hub_archive: flex_to_biotek_v2/raw +403 files (2026-09-02)

.gitattributes

@@ -400,3 +400,106 @@ flex_to_biotek_v2/raw/2026-08-24_15-50-55/episode_000008_20260824_160922.hdf5 fi
 flex_to_biotek_v2/raw/2026-08-24_15-50-55/episode_000009_20260824_161114.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-09-01_10-43-16/episode_000000_20260901_105448.hdf5 filter=lfs diff=lfs merge=lfs -text
 flex_to_biotek_v2/raw/2026-09-01_10-43-16/episode_000001_20260901_105647.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000000_20260831_114536.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000001_20260831_114756.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000002_20260831_114959.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000003_20260831_115404.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000004_20260831_115914.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000005_20260831_120137.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000000_20260831_120642.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000001_20260831_120922.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000002_20260831_121137.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000003_20260831_121357.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000004_20260831_132347.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000005_20260831_135015.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000006_20260831_163409.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000007_20260831_163605.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000008_20260831_164038.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000009_20260831_164301.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000010_20260831_164641.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000011_20260831_164844.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000012_20260831_165043.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000000_20260831_165616.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000001_20260831_165922.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000002_20260831_170343.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000003_20260831_170615.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000004_20260831_170812.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000005_20260831_171023.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000006_20260831_171617.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000000_20260901_153707.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000001_20260901_153853.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000002_20260901_154039.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000003_20260901_154223.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000004_20260901_154408.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000000_20260901_155328.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000001_20260901_155747.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000002_20260901_160123.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000003_20260901_160442.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000004_20260901_160643.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000005_20260901_161345.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000006_20260901_161552.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000007_20260901_161927.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000008_20260901_162131.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000009_20260901_162337.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000010_20260901_162546.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000011_20260901_162924.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000012_20260901_163117.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000013_20260901_163317.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000014_20260901_163515.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000015_20260901_163714.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000016_20260901_164052.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000017_20260901_164411.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000018_20260901_164635.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000019_20260901_164837.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000000_20260902_134753.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000001_20260902_135448.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000002_20260902_135645.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000003_20260902_135900.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000000_20260902_140731.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000001_20260902_140957.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000002_20260902_141316.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000003_20260902_141514.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000004_20260902_141715.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000006_20260902_142300.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000007_20260902_142444.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000008_20260902_142818.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000009_20260902_143022.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000010_20260902_143222.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000011_20260902_143410.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000012_20260902_143609.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000013_20260902_143800.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000014_20260902_143948.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000015_20260902_144244.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000016_20260902_144451.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000017_20260902_144641.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000018_20260902_144836.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000019_20260902_145029.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000020_20260902_145414.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000000_20260902_145749.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000001_20260902_145952.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000002_20260902_150205.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000000_20260902_153525.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000001_20260902_153739.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000002_20260902_153934.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000003_20260902_154116.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000004_20260902_154250.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000005_20260902_154556.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000006_20260902_154735.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000007_20260902_154924.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000008_20260902_155116.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000009_20260902_155312.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000010_20260902_155512.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000011_20260902_155717.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000012_20260902_155926.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000013_20260902_160106.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000014_20260902_160325.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000015_20260902_160515.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000016_20260902_160703.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000017_20260902_160845.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000018_20260902_161032.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000019_20260902_161306.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000020_20260902_161452.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000021_20260902_161648.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000022_20260902_162141.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000023_20260902_162332.hdf5 filter=lfs diff=lfs merge=lfs -text
+flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000024_20260902_162555.hdf5 filter=lfs diff=lfs merge=lfs -text

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000000_20260831_114536.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70d6212f061c773a9eb61b3982b23b5eadd9aa20fa8d8e55a3aea5f7eee6047
+size 1433726967

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000001_20260831_114756.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f841f1ea08d3ac8ae520bdeb4b0323afa064743676e75cd0ecf021b774ad40
+size 1411749369

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000002_20260831_114959.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837592aade6cac3f6d1cae8fa7d6da06ecb3cf01c4a4d6ec981c8a7a5cbcb1e3
+size 1404895022

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000003_20260831_115404.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbbef9faa3ce15f235045d1078dd0f197b51f9321ae0e606083023c4eb1f1a6d
+size 1356250286

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000004_20260831_115914.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2b53673c684c130bc0d542ba8b3afa7c81c921efeb3e719e4c65118f8a84d4e
+size 1353126338

flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000005_20260831_120137.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8623bdd1b916290046c2eca72f51ddd6dd8e15440a1a6b2cb5837988a44fb216
+size 1427698504

