+      578,
+      632,
+      658,
+      690,
+      711,
+      777,
+      833,
+      930,
+      957,
+      996,
+      1018,
+      1072,
+      1125,
+      1188,
+      1261,
+      1415,
+      1484,
+      1666,
+      1744,
+      1872,
+      1991,
+      2060,
+      2182,
+      2766,
+      3394,
+      3467,
+      3528,
+      3596,
+      3641,
+      3674,
+      3700,
+      3725,
+      3758,
+      3792,
+      3825,
+      3858,
+      3888,
+      3919,
+      3941,
+      3963,
+      3998,
+      4025,
+      4052,
+      4073,
+      4104,
+      4134,
+      4185,
+      4198,
+      4211,
+      4228,
+      4246,
+      4266,
+      4279,
+      4292,
+      4318,
+      4344,
+      4364,
+      4385,
+      4404,
+      4424,
+      4564,
+      4657,
+      4815,
+      4888,
+      4951,
+      5291,
+      5424,
+      5524,
+      5650,
+      5851,
+      5990,
+      6154,
+      6183,
+      6214,
+      6236,
+      6257,
+      6277,
+      6297,
+      6321,
+      6332,
+      6344,
+      6356,
+      6367,
+      6385,
+      6403,
+      6416,
+      6430,
+      6438,
+      6446,
+      6454,
+      6462,
+      6476,
+      6492,
+      6527,
+      6553,
+      6582,
+      6612,
+      6672,
+      6741,
+      6764,
+      6786,
+      6803,
+      6862,
+      6910
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.858805330250311,
+    "rapid_planner_selected_samples": 134,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6911,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 134,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006447490304708481,
+    "raw_replay_rms_error_rad": 0.0008572236863193168,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9743586789180124,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.024223841928175,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9825741802114736,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0028373511157436,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0178512989890132,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.991988964112125,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009702742099761963,
+      0.0004942715167999268,
+      0.0008344054222106934,
+      0.004907563328742981,
+      0.005163311958312988,
+      0.00866197794675827
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9925895648582496,
+    "replay_smoothing_max_deviation_rad": 0.00866197794675827,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0027607008814811707,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.531928062438965,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 58.85749053955078,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.299517338376588,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1436.7838134765625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16087.2177734375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1099.80393295065,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.825946569442749,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.19989556590968796,
+    "replay_smoothing_rms_deviation_rad": 0.001246235701811474,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.338799476623535,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 60.28324508666992,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.224594724060393,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1440.8604736328125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16374.3955078125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1090.9933641741563,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.843591570854187,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1981763492181489,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.009663481783491,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9913994255764742,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 27.153000000000002,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00866197794675827,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006447490304708481,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03446406126022339,
+    "stage_planned_to_measured_rms_error_rad": 0.005686384201678913,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1231,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8484216928482056,
+    "target_wall_accel_peak_abs_rad_s2": 4.74062967300415,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 40.43339041993022,
+    "target_wall_accel_rms_rad_s2": 0.397229988168236,
+    "target_wall_jerk_p95_abs_rad_s3": 18.126590728759766,
+    "target_wall_jerk_peak_abs_rad_s3": 98.3527603149414,
+    "target_wall_jerk_peak_joint": 2,
+    "target_wall_jerk_peak_time_s": 9.933389007113874,
+    "target_wall_jerk_rms_rad_s3": 8.683530894270607,
+    "target_wall_smoothness_samples": 1231,
+    "target_wall_velocity_peak_abs_rad_s": 0.5565767288208008,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 27.700057432055473,
+    "target_wall_velocity_rms_rad_s": 0.0967881742396643,
+    "tcp_pose_count": 1231,
+    "timestamp_count": 1231,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.300000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.7199999999999989,
+    "window_lag_best_lag_p95_abs_s": 0.2999999999999975,
+    "window_lag_count": 33,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.300000000000003,
+    "window_lag_worst_end_s": 24.0,
+    "window_lag_worst_max_error_rad": 0.026429414749145508,
+    "window_lag_worst_rms_error_rad": 0.0022362383300616965,
+    "window_lag_worst_start_s": 23.0,
+    "zero_lag_max_error_rad": 0.006447490304708481,
+    "zero_lag_p95_error_rad": 0.00191594660282135,
+    "zero_lag_rms_error_rad": 0.0008572236863193168,
+    "zero_lag_samples": 1231,
+    "zero_lag_worst_joint": 3,
+    "zero_lag_worst_time_s": 7.203
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115555.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f3740f504e6b6b44edd614030f57a313f12a8989d66ea198b3adf3f215c681
+size 125911

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115752.json

@@ -0,0 +1,672 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T11:57:53",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115752.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1186,
+    "actual_playback_duration_s": 39.54758425988257,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.007204338908195496,
+    "aligned_p95_error_rad": 0.002282857894897461,
+    "aligned_rms_error_rad": 0.001072797586345564,
+    "aligned_samples": 1186,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 24.549,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115752.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115752.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1186,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1186,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5557052932568571,
+    "image_frame_counts": {
+      "cam_scene": 1186,
+      "cam_wrist": 1186
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.006565475836396217,
+      0.0070533715188503265,
+      0.006471961736679077,
+      0.006475392729043961,
+      0.006669819355010986,
+      0.007204338908195496
+    ],
+    "joint_lag_p95_error_rad": [
+      0.00235001090914011,
+      0.0021363645792007446,
+      0.0019163265824317932,
+      0.002239696215838194,
+      0.0025032609701156616,
+      0.0022941231727600098
+    ],
+    "joint_lag_rms_error_rad": [
+      0.001106696664014995,
+      0.0010861295125858704,
+      0.0010363936423721935,
+      0.0010389354790855574,
+      0.0011093330647356846,
+      0.0010567850222221941
+    ],
+    "joint_lag_samples": [
+      1186,
+      1186,
+      1186,
+      1186,
+      1186,
+      1186
+    ],
+    "joint_lag_worst_time_s": [
+      24.605,
+      24.549,
+      14.071,
+      15.53,
+      24.549,
+      24.549
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 42,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006058300845324993,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003988978918641806,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004270101431757212,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.00499237564392388,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3391,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.0061115603893995285,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004012066870927811,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004298063460737467,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0050558656081557286,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006116247735917568,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004013930447399616,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.0042839390225708485,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004980118684470658,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.03133377432823181,
+    "leadthrough_capture_loop_late_median_s": 0.02822402771562338,
+    "leadthrough_capture_loop_late_p95_s": 0.028517930675297974,
+    "leadthrough_capture_loop_late_p99_s": 0.029342629220336678,
+    "leadthrough_capture_loop_late_warn_count": 7080,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006091258488595486,
+    "leadthrough_capture_read_duration_median_s": 0.004002683330327272,
+    "leadthrough_capture_read_duration_p95_s": 0.004285498615354299,
+    "leadthrough_capture_read_duration_p99_s": 0.005041052559390664,
+    "leadthrough_capture_read_duration_warn_count": 3577,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 1,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0036555826663970947,
+      0.0021683573722839355,
+      0.003103971481323242,
+      0.0016903746873140335,
+      0.0024274587631225586,
+      0.006472676992416382
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006472676992416382,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0021595600992441177,
+      0.0017542876303195953,
+      0.0019970617722719908,
+      0.000708417035639286,
+      0.0016704797744750977,
+      0.004392027854919434
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008014495833776891,
+      0.0006367390742525458,
+      0.0007484180387109518,
+      0.00025922455824911594,
+      0.0005809116992168128,
+      0.0014625812182202935
+    ],
+    "leadthrough_delta_samples": 6356,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006472676992416382,
+    "leadthrough_delta_worst_from_rad": -0.06445775181055069,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 24.353,
+    "leadthrough_delta_worst_to_rad": -0.05798507481813431,
+    "leadthrough_duration_s": 25.421000000000003,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6355,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7359999999999971,
+    "leadthrough_final_stillness_removed_samples": 184,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6356,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7080,
+    "leadthrough_initial_stillness_first_motion_index": 540,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.156,
+    "leadthrough_initial_stillness_removed_samples": 539,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 539,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0036555826663970947,
+      0.0021683573722839355,
+      0.003103971481323242,
+      0.0016903746873140335,
+      0.0024274587631225586,
+      0.006472676992416382
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006472676992416382,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.2068053086598256,
+      0.7076064745584856,
+      0.8012106021245017,
+      0.5612615495919968,
+      0.8073449134826354,
+      2.0664806167283865
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.7900623083114624,
+    "leadthrough_velocity_rms_rad_s": 0.20989002786887667,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.007204338908195496,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4518478512763977,
+    "measured_wall_accel_peak_abs_rad_s2": 2.6833982467651367,
+    "measured_wall_accel_peak_joint": 3,
+    "measured_wall_accel_peak_time_s": 53.43275289796293,
+    "measured_wall_accel_rms_rad_s2": 0.24042056200707018,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.668891906738281,
+    "measured_wall_jerk_peak_abs_rad_s3": 54.48379135131836,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 53.50036554597318,
+    "measured_wall_jerk_rms_rad_s3": 3.860487532623463,
+    "measured_wall_smoothness_samples": 1186,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7885087728500366,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 41.368592808023095,
+    "measured_wall_velocity_rms_rad_s": 0.09624148564992413,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.007204338908195496,
+    "moving_aligned_p95_error_rad": 0.0025748154148459435,
+    "moving_aligned_rms_error_rad": 0.0012320612539882178,
+    "moving_aligned_samples": 883,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 24.549,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.006565475836396217,
+      0.0070533715188503265,
+      0.006471961736679077,
+      0.006475392729043961,
+      0.006669819355010986,
+      0.007204338908195496
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0027856796514242887,
+      0.002268468029797077,
+      0.0023832654114812613,
+      0.004572253208607435,
+      0.0037305348087102175,
+      0.0030215622391551733
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.00139507658506755,
+      0.0011973057796634068,
+      0.0012825888845180843,
+      0.0019163839873097286,
+      0.001639879798392342,
+      0.0016643190159428064
+    ],
+    "moving_joint_lag_samples": [
+      684,
+      755,
+      657,
+      270,
+      467,
+      434
+    ],
+    "moving_joint_lag_worst_time_s": [
+      24.605,
+      24.549,
+      14.071,
+      15.53,
+      24.549,
+      24.549
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.4774019718170166,
+    "playback_velocity_rms_rad_s": 0.3991802585196411,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.84200000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.421000000000003,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2568,
+      5466
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44733214063258386,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08665227890014648,
+    "rapid_planner_max_dt_s": 2.380000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007807418704032898,
+    "rapid_planner_median_dt_s": 0.09600000000000009,
+    "rapid_planner_path_max_error_rad": 0.007204338908195496,
+    "rapid_planner_path_p95_error_rad": 0.0037792623043060303,
+    "rapid_planner_path_rms_error_rad": 0.0017632850232486882,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      27,
+      55,
+      72,
+      89,
+      100,
+      112,
+      123,
+      134,
+      146,
+      158,
+      168,
+      178,
+      190,
+      201,
+      224,
+      238,
+      253,
+      265,
+      277,
+      294,
+      310,
+      318,
+      327,
+      336,
+      344,
+      361,
+      379,
+      398,
+      415,
+      434,
+      555,
+      653,
+      694,
+      733,
+      772,
+      834,
+      869,
+      906,
+      961,
+      1173,
+      1253,
+      1315,
+      1376,
+      1406,
+      1441,
+      1536,
+      1649,
+      1720,
+      1781,
+      1849,
+      2124,
+      2568,
+      3163,
+      3291,
+      3376,
+      3418,
+      3464,
+      3502,
+      3536,
+      3560,
+      3584,
+      3619,
+      3642,
+      3666,
+      3694,
+      3721,
+      3744,
+      3767,
+      3792,
+      3818,
+      3857,
+      3915,
+      3945,
+      3970,
+      3989,
+      4006,
+      4023,
+      4034,
+      4045,
+      4056,
+      4067,
+      4088,
+      4110,
+      4134,
+      4159,
+      4209,
+      4289,
+      4426,
+      4906,
+      5007,
+      5466,
+      5758,
+      5805,
+      5847,
+      5880,
+      5903,
+      5931,
+      5954,
+      5978,
+      6001,
+      6019,
+      6037,
+      6050,
+      6063,
+      6074,
+      6084,
+      6094,
+      6104,
+      6114,
+      6125,
+      6171,
+      6199,
+      6227,
+      6249,
+      6295,
+      6356
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.964809866168909,
+    "rapid_planner_selected_samples": 117,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6357,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 117,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.007204338908195496,
+    "raw_replay_rms_error_rad": 0.001072797586345564,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9808117186793128,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9097418825050061,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9806455286155946,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9856559762620877,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9680986944838726,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9914997481035656,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0006303004920482635,
+      0.0005136430263519287,
+      0.0007314607501029968,
+      0.003448277711868286,
+      0.00237119197845459,
+      0.007686737924814224
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8808352894532807,
+    "replay_smoothing_max_deviation_rad": 0.007686737924814224,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019469729159027338,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.20159387588501,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 48.94422912597656,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.9212036257873426,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 893.38232421875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13727.7333984375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 743.0355590514861,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.852519154548645,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2108564558253038,
+    "replay_smoothing_rms_deviation_rad": 0.0009192028398293447,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.1017842292785645,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.526615142822266,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 2.8646652738040204,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 880.567626953125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13289.80078125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 736.7195696315405,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7900623083114624,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20989002786887667,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9662854518487287,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9954166546495128,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 24.445,
+    "replay_smoothing_wrist_max_deviation_rad": 0.007686737924814224,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.007204338908195496,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.04595261812210083,
+    "stage_planned_to_measured_rms_error_rad": 0.00570816371627308,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1186,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7671680450439453,
+    "target_wall_accel_peak_abs_rad_s2": 3.4257006645202637,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.26673480682075024,
+    "target_wall_accel_rms_rad_s2": 0.3713409941358545,
+    "target_wall_jerk_p95_abs_rad_s3": 17.171045303344727,
+    "target_wall_jerk_peak_abs_rad_s3": 81.68649291992188,
+    "target_wall_jerk_peak_joint": 3,
+    "target_wall_jerk_peak_time_s": 28.50005562417209,
+    "target_wall_jerk_rms_rad_s3": 8.330212196586148,
+    "target_wall_smoothness_samples": 1186,
+    "target_wall_velocity_peak_abs_rad_s": 0.8046777844429016,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 27.200054465793073,
+    "target_wall_velocity_rms_rad_s": 0.09737700097273606,
+    "tcp_pose_count": 1186,
+    "timestamp_count": 1186,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.9500000000000037,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.8785000000000034,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.8200000000000034,
+    "window_lag_worst_end_s": 10.5,
+    "window_lag_worst_max_error_rad": 0.003192812204360962,
+    "window_lag_worst_rms_error_rad": 0.002019539620787115,
+    "window_lag_worst_start_s": 9.5,
+    "zero_lag_max_error_rad": 0.007204338908195496,
+    "zero_lag_p95_error_rad": 0.002282857894897461,
+    "zero_lag_rms_error_rad": 0.001072797586345564,
+    "zero_lag_samples": 1186,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 24.549
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_115752.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0322bc0daeb9a8f6ceae3d7df535a0500e98f13e205599bbdb9994a49648383d
+size 122129