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.json

@@ -0,0 +1,688 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:43:27",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1238,
+    "actual_playback_duration_s": 41.28721996594686,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006159067153930664,
+    "aligned_p95_error_rad": 0.0022248374298214912,
+    "aligned_rms_error_rad": 0.0009460675028023223,
+    "aligned_samples": 1238,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 5.684,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1238,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1238,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6984335005943008,
+    "image_frame_counts": {
+      "cam_scene": 1238,
+      "cam_wrist": 1238
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004490353167057037,
+      0.003909558057785034,
+      0.005849957466125488,
+      0.005380801856517792,
+      0.006159067153930664,
+      0.005086220800876617
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0022093113511800766,
+      0.001999101135879755,
+      0.002434707712382078,
+      0.0017441996606066823,
+      0.0022728147450834513,
+      0.0024771010503172874
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008641621706317624,
+      0.0008838870234130115,
+      0.0010643856902719507,
+      0.000718105752271336,
+      0.0010089665412707852,
+      0.0010842617494581333
+    ],
+    "joint_lag_samples": [
+      1238,
+      1238,
+      1238,
+      1238,
+      1238,
+      1238
+    ],
+    "joint_lag_worst_time_s": [
+      13.963000000000001,
+      23.438,
+      5.684,
+      4.656,
+      5.684,
+      0.524
+    ],
+    "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": 5,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006469383952207863,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003977434476837516,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004267232533311471,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.0046461895212996755,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3343,
+    "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": 0.006555145024321973,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004006454022601247,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004304610879626125,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004688783066812903,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006553491926752031,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004011761979199946,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004275798331946135,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004658096532803029,
+    "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": 0.01773191208485514,
+    "leadthrough_capture_loop_late_median_s": 0.012187177722807974,
+    "leadthrough_capture_loop_late_p95_s": 0.01250336758675985,
+    "leadthrough_capture_loop_late_p99_s": 0.012985466890968382,
+    "leadthrough_capture_loop_late_warn_count": 7380,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.00652297108899802,
+    "leadthrough_capture_read_duration_median_s": 0.003993481048382819,
+    "leadthrough_capture_read_duration_p95_s": 0.004290372529067099,
+    "leadthrough_capture_read_duration_p99_s": 0.004674518416868523,
+    "leadthrough_capture_read_duration_warn_count": 3584,
+    "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": [
+      0.003140270709991455,
+      0.0032552480697631836,
+      0.0053105950355529785,
+      0.001529790461063385,
+      0.003326237201690674,
+      0.007840633392333984
+    ],
+    "leadthrough_delta_max_abs_rad": 0.007840633392333984,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0012004391755908728,
+      0.002212677849456668,
+      0.003766596084460616,
+      0.000557356106583029,
+      0.0018960832385346293,
+      0.003364636329934001
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006148226675577462,
+      0.0009548202506266534,
+      0.0013663978315889835,
+      0.000245447939960286,
+      0.000755538116209209,
+      0.0014443548861891031
+    ],
+    "leadthrough_delta_samples": 6078,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.007840633392333984,
+    "leadthrough_delta_worst_from_rad": -0.6505792737007141,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.984,
+    "leadthrough_delta_worst_to_rad": -0.6584199070930481,
+    "leadthrough_duration_s": 24.309,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6073,
+    "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": 6074,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7380,
+    "leadthrough_initial_stillness_first_motion_index": 1302,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 5.203,
+    "leadthrough_initial_stillness_removed_samples": 1301,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1301,
+    "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": [
+      0.003140270709991455,
+      0.0032552480697631836,
+      0.0053105950355529785,
+      0.001529790461063385,
+      0.003326237201690674,
+      0.007840633392333984
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.007840633392333984,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7850676774976016,
+      0.8138120174405241,
+      1.3276487588889805,
+      0.404667109251007,
+      0.8367101351419768,
+      1.9601583480832767
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.9556357860565186,
+    "leadthrough_velocity_rms_rad_s": 0.24692775536389522,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006159067153930664,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4911796450614929,
+    "measured_wall_accel_peak_abs_rad_s2": 3.3543879985809326,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 44.65134641202167,
+    "measured_wall_accel_rms_rad_s2": 0.242782723968499,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.655664443969727,
+    "measured_wall_jerk_peak_abs_rad_s3": 69.88951110839844,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 44.71631210902706,
+    "measured_wall_jerk_rms_rad_s3": 4.132510204306646,
+    "measured_wall_smoothness_samples": 1238,
+    "measured_wall_velocity_peak_abs_rad_s": 0.44329220056533813,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 18.716445591999218,
+    "measured_wall_velocity_rms_rad_s": 0.10882629155396649,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006159067153930664,
+    "moving_aligned_p95_error_rad": 0.002472035586833954,
+    "moving_aligned_rms_error_rad": 0.0010838896326750877,
+    "moving_aligned_samples": 941,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 5.684,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004490353167057037,
+      0.003909558057785034,
+      0.005849957466125488,
+      0.005380801856517792,
+      0.006159067153930664,
+      0.005086220800876617
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.002589293522760272,
+      0.002149156527593732,
+      0.0029105423018336296,
+      0.002456656191498041,
+      0.0026365623343735933,
+      0.0029761253390461206
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0010429115497162856,
+      0.0009969758051308533,
+      0.001380209978475457,
+      0.0012212940664117187,
+      0.0012425483209042515,
+      0.0015636883913351027
+    ],
+    "moving_joint_lag_samples": [
+      750,
+      887,
+      700,
+      258,
+      703,
+      518
+    ],
+    "moving_joint_lag_worst_time_s": [
+      13.963000000000001,
+      23.438,
+      5.684,
+      4.656,
+      5.684,
+      0.524
+    ],
+    "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": 3.058269500732422,
+    "playback_velocity_rms_rad_s": 0.43521238930846673,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 78.618,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 24.309,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2077,
+      4831
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4484411925990647,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.0859689712524414,
+    "rapid_planner_max_dt_s": 2.1159999999999997,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007826775312423706,
+    "rapid_planner_median_dt_s": 0.10000000000000142,
+    "rapid_planner_path_max_error_rad": 0.006159067153930664,
+    "rapid_planner_path_p95_error_rad": 0.003150771744549274,
+    "rapid_planner_path_rms_error_rad": 0.0015495074054539717,
+    "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,
+      80,
+      99,
+      115,
+      140,
+      150,
+      159,
+      170,
+      180,
+      188,
+      195,
+      202,
+      210,
+      216,
+      223,
+      230,
+      236,
+      243,
+      250,
+      256,
+      263,
+      275,
+      287,
+      299,
+      311,
+      326,
+      341,
+      357,
+      372,
+      386,
+      401,
+      430,
+      463,
+      496,
+      525,
+      550,
+      575,
+      619,
+      702,
+      776,
+      820,
+      883,
+      946,
+      1070,
+      1109,
+      1142,
+      1221,
+      1267,
+      1300,
+      1344,
+      1472,
+      1600,
+      1657,
+      1697,
+      2077,
+      2606,
+      2667,
+      2752,
+      2800,
+      2826,
+      2850,
+      2868,
+      2886,
+      2904,
+      2921,
+      2940,
+      2958,
+      2977,
+      2996,
+      3010,
+      3025,
+      3038,
+      3050,
+      3062,
+      3075,
+      3096,
+      3124,
+      3159,
+      3185,
+      3206,
+      3228,
+      3249,
+      3270,
+      3296,
+      3321,
+      3348,
+      3375,
+      3412,
+      3442,
+      3473,
+      3509,
+      3548,
+      3582,
+      3624,
+      3685,
+      3761,
+      3805,
+      3849,
+      3883,
+      3925,
+      4026,
+      4095,
+      4141,
+      4164,
+      4239,
+      4323,
+      4482,
+      4831,
+      5099,
+      5144,
+      5170,
+      5191,
+      5221,
+      5239,
+      5264,
+      5284,
+      5304,
+      5329,
+      5354,
+      5376,
+      5395,
+      5412,
+      5436,
+      5454,
+      5472,
+      5489,
+      5524,
+      5584,
+      5651,
+      5920,
+      5992,
+      6078
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.925659221846396,
+    "rapid_planner_selected_samples": 133,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6079,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 133,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006159067153930664,
+    "raw_replay_rms_error_rad": 0.0009460675028023223,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8020389629141977,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9859422372636563,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.8376455180183368,
+    "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": 0.6602663847910797,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0134747873622694,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8684155263386979,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0003407001495361328,
+      0.0005124807357788086,
+      0.001282811164855957,
+      0.0023095160722732544,
+      0.0018770694732666016,
+      0.00625339150428772
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7165858872282398,
+    "replay_smoothing_max_deviation_rad": 0.00625339150428772,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0017425485420972109,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.993581533432007,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 21.2989501953125,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.4353186089205119,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 464.1296691894531,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 5442.1298828125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 300.5287707341055,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9590407609939575,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.24767474771633904,
+    "replay_smoothing_rms_deviation_rad": 0.0008316928024958999,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.4009690284729004,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 20.999534606933594,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.2022881996905808,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 306.44921875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 5515.46142578125,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 260.9838506169801,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9556357860565186,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24692775536389522,
+    "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": 0.9982619172580608,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969839785471414,
+    "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": 16.567,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00625339150428772,
+    "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": 0.006159067153930664,
+    "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": 0.025451183319091797,
+    "stage_planned_to_measured_rms_error_rad": 0.006453697013414063,
+    "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": 1238,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8581278920173645,
+    "target_wall_accel_peak_abs_rad_s2": 3.4864556789398193,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 28.53338705096394,
+    "target_wall_accel_rms_rad_s2": 0.3901722790523664,
+    "target_wall_jerk_p95_abs_rad_s3": 20.723264694213867,
+    "target_wall_jerk_peak_abs_rad_s3": 85.60167694091797,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 28.566735050990246,
+    "target_wall_jerk_rms_rad_s3": 9.140482354617518,
+    "target_wall_smoothness_samples": 1238,
+    "target_wall_velocity_peak_abs_rad_s": 0.4803026616573334,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 23.000055380980484,
+    "target_wall_velocity_rms_rad_s": 0.10999334831139974,
+    "tcp_pose_count": 1238,
+    "timestamp_count": 1238,
+    "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": 1.5200000000000031,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.1299999999999992,
+    "window_lag_best_lag_p95_abs_s": 1.4640000000000026,
+    "window_lag_count": 37,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.4500000000000028,
+    "window_lag_worst_end_s": 20.0,
+    "window_lag_worst_max_error_rad": 0.0066075921058654785,
+    "window_lag_worst_rms_error_rad": 0.0029402288847642758,
+    "window_lag_worst_start_s": 19.0,
+    "zero_lag_max_error_rad": 0.006159067153930664,
+    "zero_lag_p95_error_rad": 0.0022248374298214912,
+    "zero_lag_rms_error_rad": 0.0009460675028023223,
+    "zero_lag_samples": 1238,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 5.684
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4018d3ce60284a22df760e072b4ee150660f253b065d20348ebfcc53d248d75
+size 130972

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.json

@@ -0,0 +1,699 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:45:33",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1191,
+    "actual_playback_duration_s": 39.72030188806821,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005171298980712891,
+    "aligned_p95_error_rad": 0.0017127692699432373,
+    "aligned_rms_error_rad": 0.0007525023271588898,
+    "aligned_samples": 1191,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 7.063000000000001,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1191,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1191,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5276451631886547,
+    "image_frame_counts": {
+      "cam_scene": 1191,
+      "cam_wrist": 1191
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0049152374267578125,
+      0.003157317638397217,
+      0.004052877426147461,
+      0.005121475085616112,
+      0.00478440523147583,
+      0.005171298980712891
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0015204250812530518,
+      0.0017604902386665344,
+      0.0017476826906204224,
+      0.0011029774323105812,
+      0.001851409673690796,
+      0.0019606202840805054
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007098606857404596,
+      0.0007450662576567592,
+      0.0008070190697584628,
+      0.0005213365451829169,
+      0.0008419329832792938,
+      0.0008406008994689804
+    ],
+    "joint_lag_samples": [
+      1191,
+      1191,
+      1191,
+      1191,
+      1191,
+      1191
+    ],
+    "joint_lag_worst_time_s": [
+      16.849999999999998,
+      12.51,
+      11.242,
+      7.063000000000001,
+      16.849999999999998,
+      7.063000000000001
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.008000000147148967,
+    "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": 3,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.009819807019084692,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003965015464928001,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004297933203633875,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004817055724561215,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3066,
+    "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": 0.009891879977658391,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003997358959168196,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004338157828897238,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004879908319562674,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.009854210074990988,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003998753963969648,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004309397563338279,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004792726864106953,
+    "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": 0.013101615011692047,
+    "leadthrough_capture_loop_late_median_s": 0.006342613778542727,
+    "leadthrough_capture_loop_late_p95_s": 0.010450362769188358,
+    "leadthrough_capture_loop_late_p99_s": 0.010757768661715083,
+    "leadthrough_capture_loop_late_warn_count": 7490,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.009854522999376059,
+    "leadthrough_capture_read_duration_median_s": 0.003983225557021797,
+    "leadthrough_capture_read_duration_p95_s": 0.0043174203427042805,
+    "leadthrough_capture_read_duration_p99_s": 0.004854036141186951,
+    "leadthrough_capture_read_duration_warn_count": 3420,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.008000000000002672,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 5,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0033715618774294853,
+      0.0025770068168640137,
+      0.003917694091796875,
+      0.0016580186784267426,
+      0.0022115707397460938,
+      0.005128651857376099
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005128651857376099,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0010314591927453876,
+      0.0016958473715931177,
+      0.0026720762252807617,
+      0.0003236340417061001,
+      0.0015807448653504252,
+      0.003920077811926603
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.000581177999265492,
+      0.000802361813839525,
+      0.0011828503338620067,
+      0.0001803121849661693,
+      0.0006208274862729013,
+      0.001309138722717762
+    ],
+    "leadthrough_delta_samples": 6500,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005128651857376099,
+    "leadthrough_delta_worst_from_rad": -0.40410688519477844,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.6919999999999997,
+    "leadthrough_delta_worst_to_rad": -0.40923553705215454,
+    "leadthrough_duration_s": 26.000999999999998,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6499,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.5440000000000005,
+    "leadthrough_final_stillness_removed_samples": 136,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6500,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7490,
+    "leadthrough_initial_stillness_first_motion_index": 854,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.411,
+    "leadthrough_initial_stillness_removed_samples": 853,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 853,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.008000000000002672,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0033715618774294853,
+      0.0025770068168640137,
+      0.003917694091796875,
+      0.0016580186784267426,
+      0.0022115707397460938,
+      0.005128651857376099
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005128651857376099,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.8428904693578385,
+      0.8048216501876205,
+      1.3058980305989087,
+      0.4145046696065472,
+      0.7371902465820033,
+      1.2821629643441659
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.254476547241211,
+    "leadthrough_velocity_rms_rad_s": 0.21871861711613613,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005171298980712891,
+    "measured_wall_accel_p95_abs_rad_s2": 0.6073151230812073,
+    "measured_wall_accel_peak_abs_rad_s2": 2.907559394836426,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 43.63042809907347,
+    "measured_wall_accel_rms_rad_s2": 0.29079720092140937,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.485965728759766,
+    "measured_wall_jerk_peak_abs_rad_s3": 56.20409393310547,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 27.597109792986885,
+    "measured_wall_jerk_rms_rad_s3": 4.865282292822572,
+    "measured_wall_smoothness_samples": 1191,
+    "measured_wall_velocity_peak_abs_rad_s": 0.691997230052948,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 43.52899255801458,
+    "measured_wall_velocity_rms_rad_s": 0.11559907902178229,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.0049152374267578125,
+    "moving_aligned_p95_error_rad": 0.0018692018929868937,
+    "moving_aligned_rms_error_rad": 0.0008476312899959381,
+    "moving_aligned_samples": 892,
+    "moving_aligned_worst_joint": 0,
+    "moving_aligned_worst_time_s": 16.849999999999998,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.0049152374267578125,
+      0.003157317638397217,
+      0.004052877426147461,
+      0.0030430033802986145,
+      0.00478440523147583,
+      0.0037774741649627686
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0017182459123432636,
+      0.001969224074855447,
+      0.0018403676804155111,
+      0.0018127430230379105,
+      0.002453091787174344,
+      0.0022455155849456787
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0008724419108674831,
+      0.0008528155194133472,
+      0.0009483193121866129,
+      0.0008397377268834411,
+      0.0011004961786299583,