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120020.json

@@ -0,0 +1,683 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:00:21",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120020.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1186,
+    "actual_playback_duration_s": 39.54834348615259,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006809741258621216,
+    "aligned_p95_error_rad": 0.0020932182669639587,
+    "aligned_rms_error_rad": 0.0008920765653098405,
+    "aligned_samples": 1186,
+    "aligned_worst_joint": 3,
+    "aligned_worst_time_s": 3.487,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120020.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120020.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1186,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1186,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4354073564950853,
+    "image_frame_counts": {
+      "cam_scene": 1186,
+      "cam_wrist": 1186
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004592329263687134,
+      0.004169285297393799,
+      0.006476365029811859,
+      0.006809741258621216,
+      0.0065691471099853516,
+      0.004521608352661133
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0020129727199673653,
+      0.002259284257888794,
+      0.0018358975648880005,
+      0.0014167435001581907,
+      0.002143546938896179,
+      0.0024226736277341843
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008412658236187736,
+      0.0009153733275102817,
+      0.0008738678925954685,
+      0.0007385865094179279,
+      0.0009691604063706654,
+      0.0009903232081819734
+    ],
+    "joint_lag_samples": [
+      1186,
+      1186,
+      1186,
+      1186,
+      1186,
+      1186
+    ],
+    "joint_lag_worst_time_s": [
+      4.899000000000001,
+      6.927,
+      3.487,
+      3.487,
+      3.4589999999999996,
+      4.899000000000001
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 27,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006510925479233265,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003995057195425034,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004217766784131527,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004700605645775795,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3833,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006576978601515293,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004020306281745434,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004246401228010654,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004755944022908813,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006566067226231098,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004018967505544424,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004231577273458242,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004707448463886978,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.014695046469569206,
+    "leadthrough_capture_loop_late_median_s": 0.01027602143585682,
+    "leadthrough_capture_loop_late_p95_s": 0.010517712868750095,
+    "leadthrough_capture_loop_late_p99_s": 0.01113855630159378,
+    "leadthrough_capture_loop_late_warn_count": 7909,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.00655191857367754,
+    "leadthrough_capture_read_duration_median_s": 0.004009248688817024,
+    "leadthrough_capture_read_duration_p95_s": 0.00423358716070652,
+    "leadthrough_capture_read_duration_p99_s": 0.004744247756898405,
+    "leadthrough_capture_read_duration_warn_count": 4165,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 40,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003172636032104492,
+      0.00276755727827549,
+      0.002128399908542633,
+      0.0015321820974349976,
+      0.002194344997406006,
+      0.006494283676147461
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006494283676147461,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.001808814937248826,
+      0.0016939254710450768,
+      0.0017439574003219604,
+      0.0007032350404188037,
+      0.0011688233353197575,
+      0.0044783721677958965
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006997814052738249,
+      0.0006594985607080162,
+      0.0006623017834499478,
+      0.00026857611373998225,
+      0.0004910111892968416,
+      0.0014168506022542715
+    ],
+    "leadthrough_delta_samples": 6889,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006494283676147461,
+    "leadthrough_delta_worst_from_rad": -1.042401671409607,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.2309999999999999,
+    "leadthrough_delta_worst_to_rad": -1.0488959550857544,
+    "leadthrough_duration_s": 27.552,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6888,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.6400000000000006,
+    "leadthrough_final_stillness_removed_samples": 160,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6889,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7909,
+    "leadthrough_initial_stillness_first_motion_index": 860,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.436,
+    "leadthrough_initial_stillness_removed_samples": 859,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 859,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0040000000000000036,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003172636032104492,
+      0.00276755727827549,
+      0.002128399908542633,
+      0.0015321820974349976,
+      0.002194344997406006,
+      0.006494283676147461
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006494283676147461,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0524789492288826,
+      0.9225190927584617,
+      0.7070687909920742,
+      0.5029365420341301,
+      0.7288455963134489,
+      2.0676751931507598
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8234467506408691,
+    "leadthrough_velocity_rms_rad_s": 0.20036190955386682,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006809741258621216,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5620439052581787,
+    "measured_wall_accel_peak_abs_rad_s2": 3.550123453140259,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 25.62220460176468,
+    "measured_wall_accel_rms_rad_s2": 0.28489003149579256,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.94511890411377,
+    "measured_wall_jerk_peak_abs_rad_s3": 59.16946792602539,
+    "measured_wall_jerk_peak_joint": 4,
+    "measured_wall_jerk_peak_time_s": 25.55532539729029,
+    "measured_wall_jerk_rms_rad_s3": 4.61640552901449,
+    "measured_wall_smoothness_samples": 1186,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7344145774841309,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 41.423503424972296,
+    "measured_wall_velocity_rms_rad_s": 0.10149121814935062,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006809741258621216,
+    "moving_aligned_p95_error_rad": 0.0023028356954455376,
+    "moving_aligned_rms_error_rad": 0.0010132055363115365,
+    "moving_aligned_samples": 877,
+    "moving_aligned_worst_joint": 3,
+    "moving_aligned_worst_time_s": 3.487,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004592329263687134,
+      0.004097700119018555,
+      0.006476365029811859,
+      0.006809741258621216,
+      0.0065691471099853516,
+      0.00443422794342041
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0021181763149797916,
+      0.002568191150203347,
+      0.0022248434834182262,
+      0.003101494861766696,
+      0.00288826203905046,
+      0.0031306184828281403
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009965175563581721,
+      0.001092041360301681,
+      0.0010835978459834302,
+      0.0014627644158378649,
+      0.0013484938378638593,
+      0.0016489103995315528
+    ],
+    "moving_joint_lag_samples": [
+      704,
+      728,
+      642,
+      177,
+      503,
+      364
+    ],
+    "moving_joint_lag_worst_time_s": [
+      4.899000000000001,
+      6.8420000000000005,
+      3.487,
+      3.487,
+      3.4589999999999996,
+      4.939
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.8041915893554688,
+    "playback_velocity_rms_rad_s": 0.33387974845746665,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 85.104,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 27.552,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2782,
+      5969
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4639026064458579,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08705411106348038,
+    "rapid_planner_max_dt_s": 2.8920000000000012,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00809662789106369,
+    "rapid_planner_median_dt_s": 0.11899999999999977,
+    "rapid_planner_path_max_error_rad": 0.006809741258621216,
+    "rapid_planner_path_p95_error_rad": 0.0031729191541671753,
+    "rapid_planner_path_rms_error_rad": 0.001502129061286334,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      36,
+      59,
+      78,
+      102,
+      116,
+      131,
+      144,
+      158,
+      172,
+      186,
+      200,
+      214,
+      228,
+      241,
+      250,
+      260,
+      269,
+      278,
+      292,
+      305,
+      314,
+      322,
+      331,
+      340,
+      357,
+      375,
+      391,
+      406,
+      443,
+      480,
+      527,
+      549,
+      591,
+      636,
+      689,
+      733,
+      778,
+      824,
+      895,
+      937,
+      1008,
+      1048,
+      1094,
+      1150,
+      1259,
+      1313,
+      1336,
+      1449,
+      1535,
+      1901,
+      1949,
+      2035,
+      2162,
+      2322,
+      2404,
+      2782,
+      3505,
+      3602,
+      3723,
+      3786,
+      3825,
+      3857,
+      3892,
+      3917,
+      3942,
+      3974,
+      4006,
+      4048,
+      4090,
+      4116,
+      4142,
+      4172,
+      4202,
+      4240,
+      4279,
+      4320,
+      4352,
+      4367,
+      4379,
+      4393,
+      4404,
+      4416,
+      4432,
+      4440,
+      4449,
+      4456,
+      4464,
+      4478,
+      4493,
+      4507,
+      4525,
+      4562,
+      4585,
+      4644,
+      4688,
+      4726,
+      4860,
+      5149,
+      5486,
+      5582,
+      5758,
+      5969,
+      6192,
+      6251,
+      6313,
+      6359,
+      6391,
+      6419,
+      6445,
+      6475,
+      6499,
+      6522,
+      6539,
+      6551,
+      6562,
+      6573,
+      6584,
+      6595,
+      6616,
+      6642,
+      6660,
+      6688,
+      6715,
+      6745,
+      6794,
+      6844,
+      6889
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.987833153200552,
+    "rapid_planner_selected_samples": 128,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6890,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 128,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006809741258621216,
+    "raw_replay_rms_error_rad": 0.0008920765653098405,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9898992391773739,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9912541113439158,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.986677871088458,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0073272228555068,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9888288868534009,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9931584368314424,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004253201186656952,
+      0.0003437995910644531,
+      0.0005133748054504395,
+      0.0034720152616500854,
+      0.0029397010803222656,
+      0.0069922953844070435
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.801258035477497,
+    "replay_smoothing_max_deviation_rad": 0.0069922953844070435,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019182916730642319,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.859281539916992,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.986209869384766,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.8975453104078865,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1378.00146484375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16399.544921875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1002.4951633716464,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8458831310272217,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20140718415360348,
+    "replay_smoothing_rms_deviation_rad": 0.000925322925910132,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.789997577667236,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 60.45283126831055,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8456217093440563,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1388.098388671875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16216.34375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 995.6365293852658,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8234467506408691,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20036190955386682,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9878451782730866,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9948101424279906,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 26.408,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0069922953844070435,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006809741258621216,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.042943477630615234,
+    "stage_planned_to_measured_rms_error_rad": 0.006020401278499412,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1186,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8693252801895142,
+    "target_wall_accel_peak_abs_rad_s2": 4.202340126037598,
+    "target_wall_accel_peak_joint": 3,
+    "target_wall_accel_peak_time_s": 28.833391301333904,
+    "target_wall_accel_rms_rad_s2": 0.40253600394158906,
+    "target_wall_jerk_p95_abs_rad_s3": 18.06298065185547,
+    "target_wall_jerk_peak_abs_rad_s3": 95.63225555419922,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 10.43339201528579,
+    "target_wall_jerk_rms_rad_s3": 8.674049296253093,
+    "target_wall_smoothness_samples": 1186,
+    "target_wall_velocity_peak_abs_rad_s": 0.8184324502944946,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.43338844086975,
+    "target_wall_velocity_rms_rad_s": 0.10259738797975244,
+    "tcp_pose_count": 1186,
+    "timestamp_count": 1186,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.8800000000000034,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.839999999999999,
+    "window_lag_best_lag_p95_abs_s": 1.3080000000000003,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.8800000000000034,
+    "window_lag_worst_end_s": 11.5,
+    "window_lag_worst_max_error_rad": 0.005835175514221191,
+    "window_lag_worst_rms_error_rad": 0.0027648698912097823,
+    "window_lag_worst_start_s": 10.5,
+    "zero_lag_max_error_rad": 0.006809741258621216,
+    "zero_lag_p95_error_rad": 0.0020932182669639587,
+    "zero_lag_rms_error_rad": 0.0008920765653098405,
+    "zero_lag_samples": 1186,
+    "zero_lag_worst_joint": 3,
+    "zero_lag_worst_time_s": 3.487
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120020.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630da51aa9e6e96336dfdc99b29cf86753609b05e18a341b7cfbd3ced8a8a6ce
+size 122390