+      0.0011695864341540743
+    ],
+    "moving_joint_lag_samples": [
+      696,
+      840,
+      755,
+      241,
+      642,
+      506
+    ],
+    "moving_joint_lag_worst_time_s": [
+      16.849999999999998,
+      12.51,
+      11.242,
+      4.4879999999999995,
+      16.849999999999998,
+      20.337
+    ],
+    "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": 1.5104676485061646,
+    "playback_velocity_rms_rad_s": 0.3444874932435669,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 82.002,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.000999999999998,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2197,
+      5713
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4133152372449816,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08527815341949463,
+    "rapid_planner_max_dt_s": 2.087999999999999,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007213711738586426,
+    "rapid_planner_median_dt_s": 0.09500000000000242,
+    "rapid_planner_path_max_error_rad": 0.005171298980712891,
+    "rapid_planner_path_p95_error_rad": 0.002553686499595642,
+    "rapid_planner_path_rms_error_rad": 0.0012917824341006565,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      40,
+      53,
+      67,
+      80,
+      94,
+      108,
+      121,
+      133,
+      145,
+      157,
+      169,
+      180,
+      190,
+      200,
+      210,
+      220,
+      231,
+      242,
+      252,
+      269,
+      286,
+      304,
+      321,
+      353,
+      372,
+      390,
+      408,
+      426,
+      449,
+      472,
+      495,
+      518,
+      545,
+      572,
+      620,
+      658,
+      695,
+      745,
+      792,
+      841,
+      876,
+      913,
+      950,
+      982,
+      1015,
+      1048,
+      1081,
+      1141,
+      1184,
+      1253,
+      1324,
+      1380,
+      1436,
+      1490,
+      1665,
+      2035,
+      2197,
+      2719,
+      2783,
+      2848,
+      2890,
+      2958,
+      2999,
+      3023,
+      3043,
+      3064,
+      3084,
+      3098,
+      3113,
+      3145,
+      3174,
+      3215,
+      3236,
+      3257,
+      3284,
+      3298,
+      3311,
+      3324,
+      3338,
+      3365,
+      3392,
+      3417,
+      3448,
+      3480,
+      3504,
+      3527,
+      3546,
+      3565,
+      3587,
+      3618,
+      3640,
+      3662,
+      3684,
+      3707,
+      3722,
+      3736,
+      3747,
+      3758,
+      3769,
+      3780,
+      3795,
+      3810,
+      3824,
+      3839,
+      3865,
+      3889,
+      3915,
+      4018,
+      4094,
+      4115,
+      4151,
+      4168,
+      4275,
+      4347,
+      4499,
+      4626,
+      4709,
+      4760,
+      5154,
+      5368,
+      5479,
+      5713,
+      5935,
+      5984,
+      6036,
+      6068,
+      6096,
+      6123,
+      6140,
+      6157,
+      6181,
+      6204,
+      6222,
+      6240,
+      6267,
+      6281,
+      6295,
+      6310,
+      6326,
+      6345,
+      6373,
+      6404,
+      6500
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.886078275606172,
+    "rapid_planner_selected_samples": 144,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6501,
+    "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": 144,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005171298980712891,
+    "raw_replay_rms_error_rad": 0.0007525023271588898,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9578689322575127,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9282255859081533,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9810208597129554,
+    "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": 0.9848118525020247,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9338552040141802,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9926556090101479,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00045424699783325195,
+      0.0006312131881713867,
+      0.0009843111038208008,
+      0.0024506226181983948,
+      0.002119898796081543,
+      0.00752779096364975
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.8626213092298801,
+    "replay_smoothing_max_deviation_rad": 0.00752779096364975,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0020752474665641785,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.319352626800537,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 40.49405288696289,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.068889749970648,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1322.8763427734375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10893.802734375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 779.219053350657,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.281935691833496,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.21974439742750626,
+    "replay_smoothing_rms_deviation_rad": 0.0009868284003393525,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.053111553192139,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.587615966796875,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.0106448608804817,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1302.7843017578125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10173.234375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 773.4961639561074,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.254476547241211,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21871861711613613,
+    "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": 0.9785799359771226,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953319387280009,
+    "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": 25.160999999999998,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00752779096364975,
+    "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": 0.005171298980712891,
+    "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": 0.04163894057273865,
+    "stage_planned_to_measured_rms_error_rad": 0.006852762404243882,
+    "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": 1191,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.855670154094696,
+    "target_wall_accel_peak_abs_rad_s2": 3.4177777767181396,
+    "target_wall_accel_peak_joint": 3,
+    "target_wall_accel_peak_time_s": 29.566723351017572,
+    "target_wall_accel_rms_rad_s2": 0.395026575869296,
+    "target_wall_jerk_p95_abs_rad_s3": 18.62967300415039,
+    "target_wall_jerk_peak_abs_rad_s3": 90.726318359375,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 10.000056812074035,
+    "target_wall_jerk_rms_rad_s3": 8.531236204142317,
+    "target_wall_smoothness_samples": 1191,
+    "target_wall_velocity_peak_abs_rad_s": 0.7381460070610046,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 25.93338996300008,
+    "target_wall_velocity_rms_rad_s": 0.1162661905245771,
+    "tcp_pose_count": 1191,
+    "timestamp_count": 1191,
+    "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": 1.0800000000000027,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.929999999999999,
+    "window_lag_best_lag_p95_abs_s": 1.0450000000000028,
+    "window_lag_count": 35,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.0800000000000027,
+    "window_lag_worst_end_s": 9.0,
+    "window_lag_worst_max_error_rad": 0.016972899436950684,
+    "window_lag_worst_rms_error_rad": 0.0038166485984433888,
+    "window_lag_worst_start_s": 8.0,
+    "zero_lag_max_error_rad": 0.005171298980712891,
+    "zero_lag_p95_error_rad": 0.0017127692699432373,
+    "zero_lag_rms_error_rad": 0.0007525023271588898,
+    "zero_lag_samples": 1191,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 7.063000000000001
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1e278e7ac86351aedeba19e3d761320aff09aa2ff178e460372f7c59244290
+size 126577

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.json

@@ -0,0 +1,680 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:47:44",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1170,
+    "actual_playback_duration_s": 39.013376825954765,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005450129508972168,
+    "aligned_p95_error_rad": 0.0018028139602392912,
+    "aligned_rms_error_rad": 0.0007946906326673005,
+    "aligned_samples": 1170,
+    "aligned_worst_joint": 2,
+    "aligned_worst_time_s": 11.323,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1170,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1170,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5025371394552192,
+    "image_frame_counts": {
+      "cam_scene": 1170,
+      "cam_wrist": 1170
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005202502012252808,
+      0.004558920860290527,
+      0.005450129508972168,
+      0.004650060087442398,
+      0.0036019086837768555,
+      0.004687130451202393
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001638323999941349,
+      0.001708528958261013,
+      0.001964340452104807,
+      0.001294745597988367,
+      0.0015770629979670048,
+      0.002223414136096835
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007379695214087788,
+      0.0008389201263542862,
+      0.0009067355948737495,
+      0.0006078057599358582,
+      0.0006552126824704896,
+      0.000959120574730779
+    ],
+    "joint_lag_samples": [
+      1170,
+      1170,
+      1170,
+      1170,
+      1170,
+      1170
+    ],
+    "joint_lag_worst_time_s": [
+      11.546000000000001,
+      11.546000000000001,
+      11.323,
+      19.709,
+      14.770000000000001,
+      24.401
+    ],
+    "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": 0.006181861041113734,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003965843003243208,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042805985431186855,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004683606454636902,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3358,
+    "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": 0.006232862011529505,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003997427469585091,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004317601141519844,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0047328608471434545,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0062165900599211454,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003996783518232405,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004296917386818677,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004687591706169768,
+    "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": 0.007860089070163667,
+    "leadthrough_capture_loop_late_median_s": 0.003201838582754135,
+    "leadthrough_capture_loop_late_p95_s": 0.0035416322061792016,
+    "leadthrough_capture_loop_late_p99_s": 0.00397099080728367,
+    "leadthrough_capture_loop_late_warn_count": 69,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006210007006302476,
+    "leadthrough_capture_read_duration_median_s": 0.003982975031249225,
+    "leadthrough_capture_read_duration_p95_s": 0.0043003030004911125,
+    "leadthrough_capture_read_duration_p99_s": 0.004715436417609453,
+    "leadthrough_capture_read_duration_warn_count": 3573,
+    "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": [
+      0.0027579739689826965,
+      0.0020617246627807617,
+      0.0036132335662841797,
+      0.0012415647506713867,
+      0.001643061637878418,
+      0.005074739456176758
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005074739456176758,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0009892835514619946,
+      0.0016315709799528122,
+      0.0024314650800079107,
+      0.0004877578467130661,
+      0.0011708136880770326,
+      0.0028848820365965366
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005451389588415623,
+      0.0007745091570541263,
+      0.0011332465801388025,
+      0.00020179418788757175,
+      0.0005083055002614856,
+      0.00116024783346802
+    ],
+    "leadthrough_delta_samples": 6492,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.005074739456176758,
+    "leadthrough_delta_worst_from_rad": -0.6515973210334778,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.8910000000000005,
+    "leadthrough_delta_worst_to_rad": -0.6566720604896545,
+    "leadthrough_duration_s": 25.965,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6491,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.33899999999999864,
+    "leadthrough_final_stillness_removed_samples": 85,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6492,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7571,
+    "leadthrough_initial_stillness_first_motion_index": 994,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.972,
+    "leadthrough_initial_stillness_removed_samples": 993,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 993,
+    "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": [
+      0.0027579739689826965,
+      0.0020617246627807617,
+      0.0036132335662841797,
+      0.0012415647506713867,
+      0.001643061637878418,
+      0.005074739456176758
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005074739456176758,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.6894934922460563,
+      0.6858905156453191,
+      1.2044111887620608,
+      0.3665176530678928,
+      0.5395015080771249,
+      1.6841888427733738
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.4850085973739624,
+    "leadthrough_velocity_rms_rad_s": 0.20372710390517354,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005450129508972168,
+    "measured_wall_accel_p95_abs_rad_s2": 0.52605801820755,
+    "measured_wall_accel_peak_abs_rad_s2": 2.4729855060577393,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 42.3722150248941,
+    "measured_wall_accel_rms_rad_s2": 0.26125188811732414,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.101770401000977,
+    "measured_wall_jerk_peak_abs_rad_s3": 55.05525588989258,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 42.44600126799196,
+    "measured_wall_jerk_rms_rad_s3": 4.5248323016153265,
+    "measured_wall_smoothness_samples": 1170,
+    "measured_wall_velocity_peak_abs_rad_s": 0.5856369137763977,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 15.707291121943854,
+    "measured_wall_velocity_rms_rad_s": 0.108527668464359,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005450129508972168,
+    "moving_aligned_p95_error_rad": 0.002094641327857971,
+    "moving_aligned_rms_error_rad": 0.0009217205580240684,
+    "moving_aligned_samples": 861,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 11.323,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004297345876693726,
+      0.004558920860290527,
+      0.0050427913665771484,
+      0.0041727302595973015,
+      0.0036019086837768555,
+      0.004687130451202393
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0021060591097921133,
+      0.002137084025889635,
+      0.0021391957998275757,
+      0.0027499101124703884,
+      0.00192832644097507,
+      0.002835501916706562
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0008383563579976377,
+      0.0009841082201635174,
+      0.0010201642777461467,
+      0.0011786196635806242,
+      0.0009017917915795055,
+      0.0013747386745816277
+    ],
+    "moving_joint_lag_samples": [
+      697,
+      787,
+      706,
+      223,
+      580,
+      496
+    ],
+    "moving_joint_lag_worst_time_s": [
+      11.566,
+      11.546000000000001,
+      11.546000000000001,
+      14.786,
+      14.770000000000001,
+      24.401
+    ],
+    "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": 1.4817414283752441,
+    "playback_velocity_rms_rad_s": 0.305662404186513,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 81.93,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.965,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1879,
+      5443
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4406394090196176,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08320089429616928,
+    "rapid_planner_max_dt_s": 2.9160000000000004,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007690608501434326,
+    "rapid_planner_median_dt_s": 0.10800000000000054,
+    "rapid_planner_path_max_error_rad": 0.005450129508972168,
+    "rapid_planner_path_p95_error_rad": 0.0030125312507152556,
+    "rapid_planner_path_rms_error_rad": 0.0013496652934053739,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      32,
+      63,
+      85,
+      96,
+      107,
+      120,
+      133,
+      146,
+      159,
+      177,
+      195,
+      208,
+      222,
+      235,
+      248,
+      266,
+      284,
+      298,
+      312,
+      334,
+      355,
+      376,
+      398,
+      419,
+      440,
+      468,
+      495,
+      522,
+      550,
+      579,
+      604,
+      628,
+      653,
+      678,
+      718,
+      757,
+      790,
+      824,
+      867,
+      910,
+      956,
+      1003,
+      1049,
+      1094,
+      1202,
+      1381,
+      1460,
+      1879,
+      2608,
+      2663,
+      2737,
+      2903,
+      2920,
+      2938,
+      2956,
+      2975,
+      2998,
+      3021,
+      3040,
+      3060,
+      3100,
+      3124,
+      3148,
+      3172,
+      3196,
+      3229,
+      3257,
+      3285,
+      3308,
+      3330,
+      3350,
+      3371,
+      3395,
+      3420,
+      3446,
+      3468,
+      3489,
+      3515,
+      3552,
+      3588,
+      3621,
+      3646,
+      3673,
+      3725,
+      3755,
+      3800,
+      3854,
+      3909,
+      3947,
+      3981,
+      4023,
+      4067,
+      4124,
+      4182,
+      4271,
+      4317,
+      4381,
+      4645,
+      4757,
+      5073,
+      5190,
+      5443,
+      5705,
+      5754,
+      5798,
+      5825,
+      5843,
+      5870,
+      5896,
+      5923,
+      5950,
+      5970,
+      5991,
+      6014,
+      6036,
+      6060,
+      6083,
+      6126,
+      6159,
+      6192,
+      6229,
+      6266,
+      6323,
+      6492
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.767060094884584,
+    "rapid_planner_selected_samples": 125,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6493,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 125,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005450129508972168,
+    "raw_replay_rms_error_rad": 0.0007946906326673005,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9837252346833318,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9801689654229202,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9904783797493063,
+    "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": 0.9755353710967343,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9853891368156552,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9961984163412251,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00041940808296203613,
+      0.0005691051483154297,
+      0.0007706880569458008,
+      0.0026190411299467087,
+      0.0022925138473510742,
+      0.0038727521896362305
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.44378471457012764,
+    "replay_smoothing_max_deviation_rad": 0.0038727521896362305,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0016430733958259225,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.493634223937988,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.50864791870117,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.5215617654386726,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1409.31103515625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13356.861328125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 916.9470318042361,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5055984258651733,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20434469839469102,
+    "replay_smoothing_rms_deviation_rad": 0.0007232253991488725,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.387951850891113,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.52684020996094,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.488030791618803,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1374.832763671875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13161.7060546875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 913.461180952167,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4850085973739624,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20372710390517354,
+    "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": 0.9863244885638219,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969776828350858,
+    "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": 3.103,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0038727521896362305,
+    "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": 0.005450129508972168,
+    "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": 0.03452287241816521,
+    "stage_planned_to_measured_rms_error_rad": 0.006432035745101246,
+    "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": 1170,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7371018528938293,
+    "target_wall_accel_peak_abs_rad_s2": 4.476100444793701,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 28.000054999021813,
+    "target_wall_accel_rms_rad_s2": 0.3771312210427034,
+    "target_wall_jerk_p95_abs_rad_s3": 17.398574829101562,
+    "target_wall_jerk_peak_abs_rad_s3": 127.25808715820312,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 28.033388026989996,
+    "target_wall_jerk_rms_rad_s3": 8.599922871622237,
+    "target_wall_smoothness_samples": 1170,
+    "target_wall_velocity_peak_abs_rad_s": 0.6168192028999329,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 0.6333902459591627,
+    "target_wall_velocity_rms_rad_s": 0.10936758315134601,
+    "tcp_pose_count": 1170,
+    "timestamp_count": 1170,
+    "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": 1.7200000000000033,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.0899999999999992,
+    "window_lag_best_lag_p95_abs_s": 1.3034999999999992,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.7200000000000033,
+    "window_lag_worst_end_s": 8.5,
+    "window_lag_worst_max_error_rad": 0.005699634552001953,
+    "window_lag_worst_rms_error_rad": 0.002448295726076506,
+    "window_lag_worst_start_s": 7.5,
+    "zero_lag_max_error_rad": 0.005450129508972168,
+    "zero_lag_p95_error_rad": 0.0018028139602392912,
+    "zero_lag_rms_error_rad": 0.0007946906326673005,
+    "zero_lag_samples": 1170,
+    "zero_lag_worst_joint": 2,
+    "zero_lag_worst_time_s": 11.323
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4271b6591f0f6fa4e4e433ec9090cad3589aa9a311dfcb2666c7b478dbd225e2
+size 123875