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120505.json

@@ -0,0 +1,681 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:05:06",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120505.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1207,
+    "actual_playback_duration_s": 40.24418648146093,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005691707134246826,
+    "aligned_p95_error_rad": 0.002014147350564599,
+    "aligned_rms_error_rad": 0.0008884405370659859,
+    "aligned_samples": 1207,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 18.882,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120505.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120505.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1207,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1207,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.52134678416289,
+    "image_frame_counts": {
+      "cam_scene": 1207,
+      "cam_wrist": 1207
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004667371511459351,
+      0.005248166620731354,
+      0.005536854267120361,
+      0.004129379987716675,
+      0.0047838687896728516,
+      0.005691707134246826
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001907763653434813,
+      0.0022855179850012064,
+      0.0019394054543226957,
+      0.0005853016627952456,
+      0.002006981987506151,
+      0.0025608178693801165
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008664497004017017,
+      0.0009997715292982248,
+      0.0008837715374080203,
+      0.0003801680089579986,
+      0.0008869910803450251,
+      0.0011284273620006805
+    ],
+    "joint_lag_samples": [
+      1207,
+      1207,
+      1207,
+      1207,
+      1207,
+      1207
+    ],
+    "joint_lag_worst_time_s": [
+      15.539000000000001,
+      24.797,
+      18.882,
+      4.8759999999999994,
+      15.539000000000001,
+      18.882
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 38,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006913919933140278,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003977102693170309,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004300047131255269,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.0051712664123624765,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3681,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.007001882418990135,
+    "leadthrough_capture_host_loop_dt_median_s": 0.0039999401196837425,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004322141595184803,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005202563814818896,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0069701699540019035,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004001883789896965,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004316624253988266,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005153843425214293,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.03827069792896509,
+    "leadthrough_capture_loop_late_median_s": 0.03507805708795786,
+    "leadthrough_capture_loop_late_p95_s": 0.03540516821667552,
+    "leadthrough_capture_loop_late_p99_s": 0.03638612814247609,
+    "leadthrough_capture_loop_late_warn_count": 8358,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006975023075938225,
+    "leadthrough_capture_read_duration_median_s": 0.003990409430116415,
+    "leadthrough_capture_read_duration_p95_s": 0.004312778264284134,
+    "leadthrough_capture_read_duration_p99_s": 0.005188916781917236,
+    "leadthrough_capture_read_duration_warn_count": 3972,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 22,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0035940706729888916,
+      0.002515489235520363,
+      0.002290189266204834,
+      0.0009557418525218964,
+      0.002759397029876709,
+      0.005975320935249329
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005975320935249329,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019434629939496517,
+      0.0016702115535736084,
+      0.0017350376583635807,
+      0.000379751727450639,
+      0.0015158357564359903,
+      0.004367820452898741
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007574529154226184,
+      0.0006459436845034361,
+      0.000703844940289855,
+      0.0001601240219315514,
+      0.000598209269810468,
+      0.0014313125284388661
+    ],
+    "leadthrough_delta_samples": 6614,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005975320935249329,
+    "leadthrough_delta_worst_from_rad": -0.2164662629365921,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 25.186,
+    "leadthrough_delta_worst_to_rad": -0.21049094200134277,
+    "leadthrough_duration_s": 26.453,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6613,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.9480000000000004,
+    "leadthrough_final_stillness_removed_samples": 237,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6614,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 8358,
+    "leadthrough_initial_stillness_first_motion_index": 1507,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 6.023,
+    "leadthrough_initial_stillness_removed_samples": 1506,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1506,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0035940706729888916,
+      0.002515489235520363,
+      0.002290189266204834,
+      0.0009557418525218964,
+      0.002759397029876709,
+      0.005975320935249329
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005975320935249329,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.181781291961625,
+      0.8298410102724715,
+      0.7605950037638058,
+      0.2389354631305004,
+      0.9197990099588681,
+      1.9867867231368266
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8001599311828613,
+    "leadthrough_velocity_rms_rad_s": 0.2044402658561562,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005691707134246826,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5241487622261047,
+    "measured_wall_accel_peak_abs_rad_s2": 3.185011148452759,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 23.137228642590344,
+    "measured_wall_accel_rms_rad_s2": 0.2672479258869413,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.344184875488281,
+    "measured_wall_jerk_peak_abs_rad_s3": 49.67527389526367,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 54.93543442711234,
+    "measured_wall_jerk_rms_rad_s3": 4.168227715838188,
+    "measured_wall_smoothness_samples": 1207,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5866225361824036,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 42.40241705533117,
+    "measured_wall_velocity_rms_rad_s": 0.09908634058541699,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005691707134246826,
+    "moving_aligned_p95_error_rad": 0.0022711842320859432,
+    "moving_aligned_rms_error_rad": 0.0010230512240968328,
+    "moving_aligned_samples": 898,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 18.882,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004667371511459351,
+      0.005248166620731354,
+      0.005536854267120361,
+      0.004129379987716675,
+      0.00444185733795166,
+      0.00528717041015625
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0022479170002043247,
+      0.0029347334057092667,
+      0.002271497156471014,
+      0.0022190934978425503,
+      0.002404618076980114,
+      0.003682983573526144
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010886764340715975,
+      0.001225707428369736,
+      0.0011164676333127127,
+      0.0010098175691344543,
+      0.0011232554163882306,
+      0.00168440558231792
+    ],
+    "moving_joint_lag_samples": [
+      723,
+      751,
+      677,
+      116,
+      533,
+      403
+    ],
+    "moving_joint_lag_worst_time_s": [
+      15.539000000000001,
+      24.797,
+      18.882,
+      4.8759999999999994,
+      15.510000000000002,
+      24.802
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 3.1605777740478516,
+    "playback_velocity_rms_rad_s": 0.36647295570157873,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.906,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.453,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2994,
+      5795
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4232949973960165,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08431863784790039,
+    "rapid_planner_max_dt_s": 2.636000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007387891411781311,
+    "rapid_planner_median_dt_s": 0.10400000000000009,
+    "rapid_planner_path_max_error_rad": 0.005691707134246826,
+    "rapid_planner_path_p95_error_rad": 0.003334224224090576,
+    "rapid_planner_path_rms_error_rad": 0.0015136902527481313,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      46,
+      59,
+      72,
+      90,
+      99,
+      108,
+      116,
+      125,
+      140,
+      154,
+      168,
+      183,
+      194,
+      204,
+      214,
+      224,
+      233,
+      242,
+      261,
+      275,
+      289,
+      316,
+      342,
+      356,
+      369,
+      386,
+      402,
+      419,
+      436,
+      460,
+      479,
+      522,
+      611,
+      649,
+      676,
+      702,
+      729,
+      759,
+      802,
+      877,
+      923,
+      1003,
+      1029,
+      1064,
+      1098,
+      1119,
+      1157,
+      1179,
+      1231,
+      1273,
+      1291,
+      1412,
+      1503,
+      1578,
+      1691,
+      1768,
+      1838,
+      1977,
+      2046,
+      2335,
+      2994,
+      3651,
+      3695,
+      3757,
+      3792,
+      3855,
+      3927,
+      3969,
+      4011,
+      4044,
+      4077,
+      4102,
+      4128,
+      4153,
+      4178,
+      4217,
+      4256,
+      4286,
+      4317,
+      4346,
+      4375,
+      4423,
+      4453,
+      4477,
+      4499,
+      4516,
+      4533,
+      4544,
+      4554,
+      4564,
+      4575,
+      4591,
+      4607,
+      4632,
+      4658,
+      4699,
+      4838,
+      4961,
+      5390,
+      5611,
+      5795,
+      6003,
+      6045,
+      6081,
+      6108,
+      6134,
+      6156,
+      6184,
+      6213,
+      6237,
+      6255,
+      6266,
+      6276,
+      6287,
+      6298,
+      6309,
+      6320,
+      6336,
+      6348,
+      6378,
+      6409,
+      6450,
+      6475,
+      6555,
+      6614
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.831102082976739,
+    "rapid_planner_selected_samples": 126,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6615,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 126,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005691707134246826,
+    "raw_replay_rms_error_rad": 0.0008884405370659859,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9546553629308887,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0196560094790557,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9826263797224317,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9930610666829457,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0081847556559411,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9923556224033567,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.000505717471241951,
+      0.0003876984119415283,
+      0.0009088814258575439,
+      0.0015972498804330826,
+      0.0031870007514953613,
+      0.007183432579040527
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8231607447681017,
+    "replay_smoothing_max_deviation_rad": 0.007183432579040527,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019076928729191422,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.745352745056152,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 58.02136993408203,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.278520603640819,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 917.8319091796875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15732.73046875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 828.6556721230639,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7746862173080444,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20546803353092483,
+    "replay_smoothing_rms_deviation_rad": 0.0009661739717634924,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.484831809997559,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.16183853149414,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2215608316009794,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 911.463134765625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15861.4990234375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 822.321115267755,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8001599311828613,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2044402658561562,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0143539255708296,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9949979193497566,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 5.1,
+    "replay_smoothing_wrist_max_deviation_rad": 0.007183432579040527,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.005691707134246826,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03400850296020508,
+    "stage_planned_to_measured_rms_error_rad": 0.005883726271074778,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1207,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8280355930328369,
+    "target_wall_accel_peak_abs_rad_s2": 3.3105781078338623,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 9.500150906853378,
+    "target_wall_accel_rms_rad_s2": 0.38119586857784404,
+    "target_wall_jerk_p95_abs_rad_s3": 17.897058486938477,
+    "target_wall_jerk_peak_abs_rad_s3": 79.93367767333984,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 9.333387922495604,
+    "target_wall_jerk_rms_rad_s3": 8.280595073769744,
+    "target_wall_smoothness_samples": 1207,
+    "target_wall_velocity_peak_abs_rad_s": 0.6597775816917419,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 2.5000744154676795,
+    "target_wall_velocity_rms_rad_s": 0.1001685825945103,
+    "tcp_pose_count": 1207,
+    "timestamp_count": 1207,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 0.530000000000002,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.38999999999999857,
+    "window_lag_best_lag_p95_abs_s": 0.17549999999999907,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 19.5,
+    "window_lag_worst_max_error_rad": 0.005691707134246826,
+    "window_lag_worst_rms_error_rad": 0.0015618244071380052,
+    "window_lag_worst_start_s": 18.5,
+    "zero_lag_max_error_rad": 0.005691707134246826,
+    "zero_lag_p95_error_rad": 0.002014147350564599,
+    "zero_lag_rms_error_rad": 0.0008884405370659859,
+    "zero_lag_samples": 1207,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 18.882
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120505.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6653bbb76f586d712cfe4198c137c4cb77116b77fb088af9dd804694dea19eb5
+size 125671