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.json

@@ -0,0 +1,685 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:49:57",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1163,
+    "actual_playback_duration_s": 38.77898405096494,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006706172600388527,
+    "aligned_p95_error_rad": 0.002304819179698825,
+    "aligned_rms_error_rad": 0.0009762246620149339,
+    "aligned_samples": 1163,
+    "aligned_worst_joint": 3,
+    "aligned_worst_time_s": 12.635000000000002,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1163,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1163,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.7836798698755778,
+    "image_frame_counts": {
+      "cam_scene": 1163,
+      "cam_wrist": 1163
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004317224025726318,
+      0.005689904093742371,
+      0.003916740417480469,
+      0.006706172600388527,
+      0.00543743371963501,
+      0.00648835301399231
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0018925097538158298,
+      0.0021406779997050762,
+      0.001870238920673728,
+      0.002459431765601039,
+      0.002514416119083762,
+      0.002876276383176446
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008098702548500746,
+      0.0009267422811311221,
+      0.0008893369450239777,
+      0.001009860525075768,
+      0.001036619205940907,
+      0.0011480542665804375
+    ],
+    "joint_lag_samples": [
+      1163,
+      1163,
+      1163,
+      1163,
+      1163,
+      1163
+    ],
+    "joint_lag_worst_time_s": [
+      11.957999999999998,
+      12.730999999999998,
+      12.730999999999998,
+      12.635000000000002,
+      19.694,
+      12.635000000000002
+    ],
+    "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": 0.005459376028738916,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003997095045633614,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0042156168492510915,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004563478128984565,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3071,
+    "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": 0.005486868089064956,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004025073954835534,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004247259336989373,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00460067451349459,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005395869957283139,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004020098014734685,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004233025200664997,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004591193804517374,
+    "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": 0.011741506983526051,
+    "leadthrough_capture_loop_late_median_s": 0.008266777847893536,
+    "leadthrough_capture_loop_late_p95_s": 0.008494894346222281,
+    "leadthrough_capture_loop_late_p99_s": 0.008816652195528143,
+    "leadthrough_capture_loop_late_warn_count": 6245,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.005473716068081558,
+    "leadthrough_capture_read_duration_median_s": 0.004012115998193622,
+    "leadthrough_capture_read_duration_p95_s": 0.004233703739009797,
+    "leadthrough_capture_read_duration_p99_s": 0.004584295419044787,
+    "leadthrough_capture_read_duration_warn_count": 3309,
+    "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": [
+      0.004009122960269451,
+      0.0033979415893554688,
+      0.005319833755493164,
+      0.004002735018730164,
+      0.0033034682273864746,
+      0.01167750358581543
+    ],
+    "leadthrough_delta_max_abs_rad": 0.01167750358581543,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0011678673326969147,
+      0.0024747587740421295,
+      0.0036098510026931763,
+      0.0005303019424900413,
+      0.0018270015716552734,
+      0.004343852400779724
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006850206991657615,
+      0.0010225176811218262,
+      0.001448918948881328,
+      0.0004214038490317762,
+      0.0007537804776802659,
+      0.0018570423126220703
+    ],
+    "leadthrough_delta_samples": 5436,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.01167750358581543,
+    "leadthrough_delta_worst_from_rad": -1.0382245779037476,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.8359999999999994,
+    "leadthrough_delta_worst_to_rad": -1.049902081489563,
+    "leadthrough_duration_s": 21.741,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5409,
+    "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": 5410,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6245,
+    "leadthrough_initial_stillness_first_motion_index": 809,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.232,
+    "leadthrough_initial_stillness_removed_samples": 808,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 808,
+    "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": [
+      0.004009122960269451,
+      0.0033979415893554688,
+      0.005319833755493164,
+      0.004002735018730164,
+      0.0033034682273864746,
+      0.01167750358581543
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.01167750358581543,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.3301161428292088,
+      0.9151945511499694,
+      1.3455748558043923,
+      1.3308475414911403,
+      1.0911623636881096,
+      2.919375896454179
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.7684569358825684,
+    "leadthrough_velocity_rms_rad_s": 0.2889624718759048,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006706172600388527,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4568711221218109,
+    "measured_wall_accel_peak_abs_rad_s2": 2.2687690258026123,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 40.78234474489,
+    "measured_wall_accel_rms_rad_s2": 0.21783852361374548,
+    "measured_wall_jerk_p95_abs_rad_s3": 7.578005313873291,
+    "measured_wall_jerk_peak_abs_rad_s3": 34.83490753173828,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 26.180156755959615,
+    "measured_wall_jerk_rms_rad_s3": 3.618652413391446,
+    "measured_wall_smoothness_samples": 1163,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6268430352210999,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 40.481389784952626,
+    "measured_wall_velocity_rms_rad_s": 0.11514727970207557,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006706172600388527,
+    "moving_aligned_p95_error_rad": 0.0026188192423433065,
+    "moving_aligned_rms_error_rad": 0.0011315721225915994,
+    "moving_aligned_samples": 862,
+    "moving_aligned_worst_joint": 3,
+    "moving_aligned_worst_time_s": 12.635000000000002,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004317224025726318,
+      0.005689904093742371,
+      0.003916740417480469,
+      0.006706172600388527,
+      0.00543743371963501,
+      0.00648835301399231
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0023217981215566397,
+      0.0023901464883238077,
+      0.0021346211433410645,
+      0.0034618068020790815,
+      0.0027754842303693295,
+      0.00395271647721529
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009769839534250798,
+      0.001068956576713958,
+      0.0010648179155047929,
+      0.001748284913200039,
+      0.0012634682153177112,
+      0.0017989651761838126
+    ],
+    "moving_joint_lag_samples": [
+      754,
+      810,
+      761,
+      312,
+      663,
+      447
+    ],
+    "moving_joint_lag_worst_time_s": [
+      11.957999999999998,
+      12.730999999999998,
+      12.730999999999998,
+      12.635000000000002,
+      19.694,
+      12.635000000000002
+    ],
+    "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": 3.9464926719665527,
+    "playback_velocity_rms_rad_s": 0.570490889675035,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 73.482,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 21.741,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1551,
+      4502
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44967574929154447,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08470940589904785,
+    "rapid_planner_max_dt_s": 2.1799999999999997,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.00784832239151001,
+    "rapid_planner_median_dt_s": 0.07600000000000051,
+    "rapid_planner_path_max_error_rad": 0.006706172600388527,
+    "rapid_planner_path_p95_error_rad": 0.003718639351427548,
+    "rapid_planner_path_rms_error_rad": 0.0016960744134057978,
+    "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,
+      69,
+      84,
+      97,
+      104,
+      110,
+      118,
+      125,
+      130,
+      136,
+      142,
+      148,
+      154,
+      159,
+      164,
+      170,
+      177,
+      184,
+      190,
+      197,
+      204,
+      210,
+      217,
+      224,
+      231,
+      238,
+      252,
+      270,
+      289,
+      303,
+      317,
+      345,
+      366,
+      388,
+      410,
+      432,
+      450,
+      469,
+      488,
+      508,
+      548,
+      575,
+      602,
+      642,
+      698,
+      770,
+      875,
+      951,
+      1009,
+      1068,
+      1122,
+      1205,
+      1551,
+      2049,
+      2087,
+      2165,
+      2226,
+      2245,
+      2263,
+      2274,
+      2285,
+      2296,
+      2306,
+      2316,
+      2327,
+      2346,
+      2364,
+      2382,
+      2400,
+      2413,
+      2426,
+      2438,
+      2450,
+      2473,
+      2492,
+      2510,
+      2529,
+      2548,
+      2567,
+      2586,
+      2604,
+      2623,
+      2651,
+      2679,
+      2705,
+      2728,
+      2751,
+      2762,
+      2774,
+      2786,
+      2798,
+      2810,
+      2821,
+      2832,
+      2844,
+      2855,
+      2866,
+      2887,
+      2915,
+      2946,
+      3009,
+      3083,
+      3131,
+      3227,
+      3282,
+      3419,
+      3515,
+      3579,
+      3957,
+      4502,
+      4828,
+      4865,
+      4891,
+      4912,
+      4937,
+      4952,
+      4968,
+      4988,
+      5006,
+      5027,
+      5047,
+      5058,
+      5070,
+      5090,
+      5125,
+      5184,
+      5243,
+      5341,
+      5436
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.853491443076041,
+    "rapid_planner_selected_samples": 130,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5437,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 130,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.006706172600388527,
+    "raw_replay_rms_error_rad": 0.0009762246620149339,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9852705111754014,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9932574739797054,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9775919092831569,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.7064358592033386,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.7064358592033386
+    ],
+    "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": 0.9940578519106171,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0024896783540167,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9859415012926851,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0008401423692703247,
+      0.0011510252952575684,
+      0.0020453333854675293,
+      0.002960205078125,
+      0.002219855785369873,
+      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": 0.0019204136915504932,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.866825103759766,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 48.46641159057617,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.720217805688483,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2228.354248046875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13001.7265625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1195.1267621086652,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.9168872833251953,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2902217200037815,
+    "replay_smoothing_rms_deviation_rad": 0.0010267784725741893,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.721491813659668,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.139625549316406,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.614446736895357,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2215.113037109375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13034.0966796875,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1178.325074068483,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.7684569358825684,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2889624718759048,
+    "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": 0.949113444221465,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956610824032733,
+    "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": 0.9359999999999999,
+    "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": 0.006706172600388527,
+    "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": 0.03671056032180786,
+    "stage_planned_to_measured_rms_error_rad": 0.006831781716238001,
+    "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": 1163,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7938605546951294,
+    "target_wall_accel_peak_abs_rad_s2": 4.96455717086792,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 3.300192839000374,
+    "target_wall_accel_rms_rad_s2": 0.3866474775072738,
+    "target_wall_jerk_p95_abs_rad_s3": 18.45865821838379,
+    "target_wall_jerk_peak_abs_rad_s3": 118.74913787841797,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 1.3000565689289942,
+    "target_wall_jerk_rms_rad_s3": 9.151013444872667,
+    "target_wall_smoothness_samples": 1163,
+    "target_wall_velocity_peak_abs_rad_s": 0.7424314022064209,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 23.967032667947933,
+    "target_wall_velocity_rms_rad_s": 0.11621757895620266,
+    "tcp_pose_count": 1163,
+    "timestamp_count": 1163,
+    "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": 1.440000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.2899999999999994,
+    "window_lag_best_lag_p95_abs_s": 1.3600000000000012,
+    "window_lag_count": 31,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.440000000000003,
+    "window_lag_worst_end_s": 6.5,
+    "window_lag_worst_max_error_rad": 0.03958475589752197,
+    "window_lag_worst_rms_error_rad": 0.003837629531320835,
+    "window_lag_worst_start_s": 5.5,
+    "zero_lag_max_error_rad": 0.006706172600388527,
+    "zero_lag_p95_error_rad": 0.002304819179698825,
+    "zero_lag_rms_error_rad": 0.0009762246620149339,
+    "zero_lag_samples": 1163,
+    "zero_lag_worst_joint": 3,
+    "zero_lag_worst_time_s": 12.635000000000002
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f414ee1a4dbb8387a607f403184e9a837182a7c78ec90043dcd0835ab29d68b
+size 121743