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120720.json

@@ -0,0 +1,684 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:07:21",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120720.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1215,
+    "actual_playback_duration_s": 40.512476603500545,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006755232810974121,
+    "aligned_p95_error_rad": 0.0023489121813327074,
+    "aligned_rms_error_rad": 0.0009919599038684182,
+    "aligned_samples": 1215,
+    "aligned_worst_joint": 2,
+    "aligned_worst_time_s": 20.485,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120720.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120720.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1215,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1215,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.2173220133263387,
+    "image_frame_counts": {
+      "cam_scene": 1215,
+      "cam_wrist": 1215
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004269987344741821,
+      0.005811326205730438,
+      0.006755232810974121,
+      0.005800243467092514,
+      0.005335092544555664,
+      0.0065705180168151855
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0020005088299512863,
+      0.002320237923413515,
+      0.0026192122604697943,
+      0.0019827678333967924,
+      0.0020803685765713453,
+      0.0028016739524900913
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008881359124151497,
+      0.001005505740519037,
+      0.0011667162610828105,
+      0.0007804843325300407,
+      0.000858281004335748,
+      0.0011819689516032665
+    ],
+    "joint_lag_samples": [
+      1215,
+      1215,
+      1215,
+      1215,
+      1215,
+      1215
+    ],
+    "joint_lag_worst_time_s": [
+      31.688,
+      20.585,
+      20.485,
+      5.019,
+      4.991,
+      20.485
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 7,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006722033955156803,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003976146690547466,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.00430568503215909,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005242355950176708,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3986,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.006810864433646202,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004002429079264402,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004334538709372282,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005283205630257724,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006856848485767841,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004002262372523546,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004322608932852745,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0052472254727035685,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.016986723989248276,
+    "leadthrough_capture_loop_late_median_s": 0.010838613845407963,
+    "leadthrough_capture_loop_late_p95_s": 0.01117635304108262,
+    "leadthrough_capture_loop_late_p99_s": 0.012272712066769598,
+    "leadthrough_capture_loop_late_warn_count": 9187,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006777911446988583,
+    "leadthrough_capture_read_duration_median_s": 0.003991360776126385,
+    "leadthrough_capture_read_duration_p95_s": 0.004321502521634102,
+    "leadthrough_capture_read_duration_p99_s": 0.0052696652151644225,
+    "leadthrough_capture_read_duration_warn_count": 4372,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 16,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0028478503227233887,
+      0.002625744789838791,
+      0.002194315195083618,
+      0.0017083510756492615,
+      0.0023860931396484375,
+      0.005622401833534241
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005622401833534241,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0017017647624015808,
+      0.001400962471961975,
+      0.0016534030437469482,
+      0.0006825029850006104,
+      0.0011186599731445312,
+      0.0031206905841827393
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005928309401497245,
+      0.0005932085332460701,
+      0.0006156847812235355,
+      0.00026257752324454486,
+      0.00044253794476389885,
+      0.0011717455927282572
+    ],
+    "leadthrough_delta_samples": 8321,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005622401833534241,
+    "leadthrough_delta_worst_from_rad": -0.17659175395965576,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.46399999999999997,
+    "leadthrough_delta_worst_to_rad": -0.18221415579319,
+    "leadthrough_duration_s": 33.279999999999994,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 8320,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.9520000000000053,
+    "leadthrough_final_stillness_removed_samples": 238,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 8321,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 9187,
+    "leadthrough_initial_stillness_first_motion_index": 628,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.508,
+    "leadthrough_initial_stillness_removed_samples": 627,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 627,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.004000000000000448,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0028478503227233887,
+      0.002625744789838791,
+      0.002194315195083618,
+      0.0017083510756492615,
+      0.0023860931396484375,
+      0.005622401833534241
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005622401833534241,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7119625806812417,
+      0.6564361974600615,
+      0.7294416427612028,
+      0.47058115402855677,
+      0.7819732030232451,
+      1.8711388111113794
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.6774563789367676,
+    "leadthrough_velocity_rms_rad_s": 0.1716684466862964,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006755232810974121,
+    "measured_wall_accel_p95_abs_rad_s2": 0.624591588973999,
+    "measured_wall_accel_peak_abs_rad_s2": 3.436319589614868,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 22.98229531571269,
+    "measured_wall_accel_rms_rad_s2": 0.31162597786009744,
+    "measured_wall_jerk_p95_abs_rad_s3": 10.02786922454834,
+    "measured_wall_jerk_peak_abs_rad_s3": 73.9156265258789,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 23.05626771505922,
+    "measured_wall_jerk_rms_rad_s3": 4.981899772368784,
+    "measured_wall_smoothness_samples": 1215,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6481968760490417,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 14.849319130182266,
+    "measured_wall_velocity_rms_rad_s": 0.09827541437522927,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006755232810974121,
+    "moving_aligned_p95_error_rad": 0.00262447283603251,
+    "moving_aligned_rms_error_rad": 0.0011443657961131169,
+    "moving_aligned_samples": 903,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 20.485,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004269987344741821,
+      0.005811326205730438,
+      0.006755232810974121,
+      0.005800243467092514,
+      0.005335092544555664,
+      0.0065705180168151855
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0025461448822170496,
+      0.0026117530651390553,
+      0.003174286801367998,
+      0.0031521820928901434,
+      0.003226950764656067,
+      0.0034066487569361925
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0011353272107661732,
+      0.001222182133616856,
+      0.0015032662904042235,
+      0.0016708727118834696,
+      0.0015219392456740127,
+      0.001686527667028964
+    ],
+    "moving_joint_lag_samples": [
+      678,
+      759,
+      665,
+      186,
+      326,
+      497
+    ],
+    "moving_joint_lag_worst_time_s": [
+      31.688,
+      20.585,
+      20.485,
+      5.019,
+      4.991,
+      20.485
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.6906311511993408,
+    "playback_velocity_rms_rad_s": 0.30087203351583275,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 96.55999999999999,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 33.279999999999994,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3209,
+      7378
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4470017302314845,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08678853511810303,
+    "rapid_planner_max_dt_s": 2.5919999999999987,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007801651954650879,
+    "rapid_planner_median_dt_s": 0.13149999999999817,
+    "rapid_planner_path_max_error_rad": 0.006755232810974121,
+    "rapid_planner_path_p95_error_rad": 0.0034623831510543807,
+    "rapid_planner_path_rms_error_rad": 0.0016688719583704758,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      37,
+      53,
+      68,
+      80,
+      91,
+      100,
+      108,
+      116,
+      124,
+      137,
+      150,
+      160,
+      170,
+      193,
+      216,
+      239,
+      254,
+      269,
+      282,
+      295,
+      316,
+      327,
+      338,
+      356,
+      364,
+      373,
+      387,
+      401,
+      413,
+      425,
+      454,
+      482,
+      529,
+      597,
+      677,
+      719,
+      920,
+      986,
+      1012,
+      1194,
+      1227,
+      1270,
+      1321,
+      1370,
+      1422,
+      1475,
+      1525,
+      1574,
+      1624,
+      1671,
+      1693,
+      1843,
+      1915,
+      2262,
+      2469,
+      2557,
+      2878,
+      3209,
+      3793,
+      3856,
+      3942,
+      3973,
+      4020,
+      4063,
+      4131,
+      4202,
+      4250,
+      4278,
+      4332,
+      4356,
+      4382,
+      4409,
+      4440,
+      4501,
+      4593,
+      4640,
+      4689,
+      4736,
+      4774,
+      4813,
+      4844,
+      4874,
+      4910,
+      4936,
+      4962,
+      4982,
+      5001,
+      5034,
+      5063,
+      5100,
+      5185,
+      5277,
+      5343,
+      5407,
+      5470,
+      5590,
+      5691,
+      5937,
+      6087,
+      6545,
+      6730,
+      7378,
+      7648,
+      7690,
+      7724,
+      7754,
+      7783,
+      7810,
+      7834,
+      7852,
+      7880,
+      7907,
+      7934,
+      7960,
+      7973,
+      7986,
+      7998,
+      8011,
+      8024,
+      8036,
+      8060,
+      8100,
+      8139,
+      8173,
+      8210,
+      8249,
+      8289,
+      8321
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.972616772390233,
+    "rapid_planner_selected_samples": 129,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 8322,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 129,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006755232810974121,
+    "raw_replay_rms_error_rad": 0.0009919599038684182,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.964941907245678,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9841869001929723,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9893842389952139,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9884153490794402,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9972721611195107,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9972837684940508,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004871487617492676,
+      0.0006019473075866699,
+      0.0008265972137451172,
+      0.003423333168029785,
+      0.003187417984008789,
+      0.0050078630447387695
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.5738588381314523,
+    "replay_smoothing_max_deviation_rad": 0.0050078630447387695,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001930773607455194,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.478770732879639,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 55.7796745300293,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.2876316708700046,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 939.5587768554688,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14906.345703125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 839.1950569680148,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.67142915725708,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.17268091817205916,
+    "replay_smoothing_rms_deviation_rad": 0.00085160918565603,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.28669548034668,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.89762496948242,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.252730958780283,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 928.67431640625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14865.68359375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 836.9156089146414,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6774563789367676,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1716684466862964,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0036060288008728,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9941367494655435,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 6.691,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0050078630447387695,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006755232810974121,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.03774862736463547,
+    "stage_planned_to_measured_rms_error_rad": 0.005832700617313616,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1215,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.834928572177887,
+    "target_wall_accel_peak_abs_rad_s2": 3.7499845027923584,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.2667227201163769,
+    "target_wall_accel_rms_rad_s2": 0.3913035214288282,
+    "target_wall_jerk_p95_abs_rad_s3": 17.28878402709961,
+    "target_wall_jerk_peak_abs_rad_s3": 71.7403793334961,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 3.633481279015541,
+    "target_wall_jerk_rms_rad_s3": 7.943398825772337,
+    "target_wall_smoothness_samples": 1215,
+    "target_wall_velocity_peak_abs_rad_s": 0.6294421553611755,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 0.40007517393678427,
+    "target_wall_velocity_rms_rad_s": 0.09941363880953666,
+    "tcp_pose_count": 1215,
+    "timestamp_count": 1215,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.400000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.1099999999999992,
+    "window_lag_best_lag_p95_abs_s": 1.1534999999999993,
+    "window_lag_count": 38,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": -0.7299999999999989,
+    "window_lag_worst_end_s": 30.5,
+    "window_lag_worst_max_error_rad": 0.016586989164352417,
+    "window_lag_worst_rms_error_rad": 0.005509360351771672,
+    "window_lag_worst_start_s": 29.5,
+    "zero_lag_max_error_rad": 0.006755232810974121,
+    "zero_lag_p95_error_rad": 0.0023489121813327074,
+    "zero_lag_rms_error_rad": 0.0009919599038684182,
+    "zero_lag_samples": 1215,
+    "zero_lag_worst_joint": 2,
+    "zero_lag_worst_time_s": 20.485
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120720.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460cd8452f97f29420fe1a8653f997bf02793ed37e1e5608cf5e45d0b95621fc
+size 126488

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120944.json

@@ -0,0 +1,693 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:09:45",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120944.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1213,
+    "actual_playback_duration_s": 40.449459532275796,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006106525659561157,
+    "aligned_p95_error_rad": 0.002033775672316551,
+    "aligned_rms_error_rad": 0.0008901785895942227,
+    "aligned_samples": 1213,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 26.685,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120944.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120944.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1213,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1213,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4228238605746173,
+    "image_frame_counts": {
+      "cam_scene": 1213,
+      "cam_wrist": 1213
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.006004035472869873,
+      0.004573822021484375,
+      0.005981549620628357,
+      0.00439554825425148,
+      0.004614412784576416,
+      0.006106525659561157
+    ],
+    "joint_lag_p95_error_rad": [
+      0.002232379512861371,
+      0.0016964555252343416,
+      0.0017871744930744171,
+      0.0011853619944304228,
+      0.002061128616333008,
+      0.002645728178322315
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0010119580633447564,
+      0.0007540960595745436,
+      0.0008920199795350427,
+      0.0006400073289835875,
+      0.0008713687839412552,
+      0.001094164044614777
+    ],
+    "joint_lag_samples": [
+      1213,
+      1213,
+      1213,
+      1213,
+      1213,
+      1213
+    ],
+    "joint_lag_worst_time_s": [
+      4.731999999999999,
+      21.102,
+      4.688000000000001,
+      14.699,
+      21.102,
+      26.685
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 39,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.0056029558181762695,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003995219245553017,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.00421780114993453,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004450650624930857,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3877,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.005679536610841751,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004019500687718391,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004245616868138314,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004478466622531413,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0056556835770606995,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004019877873361111,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004234766587615013,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004439596235752104,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.016898827627301216,
+    "leadthrough_capture_loop_late_median_s": 0.013529188465327024,
+    "leadthrough_capture_loop_late_p95_s": 0.013770915335044265,
+    "leadthrough_capture_loop_late_p99_s": 0.014031613506376743,
+    "leadthrough_capture_loop_late_warn_count": 7970,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005655852146446705,
+    "leadthrough_capture_read_duration_median_s": 0.004009298048913479,
+    "leadthrough_capture_read_duration_p95_s": 0.0042332644574344155,
+    "leadthrough_capture_read_duration_p99_s": 0.004473041268065571,
+    "leadthrough_capture_read_duration_warn_count": 4186,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 0,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0029960572719573975,
+      0.002396445721387863,
+      0.0024351924657821655,
+      0.002043910324573517,
+      0.0028798580169677734,
+      0.005954951047897339
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005954951047897339,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0019265046576038003,
+      0.0015748455189168453,
+      0.0017646970227360725,
+      0.0006335462094284594,
+      0.0011715766740962863,
+      0.0036673066206276417
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0007127316785044968,
+      0.0006116100121289492,
+      0.000650247442536056,
+      0.00027747018611989915,
+      0.00047594672651030123,
+      0.0013035065494477749
+    ],
+    "leadthrough_delta_samples": 7108,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005954951047897339,
+    "leadthrough_delta_worst_from_rad": -0.34285131096839905,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.6240000000000001,
+    "leadthrough_delta_worst_to_rad": -0.3488062620162964,
+    "leadthrough_duration_s": 28.429,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7107,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.2560000000000002,
+    "leadthrough_final_stillness_removed_samples": 64,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7108,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7970,
+    "leadthrough_initial_stillness_first_motion_index": 798,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.187,
+    "leadthrough_initial_stillness_removed_samples": 797,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 797,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0029960572719573975,
+      0.002396445721387863,
+      0.0024351924657821655,
+      0.002043910324573517,
+      0.0028798580169677734,
+      0.005954951047897339
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005954951047897339,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.9980201721191028,
+      0.7969513535499271,
+      0.8045434951781921,
+      0.5109775811436624,
+      0.9599526723225548,
+      1.9841889540353659
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.731792688369751,
+    "leadthrough_velocity_rms_rad_s": 0.19025526669233234,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006106525659561157,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5814117789268494,
+    "measured_wall_accel_peak_abs_rad_s2": 3.0301084518432617,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 45.12145133689046,
+    "measured_wall_accel_rms_rad_s2": 0.30322017937981105,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.775978088378906,
+    "measured_wall_jerk_peak_abs_rad_s3": 53.529014587402344,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 56.62205663602799,
+    "measured_wall_jerk_rms_rad_s3": 5.077045217151664,
+    "measured_wall_smoothness_samples": 1213,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5644444823265076,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 44.3570246854797,
+    "measured_wall_velocity_rms_rad_s": 0.09647509910465701,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006106525659561157,
+    "moving_aligned_p95_error_rad": 0.0023362860083580017,
+    "moving_aligned_rms_error_rad": 0.0010080431719553674,
+    "moving_aligned_samples": 906,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 26.685,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.006004035472869873,
+      0.004564322531223297,
+      0.005936428904533386,
+      0.00427522137761116,
+      0.004217743873596191,
+      0.006106525659561157
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.003029428655281663,
+      0.002029235241934657,
+      0.002012085635215044,
+      0.0034225513227283955,
+      0.002625018358230591,
+      0.0033428489696234465
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.001252302423213622,
+      0.0008803260363639942,
+      0.00100791684962522,
+      0.0012178899513321565,
+      0.0011762934895658108,
+      0.0016704217392495189
+    ],
+    "moving_joint_lag_samples": [
+      753,
+      744,
+      665,
+      208,
+      516,
+      460
+    ],
+    "moving_joint_lag_worst_time_s": [
+      4.731999999999999,
+      26.032999999999998,
+      4.731999999999999,
+      14.674999999999999,
+      15.823000000000002,
+      26.685
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 2.470600128173828,
+    "playback_velocity_rms_rad_s": 0.33803270350766557,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 86.858,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 28.429,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2871,
+      6050
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44838228221747334,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.0839739739894867,
+    "rapid_planner_max_dt_s": 2.5840000000000014,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00782574713230133,
+    "rapid_planner_median_dt_s": 0.10699999999999932,
+    "rapid_planner_path_max_error_rad": 0.006106525659561157,
+    "rapid_planner_path_p95_error_rad": 0.0034076154232025127,
+    "rapid_planner_path_rms_error_rad": 0.0015435034362687346,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      27,
+      46,
+      63,
+      87,
+      98,
+      108,
+      118,
+      128,
+      138,
+      149,
+      160,
+      170,
+      181,
+      192,
+      202,
+      213,
+      224,
+      235,
+      246,
+      257,
+      272,
+      288,
+      304,
+      320,
+      340,
+      361,
+      374,
+      386,
+      401,
+      421,
+      465,
+      509,
+      562,
+      616,
+      643,
+      696,
+      731,
+      751,
+      803,
+      827,
+      851,
+      877,
+      916,
+      971,
+      1016,
+      1044,
+      1071,
+      1263,
+      1286,
+      1328,
+      1352,
+      1451,
+      1574,
+      1646,
+      1719,
+      1793,
+      1978,
+      2052,
+      2223,
+      2328,
+      2510,
+      2871,
+      3517,
+      3556,
+      3613,
+      3648,
+      3715,
+      3752,
+      3784,
+      3806,
+      3829,
+      3863,
+      3897,
+      3936,
+      3976,
+      3998,
+      4020,
+      4042,
+      4063,
+      4087,
+      4111,
+      4136,
+      4160,
+      4190,
+      4220,
+      4258,
+      4293,
+      4320,
+      4348,
+      4386,
+      4450,
+      4479,
+      4509,
+      4534,
+      4558,
+      4583,
+      4608,
+      4626,
+      4644,
+      4734,
+      4789,
+      4918,
+      4969,
+      5604,
+      5780,
+      5928,
+      6050,
+      6303,
+      6338,
+      6370,
+      6397,
+      6424,
+      6444,
+      6464,
+      6495,
+      6524,
+      6536,
+      6548,
+      6558,
+      6568,
+      6578,
+      6587,
+      6606,
+      6622,
+      6656,
+      6686,
+      6704,
+      6717,
+      6730,
+      6751,
+      6772,
+      6801,
+      6838,
+      6868,
+      6898,
+      6922,
+      7108
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.81135429853894,
+    "rapid_planner_selected_samples": 138,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7109,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 138,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006106525659561157,
+    "raw_replay_rms_error_rad": 0.0008901785895942227,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9769775666017518,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9883601712161335,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9862567593938775,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9886683981190003,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9899418016832,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9938923752324273,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0009547770023345947,
+      0.0004157721996307373,
+      0.0006106346845626831,
+      0.0018960647284984589,
+      0.002868831157684326,
+      0.00831747055053711
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9531119249234138,
+    "replay_smoothing_max_deviation_rad": 0.00831747055053711,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0020156747195869684,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.448415756225586,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 57.29438400268555,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.9683123031325276,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1584.6429443359375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15500.609375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1019.1835571799589,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.771852731704712,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.1915423670135384,
+    "replay_smoothing_rms_deviation_rad": 0.0010259231213433245,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.27693510055542,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.62748718261719,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.913774832350341,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1566.6864013671875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15344.701171875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1012.9587664434238,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.731792688369751,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19025526669233234,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9773908730572552,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9932803361403846,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.6040000000000005,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00831747055053711,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.006106525659561157,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.032955706119537354,
+    "stage_planned_to_measured_rms_error_rad": 0.0057246443568291,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1213,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8551955819129944,
+    "target_wall_accel_peak_abs_rad_s2": 3.3399860858917236,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 28.733391957357526,
+    "target_wall_accel_rms_rad_s2": 0.3938305129394638,
+    "target_wall_jerk_p95_abs_rad_s3": 17.60580825805664,
+    "target_wall_jerk_peak_abs_rad_s3": 75.91905212402344,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 10.70005596242845,
+    "target_wall_jerk_rms_rad_s3": 8.363111236222117,
+    "target_wall_smoothness_samples": 1213,
+    "target_wall_velocity_peak_abs_rad_s": 0.5802736282348633,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 1.8667212203145027,
+    "target_wall_velocity_rms_rad_s": 0.09750792253897042,
+    "tcp_pose_count": 1213,
+    "timestamp_count": 1213,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.460000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.3299999999999985,
+    "window_lag_best_lag_p95_abs_s": 0.7254999999999977,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 5.0,
+    "window_lag_worst_max_error_rad": 0.006004035472869873,
+    "window_lag_worst_rms_error_rad": 0.002265691287167126,
+    "window_lag_worst_start_s": 4.0,
+    "zero_lag_max_error_rad": 0.006106525659561157,
+    "zero_lag_p95_error_rad": 0.002033775672316551,
+    "zero_lag_rms_error_rad": 0.0008901785895942227,
+    "zero_lag_samples": 1213,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 26.685
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_120944.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77ba18f6894173c4da71d3ad35736c765f87df9340ff38a3986b34f98834eb0
+size 126667

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121152.json

@@ -0,0 +1,682 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:11:53",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121152.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1199,
+    "actual_playback_duration_s": 39.97917566541582,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.004951059818267822,
+    "aligned_p95_error_rad": 0.0019758939743041992,
+    "aligned_rms_error_rad": 0.0008487678802332593,
+    "aligned_samples": 1199,
+    "aligned_worst_joint": 0,
+    "aligned_worst_time_s": 14.205999999999998,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121152.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121152.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1199,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1199,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.7267384643638328,
+    "image_frame_counts": {
+      "cam_scene": 1199,
+      "cam_wrist": 1199
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004951059818267822,
+      0.0048466697335243225,
+      0.0045091211795806885,
+      0.0038309134542942047,
+      0.0048514604568481445,
+      0.0048004696145653725
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0018012851942330599,
+      0.0021282180678099394,
+      0.0015525816706940532,
+      0.0013492329744622111,
+      0.002287483075633645,
+      0.002323175547644496
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008665349927392668,
+      0.0009078805636065013,
+      0.0006824322819985519,
+      0.0005779227363034015,
+      0.0009461753115772347,
+      0.0010258436756101891
+    ],
+    "joint_lag_samples": [
+      1199,
+      1199,
+      1199,
+      1199,
+      1199,
+      1199
+    ],
+    "joint_lag_worst_time_s": [
+      14.205999999999998,
+      22.741,
+      1.7040000000000002,
+      5.270999999999999,
+      14.191,
+      22.154
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.007999999914318323,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 2,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.008920169435441494,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003977653570473194,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.00426082219928503,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005605617165565478,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2967,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 2,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.00897962786257267,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004003698937594891,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00428991336375475,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005643335385248061,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.008966204710304737,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004005870316177607,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004273101082071662,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005562068745493889,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
+    "leadthrough_capture_loop_late_max_s": 0.10642665345221758,
+    "leadthrough_capture_loop_late_median_s": 0.10306039918214083,
+    "leadthrough_capture_loop_late_p95_s": 0.1033669039607048,
+    "leadthrough_capture_loop_late_p99_s": 0.10477783177047968,
+    "leadthrough_capture_loop_late_warn_count": 6861,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.008955955505371094,
+    "leadthrough_capture_read_duration_median_s": 0.0039921412244439125,
+    "leadthrough_capture_read_duration_p95_s": 0.0042770784348249435,
+    "leadthrough_capture_read_duration_p99_s": 0.005629690736532201,
+    "leadthrough_capture_read_duration_warn_count": 3265,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.008000000000000007,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 42,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0036623775959014893,
+      0.0025446414947509766,
+      0.003183804452419281,
+      0.0013997573405504227,
+      0.0031859874725341797,
+      0.006276726722717285
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006276726722717285,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0024280776269733906,
+      0.0019225963624194264,
+      0.0020716730505228043,
+      0.0004986645071767271,
+      0.0013890027767047286,
+      0.004545927047729492
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0008747846004553139,
+      0.0007752039236947894,
+      0.0008122391300275922,
+      0.00022716537932865322,
+      0.0006332980701699853,
+      0.0015168216777965426
+    ],
+    "leadthrough_delta_samples": 5789,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006276726722717285,
+    "leadthrough_delta_worst_from_rad": -0.8040360808372498,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.0079999999999996,
+    "leadthrough_delta_worst_to_rad": -0.810312807559967,
+    "leadthrough_duration_s": 23.153000000000002,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5788,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5679999999999978,
+    "leadthrough_final_stillness_removed_samples": 142,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5789,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6861,
+    "leadthrough_initial_stillness_first_motion_index": 930,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.72,
+    "leadthrough_initial_stillness_removed_samples": 929,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 929,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0036623775959014893,
+      0.0025446414947509766,
+      0.003183804452419281,
+      0.0013997573405504227,
+      0.0031859874725341797,
+      0.006276726722717285
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006276726722717285,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.2138734261194404,
+      0.8327662944793386,
+      1.0535468657811085,
+      0.460993498563749,
+      1.0493993759154876,
+      1.7668803532917625
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.547224760055542,
+    "leadthrough_velocity_rms_rad_s": 0.22733946377032382,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.004951059818267822,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5244057178497314,
+    "measured_wall_accel_peak_abs_rad_s2": 3.399838924407959,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 39.83762281574309,
+    "measured_wall_accel_rms_rad_s2": 0.274396846316876,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.956515312194824,
+    "measured_wall_jerk_peak_abs_rad_s3": 52.870391845703125,
+    "measured_wall_jerk_peak_joint": 4,
+    "measured_wall_jerk_peak_time_s": 42.66992280445993,
+    "measured_wall_jerk_rms_rad_s3": 4.372667581697793,
+    "measured_wall_smoothness_samples": 1199,
+    "measured_wall_velocity_peak_abs_rad_s": 1.0346821546554565,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 39.93738826178014,
+    "measured_wall_velocity_rms_rad_s": 0.1032861086345976,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.004951059818267822,
+    "moving_aligned_p95_error_rad": 0.0021783318370580673,
+    "moving_aligned_rms_error_rad": 0.0009759196877199554,
+    "moving_aligned_samples": 901,
+    "moving_aligned_worst_joint": 0,
+    "moving_aligned_worst_time_s": 14.205999999999998,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004951059818267822,
+      0.0048466697335243225,
+      0.0045091211795806885,
+      0.0038309134542942047,
+      0.0048514604568481445,
+      0.0048004696145653725
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002168285194784403,
+      0.0024359803646802902,
+      0.0017057746881619096,
+      0.003160837572067976,
+      0.0030663947109133005,
+      0.0033543515019118786
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010537397849388727,
+      0.0010989349453847381,
+      0.0008586199245695095,
+      0.0013300453810683526,
+      0.0013076542413238861,
+      0.0015919227690964393
+    ],
+    "moving_joint_lag_samples": [
+      732,
+      787,
+      713,
+      175,
+      553,
+      437
+    ],
+    "moving_joint_lag_worst_time_s": [
+      14.205999999999998,
+      22.741,
+      1.7040000000000002,
+      5.270999999999999,
+      14.191,
+      22.154
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 1.9927366971969604,
+    "playback_velocity_rms_rad_s": 0.393758259428712,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 76.30600000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 23.153000000000002,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2070,
+      4914
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.43113349324225236,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08565577119588852,
+    "rapid_planner_max_dt_s": 2.888,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007524698972702026,
+    "rapid_planner_median_dt_s": 0.09950000000000037,
+    "rapid_planner_path_max_error_rad": 0.004951059818267822,
+    "rapid_planner_path_p95_error_rad": 0.0031357564032077766,
+    "rapid_planner_path_rms_error_rad": 0.0014375473621496993,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      36,
+      54,
+      72,
+      91,
+      110,
+      128,
+      139,
+      150,
+      160,
+      171,
+      184,
+      197,
+      206,
+      214,
+      222,
+      231,
+      244,
+      256,
+      268,
+      280,
+      290,
+      300,
+      310,
+      321,
+      338,
+      355,
+      370,
+      384,
+      414,
+      441,
+      487,
+      541,
+      590,
+      639,
+      687,
+      735,
+      785,
+      816,
+      879,
+      896,
+      916,
+      941,
+      978,
+      1028,
+      1076,
+      1110,
+      1150,
+      1240,
+      1287,
+      1354,
+      1432,
+      1518,
+      1639,
+      2070,
+      2792,
+      2851,
+      2968,
+      3043,
+      3083,
+      3115,
+      3137,
+      3159,
+      3177,
+      3195,
+      3214,
+      3234,
+      3264,
+      3294,
+      3315,
+      3336,
+      3363,
+      3390,
+      3414,
+      3437,
+      3480,
+      3524,
+      3571,
+      3596,
+      3608,
+      3626,
+      3638,
+      3650,
+      3662,
+      3675,
+      3686,
+      3696,
+      3717,
+      3738,
+      3760,
+      3792,
+      3867,
+      3939,
+      4073,
+      4181,
+      4345,
+      4436,
+      4583,
+      4680,
+      4768,
+      4914,
+      5183,
+      5211,
+      5235,
+      5263,
+      5288,
+      5315,
+      5334,
+      5359,
+      5379,
+      5408,
+      5426,
+      5444,
+      5458,
+      5473,
+      5484,
+      5494,
+      5512,
+      5526,
+      5554,
+      5579,
+      5607,
+      5646,
+      5663,
+      5729,
+      5760,
+      5789
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.907714180462657,
+    "rapid_planner_selected_samples": 127,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5790,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 127,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.004951059818267822,
+    "raw_replay_rms_error_rad": 0.0008487678802332593,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9675922842271841,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9644616529169434,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.983743428436717,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 1.0,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9912224556174849,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9898187425008707,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9912223971519571,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0017523504793643951,
+      0.00036810338497161865,
+      0.0006493628025054932,
+      0.002039853483438492,
+      0.0027742385864257812,
+      0.006597757339477539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7560473054636712,
+    "replay_smoothing_max_deviation_rad": 0.006597757339477539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002087600063532591,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.71962833404541,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.26517868041992,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.218021467145713,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1760.8909912109375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13765.4326171875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1080.0231855562906,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5768053531646729,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22844369641050333,
+    "replay_smoothing_rms_deviation_rad": 0.0010397958852172643,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.437045097351074,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 50.40776062011719,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.149450899309595,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1745.4346923828125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13625.283203125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1070.5431709667994,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.547224760055542,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22733946377032382,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9812401746038202,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9951662809806963,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 3.7159999999999997,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006597757339477539,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.004951059818267822,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.060268402099609375,
+    "stage_planned_to_measured_rms_error_rad": 0.00612596077604188,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1199,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.763134241104126,
+    "target_wall_accel_peak_abs_rad_s2": 4.423900604248047,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 25.366720431484282,
+    "target_wall_accel_rms_rad_s2": 0.3578692556387143,
+    "target_wall_jerk_p95_abs_rad_s3": 16.875946044921875,
+    "target_wall_jerk_peak_abs_rad_s3": 63.07211685180664,
+    "target_wall_jerk_peak_joint": 0,
+    "target_wall_jerk_peak_time_s": 7.566816793754697,
+    "target_wall_jerk_rms_rad_s3": 7.534782384956913,
+    "target_wall_smoothness_samples": 1199,
+    "target_wall_velocity_peak_abs_rad_s": 1.0592482089996338,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 25.500159208662808,
+    "target_wall_velocity_rms_rad_s": 0.104112804606183,
+    "tcp_pose_count": 1199,
+    "timestamp_count": 1199,
+    "tool_failures": 0,
+    "tracking_geometry_pass": true,
+    "tracking_geometry_reason": "ok",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.8400000000000034,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.6999999999999997,
+    "window_lag_best_lag_p95_abs_s": 1.7490000000000008,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.8400000000000034,
+    "window_lag_worst_end_s": 8.5,
+    "window_lag_worst_max_error_rad": 0.014283955097198486,
+    "window_lag_worst_rms_error_rad": 0.005650417048238379,
+    "window_lag_worst_start_s": 7.5,
+    "zero_lag_max_error_rad": 0.004951059818267822,
+    "zero_lag_p95_error_rad": 0.0019758939743041992,
+    "zero_lag_rms_error_rad": 0.0008487678802332593,
+    "zero_lag_samples": 1199,
+    "zero_lag_worst_joint": 0,
+    "zero_lag_worst_time_s": 14.205999999999998
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121152.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32bacea19911b4fe72d8356f1f6bce2aad17e616b9270692741985d9a02cf32b
+size 124753

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121557.json

@@ -0,0 +1,676 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-10-15T12:15:58",
+  "event_log": [],
+  "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121557.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1153,
+    "actual_playback_duration_s": 38.44882194604725,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.4034053385257721,
+    "aligned_p95_error_rad": 0.002145591890439391,
+    "aligned_rms_error_rad": 0.008721096932910889,
+    "aligned_samples": 1153,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 0.41999999999999993,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121557.json",
+    "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121557.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1153,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1153,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5264131940945351,
+    "image_frame_counts": {
+      "cam_scene": 1153,
+      "cam_wrist": 1153
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.14656008780002594,
+      0.33321601152420044,
+      0.18359971046447754,
+      0.1697104424238205,
+      0.4034053385257721,
+      0.40338748693466187
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0023965598084032536,
+      0.002059921622276306,
+      0.0017198453424498439,
+      0.0014434052864089608,
+      0.002337336540222168,
+      0.002255946397781372
+    ],
+    "joint_lag_rms_error_rad": [
+      0.004433038984960279,
+      0.009852904576688288,
+      0.005472715742574692,
+      0.005048775890453103,
+      0.011923013811488999,
+      0.011916988424088552
+    ],
+    "joint_lag_samples": [
+      1153,
+      1153,
+      1153,
+      1153,
+      1153,
+      1153
+    ],
+    "joint_lag_worst_time_s": [
+      0.41999999999999993,
+      0.41999999999999993,
+      0.41999999999999993,
+      0.41999999999999993,
+      0.41999999999999993,
+      0.41999999999999993
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 10,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006518203765153885,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039793262258172035,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042328483425080774,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004374241363257171,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3047,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.0066018253564834595,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004002138040959835,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004255752824246883,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004413120755925774,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.00653237197548151,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004001939203590155,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004252042854204774,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004365185294300317,
+    "leadthrough_capture_host_receive_gap_warn": false,
+    "leadthrough_capture_host_receive_gap_warn_count": 0,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_capture_leadthrough_start_pose_notes": "",
+    "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_capture_leadthrough_start_pose_uploaded": true,
+    "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
+    "leadthrough_capture_leadthrough_start_tcp_quat": [],
+    "leadthrough_capture_leadthrough_start_tool_command_supported": false,
+    "leadthrough_capture_leadthrough_start_tool_commanded": false,
+    "leadthrough_capture_leadthrough_start_tool_io_backend": "",
+    "leadthrough_capture_leadthrough_start_tool_state": 0.0,
+    "leadthrough_capture_leadthrough_start_tool_state_valid": true,
+    "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
+    "leadthrough_capture_loop_late_max_s": 0.013016429729759693,
+    "leadthrough_capture_loop_late_median_s": 0.006471266970038414,
+    "leadthrough_capture_loop_late_p95_s": 0.006723308004438877,
+    "leadthrough_capture_loop_late_p99_s": 0.006958926860243082,
+    "leadthrough_capture_loop_late_warn_count": 7179,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006584353744983673,
+    "leadthrough_capture_read_duration_median_s": 0.003992246463894844,
+    "leadthrough_capture_read_duration_p95_s": 0.004245278611779213,
+    "leadthrough_capture_read_duration_p99_s": 0.004398521166294813,
+    "leadthrough_capture_read_duration_warn_count": 3380,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 11,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003054380416870117,
+      0.0017461022362113,
+      0.002356112003326416,
+      0.0013068793341517448,
+      0.002701878547668457,
+      0.006436705589294434
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006436705589294434,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.00158032588660717,
+      0.0014255045680329204,
+      0.0017237309366464615,
+      0.00041827932000160217,
+      0.0014087557792663574,
+      0.0036077445838600397
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006901093875057995,
+      0.0005664394120685756,
+      0.0006666347617283463,
+      0.00019793778483290225,
+      0.0005445018177852035,
+      0.0013749691424891353
+    ],
+    "leadthrough_delta_samples": 6298,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006436705589294434,
+    "leadthrough_delta_worst_from_rad": -1.0109388828277588,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.1840000000000002,
+    "leadthrough_delta_worst_to_rad": -1.0173755884170532,
+    "leadthrough_duration_s": 25.189,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6297,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 1.096,
+    "leadthrough_final_stillness_removed_samples": 274,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6298,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7179,
+    "leadthrough_initial_stillness_first_motion_index": 607,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.423,
+    "leadthrough_initial_stillness_removed_samples": 606,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 606,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.005000000000002558,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003054380416870117,
+      0.0017461022362113,
+      0.002356112003326416,
+      0.0013068793341517448,
+      0.002701878547668457,
+      0.006436705589294434
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006436705589294434,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7635951042179525,
+      0.5820340787370779,
+      0.600010156631447,
+      0.3267198335381173,
+      0.6754696369174886,
+      1.609176397323607
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.6191750764846802,
+    "leadthrough_velocity_rms_rad_s": 0.18942728160416913,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.4034053385257721,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5652368068695068,
+    "measured_wall_accel_peak_abs_rad_s2": 377.27886962890625,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 14.694914540275931,
+    "measured_wall_accel_rms_rad_s2": 9.301473890436892,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.839487075805664,
+    "measured_wall_jerk_peak_abs_rad_s3": 5721.62548828125,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 14.728938456624746,
+    "measured_wall_jerk_rms_rad_s3": 114.47586533503555,
+    "measured_wall_smoothness_samples": 1153,
+    "measured_wall_velocity_peak_abs_rad_s": 23.655376434326172,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 14.666232497431338,
+    "measured_wall_velocity_rms_rad_s": 0.45433436824426665,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.4034053385257721,
+    "moving_aligned_p95_error_rad": 0.0024315393529832363,
+    "moving_aligned_rms_error_rad": 0.010144622615735134,
+    "moving_aligned_samples": 852,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 0.41999999999999993,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.14656008780002594,
+      0.33321601152420044,
+      0.18359971046447754,
+      0.005207665264606476,
+      0.4034053385257721,
+      0.40338748693466187
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002831827849149704,
+      0.0023483727127313614,
+      0.0021928336936980486,
+      0.00356943323276937,
+      0.0027909919153898954,
+      0.0028668642044067383
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.005552780408598401,
+      0.012621028995233964,
+      0.007371859626392922,
+      0.001600597910526081,
+      0.017247832487429008,
+      0.019477920765739495
+    ],
+    "moving_joint_lag_samples": [
+      733,
+      702,
+      633,
+      157,
+      550,
+      431
+    ],
+    "moving_joint_lag_worst_time_s": [
+      0.41999999999999993,
+      0.41999999999999993,
+      0.41999999999999993,
+      13.138,
+      0.41999999999999993,
+      0.41999999999999993
+    ],
+    "moving_lag_velocity_threshold_rad_s": 0.03,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": null,
+    "playback_sample_rate_hz": 30.0,
+    "playback_settle_s": 0.0,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.0,
+    "playback_velocity_peak_abs_rad_s": 75.97794342041016,
+    "playback_velocity_rms_rad_s": 2.348129109639278,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.378,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.189,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2381,
+      5459
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4041172669496487,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08643105626106262,
+    "rapid_planner_max_dt_s": 2.5760000000000005,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007053176872432232,
+    "rapid_planner_median_dt_s": 0.10550000000000281,
+    "rapid_planner_path_max_error_rad": 0.4034053385257721,
+    "rapid_planner_path_p95_error_rad": 0.0031903883442282663,
+    "rapid_planner_path_rms_error_rad": 0.01197211158255306,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      31,
+      54,
+      71,
+      89,
+      107,
+      126,
+      144,
+      158,
+      172,
+      191,
+      210,
+      228,
+      238,
+      247,
+      260,
+      274,
+      286,
+      298,
+      310,
+      323,
+      335,
+      346,
+      364,
+      395,
+      426,
+      470,
+      521,
+      544,
+      587,
+      609,
+      630,
+      650,
+      669,
+      694,
+      759,
+      808,
+      844,
+      902,
+      952,
+      1050,
+      1180,
+      1239,
+      1282,
+      1362,
+      1385,
+      1433,
+      1502,
+      1576,
+      1629,
+      1651,
+      1819,
+      2117,
+      2381,
+      3025,
+      3162,
+      3238,
+      3384,
+      3486,
+      3551,
+      3593,
+      3635,
+      3662,
+      3689,
+      3716,
+      3743,
+      3770,
+      3797,
+      3848,
+      3889,
+      3927,
+      3990,
+      4034,
+      4075,
+      4124,
+      4174,
+      4213,
+      4238,
+      4262,
+      4281,
+      4300,
+      4320,
+      4339,
+      4363,
+      4387,
+      4407,
+      4427,
+      4452,
+      4476,
+      4517,
+      4589,
+      4680,
+      4977,
+      5179,
+      5459,
+      5658,
+      5689,
+      5724,
+      5766,
+      5808,
+      5860,
+      5908,
+      5934,
+      5958,
+      5981,
+      5998,
+      6015,
+      6039,
+      6058,
+      6072,
+      6086,
+      6100,
+      6113,
+      6124,
+      6135,
+      6149,
+      6175,
+      6198,
+      6222,
+      6240,
+      6298
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.952134742616657,
+    "rapid_planner_selected_samples": 121,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6299,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 121,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.4034053385257721,
+    "raw_replay_rms_error_rad": 0.008721096932910889,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9336312038297688,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8458556136261274,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9255809455664286,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.9690301418304443,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.9690301418304443
+    ],
+    "replay_smoothing_edge_taper_s": 0.2,
+    "replay_smoothing_edge_taper_samples": 50,
+    "replay_smoothing_enabled": true,
+    "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9813514429908436,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.859852292978218,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9752255906456361,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00039771199226379395,
+      0.00033773481845855713,
+      0.0004477202892303467,
+      0.002358734607696533,
+      0.002229034900665283,
+      0.00872659683227539
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
+    "replay_smoothing_max_deviation_rad": 0.00872659683227539,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002012768993154168,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.5473854541778564,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 22.524980545043945,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.4585607140075985,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 383.0604248046875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 5843.7578125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 321.1457352023408,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6085803508758545,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.1907442345247727,
+    "replay_smoothing_rms_deviation_rad": 0.001013126709587321,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.3783185482025146,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 19.052881240844727,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.350016004837198,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 375.9169006347656,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 5024.7685546875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 313.18953929602986,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6191750764846802,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.18942728160416913,
+    "replay_smoothing_tolerance_by_joint_rad": [
+      0.03490658476948738,
+      0.03490658476948738,
+      0.02617993950843811,
+      0.008726646192371845,
+      0.008726646192371845,
+      0.008726646192371845
+    ],
+    "replay_smoothing_tolerance_rad": 0.034906585,
+    "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0065863825845298,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9930957130951577,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 5,
+    "replay_smoothing_worst_time_s": 1.384,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.4034053385257721,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "sent_wall_accel_p95_abs_rad_s2": null,
+    "sent_wall_accel_peak_abs_rad_s2": null,
+    "sent_wall_accel_peak_joint": -1,
+    "sent_wall_accel_peak_time_s": null,
+    "sent_wall_accel_rms_rad_s2": null,
+    "sent_wall_jerk_p95_abs_rad_s3": null,
+    "sent_wall_jerk_peak_abs_rad_s3": null,
+    "sent_wall_jerk_peak_joint": -1,
+    "sent_wall_jerk_peak_time_s": null,
+    "sent_wall_jerk_rms_rad_s3": null,
+    "sent_wall_smoothness_samples": 0,
+    "sent_wall_velocity_peak_abs_rad_s": null,
+    "sent_wall_velocity_peak_joint": -1,
+    "sent_wall_velocity_peak_time_s": null,
+    "sent_wall_velocity_rms_rad_s": null,
+    "stage_planned_to_measured_max_error_rad": 0.6788657903671265,
+    "stage_planned_to_measured_rms_error_rad": 0.012605655019294339,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 1153,
+    "stopped_early": false,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "max_error_rad=0.4034",
+    "target_wall_accel_p95_abs_rad_s2": 0.8103982210159302,
+    "target_wall_accel_peak_abs_rad_s2": 123.4708023071289,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 0.033407971262931824,
+    "target_wall_accel_rms_rad_s2": 2.5152318105947247,
+    "target_wall_jerk_p95_abs_rad_s3": 17.021867752075195,
+    "target_wall_jerk_peak_abs_rad_s3": 1844.9312744140625,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 0.0667223297059536,
+    "target_wall_jerk_rms_rad_s3": 31.185513835512523,
+    "target_wall_smoothness_samples": 1153,
+    "target_wall_velocity_peak_abs_rad_s": 8.236144065856934,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 7.947906851768494e-06,
+    "target_wall_velocity_rms_rad_s": 0.1580155589548953,
+    "tcp_pose_count": 1153,
+    "timestamp_count": 1153,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "max_error_rad=0.4034",
+    "tracking_pass": true,
+    "tracking_reason": "ok",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": true,
+    "tracking_timing_reason": "ok",
+    "window_lag_best_lag_max_s": 1.2100000000000026,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.2099999999999993,
+    "window_lag_best_lag_p95_abs_s": 1.2099999999999993,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 1.0,
+    "window_lag_worst_max_error_rad": 0.4034053385257721,
+    "window_lag_worst_rms_error_rad": 0.03233408986328857,
+    "window_lag_worst_start_s": 0.0,
+    "zero_lag_max_error_rad": 0.4034053385257721,
+    "zero_lag_p95_error_rad": 0.002145591890439391,
+    "zero_lag_rms_error_rad": 0.008721096932910889,
+    "zero_lag_samples": 1153,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 0.41999999999999993
+  }
+}

flex_to_biotek_v2/raw/2026-10-15_11-39-43/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261015_121557.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1918b9682120451c5c0c87d73f976a78b64444f78486bb5770f99860bc46377c
+size 118197