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.json

@@ -0,0 +1,672 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:53:54",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1127,
+    "actual_playback_duration_s": 37.58056122798007,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.004592418670654297,
+    "aligned_p95_error_rad": 0.0017331724520772696,
+    "aligned_rms_error_rad": 0.0007613214635176177,
+    "aligned_samples": 1127,
+    "aligned_worst_joint": 2,
+    "aligned_worst_time_s": 10.642000000000001,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1127,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1127,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.6217391459016988,
+    "image_frame_counts": {
+      "cam_scene": 1127,
+      "cam_wrist": 1127
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0036137551069259644,
+      0.004325270652770996,
+      0.004592418670654297,
+      0.003941931761801243,
+      0.003804802894592285,
+      0.004072666168212891
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0015801318222656846,
+      0.001544967875815928,
+      0.0018259971402585506,
+      0.0011354453163221478,
+      0.0017785184318199754,
+      0.002221698872745037
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0006768812580042092,
+      0.0007550012306424913,
+      0.0008429735472182098,
+      0.0004701211999125485,
+      0.000803548759479371,
+      0.0009338940927047907
+    ],
+    "joint_lag_samples": [
+      1127,
+      1127,
+      1127,
+      1127,
+      1127,
+      1127
+    ],
+    "joint_lag_worst_time_s": [
+      14.161999999999999,
+      10.642000000000001,
+      10.642000000000001,
+      3.244,
+      14.138000000000002,
+      3.1999999999999997
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.009000000078231096,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 4,
+    "leadthrough_capture_egm_drained_packet_max": 38,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.008711491012945771,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003952368511818349,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004431679379194975,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.00538337040343322,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2834,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 3,
+    "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": 0.008793710032477975,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003997766994871199,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004532326024491339,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0054800757323391685,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.008770626038312912,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003995980019681156,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004424139822367579,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0053600496891886,
+    "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": 0.02740831789560616,
+    "leadthrough_capture_loop_late_median_s": 0.015694355592131615,
+    "leadthrough_capture_loop_late_p95_s": 0.024105936556588856,
+    "leadthrough_capture_loop_late_p99_s": 0.02444358173175715,
+    "leadthrough_capture_loop_late_warn_count": 6704,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.008759588934481144,
+    "leadthrough_capture_read_duration_median_s": 0.003977634536568075,
+    "leadthrough_capture_read_duration_p95_s": 0.004487643623724579,
+    "leadthrough_capture_read_duration_p99_s": 0.0054460720310453336,
+    "leadthrough_capture_read_duration_warn_count": 3093,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.009000000000000341,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 20,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.004010720178484917,
+      0.0033512115478515625,
+      0.005326598882675171,
+      0.002605970948934555,
+      0.004538476467132568,
+      0.006809443235397339
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006809443235397339,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0010627992451190948,
+      0.0022568292915821075,
+      0.00343409925699234,
+      0.0004134555347263813,
+      0.001739203929901123,
+      0.004277743399143219
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006429598433896899,
+      0.000957347045186907,
+      0.0013938576448708773,
+      0.0002872656041290611,
+      0.0008106900495477021,
+      0.0014172806404531002
+    ],
+    "leadthrough_delta_samples": 5791,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006809443235397339,
+    "leadthrough_delta_worst_from_rad": -0.33021992444992065,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.7720000000000002,
+    "leadthrough_delta_worst_to_rad": -0.337029367685318,
+    "leadthrough_duration_s": 23.173000000000002,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5790,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.754999999999999,
+    "leadthrough_final_stillness_removed_samples": 189,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5791,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6704,
+    "leadthrough_initial_stillness_first_motion_index": 724,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 2.892,
+    "leadthrough_initial_stillness_removed_samples": 723,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 723,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.009000000000000341,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.004010720178484917,
+      0.0033512115478515625,
+      0.005326598882675171,
+      0.002605970948934555,
+      0.004538476467132568,
+      0.006809443235397339
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006809443235397339,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0026800446208943,
+      1.0907053947448317,
+      1.7554163932799627,
+      0.6514927372334212,
+      1.2042125066120963,
+      2.2586286067965133
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.959222435951233,
+    "leadthrough_velocity_rms_rad_s": 0.25589957844786665,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.004592418670654297,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5133112668991089,
+    "measured_wall_accel_peak_abs_rad_s2": 2.8212389945983887,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 41.72882863995619,
+    "measured_wall_accel_rms_rad_s2": 0.2451922653000152,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.999374389648438,
+    "measured_wall_jerk_peak_abs_rad_s3": 61.755104064941406,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 41.79630206897855,
+    "measured_wall_jerk_rms_rad_s3": 4.26751548805239,
+    "measured_wall_smoothness_samples": 1127,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6055856347084045,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 39.09553482593037,
+    "measured_wall_velocity_rms_rad_s": 0.1142121227063516,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.004592418670654297,
+    "moving_aligned_p95_error_rad": 0.0019288116600364447,
+    "moving_aligned_rms_error_rad": 0.0008811863813278264,
+    "moving_aligned_samples": 827,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 10.642000000000001,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.0036137551069259644,
+      0.004325270652770996,
+      0.004592418670654297,
+      0.003941931761801243,
+      0.003804802894592285,
+      0.004072666168212891
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0018389634788036346,
+      0.0016535395989194512,
+      0.0019353979732841253,
+      0.0018899869173765182,
+      0.002100777579471469,
+      0.002672893460839987
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0008246844410468774,
+      0.0008693546241602458,
+      0.0009726062883992199,
+      0.0009074878443926367,
+      0.0010101795888017942,
+      0.0014579537557263555
+    ],
+    "moving_joint_lag_samples": [
+      716,
+      803,
+      764,
+      266,
+      637,
+      422
+    ],
+    "moving_joint_lag_worst_time_s": [
+      14.161999999999999,
+      10.642000000000001,
+      10.642000000000001,
+      3.244,
+      14.138000000000002,
+      3.1999999999999997
+    ],
+    "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": 2.0317609310150146,
+    "playback_velocity_rms_rad_s": 0.4495445756877444,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 76.346,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 23.173000000000002,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1967,
+      5132
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.3889997637997362,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08712530136108398,
+    "rapid_planner_max_dt_s": 3.4080000000000013,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0067893266677856445,
+    "rapid_planner_median_dt_s": 0.08150000000000013,
+    "rapid_planner_path_max_error_rad": 0.004592418670654297,
+    "rapid_planner_path_p95_error_rad": 0.0026000876678153877,
+    "rapid_planner_path_rms_error_rad": 0.0013338555831396409,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      39,
+      76,
+      104,
+      121,
+      138,
+      153,
+      168,
+      182,
+      195,
+      208,
+      222,
+      232,
+      242,
+      252,
+      261,
+      278,
+      294,
+      308,
+      321,
+      334,
+      348,
+      364,
+      376,
+      392,
+      412,
+      431,
+      450,
+      468,
+      504,
+      531,
+      558,
+      586,
+      613,
+      646,
+      678,
+      724,
+      766,
+      836,
+      920,
+      967,
+      1014,
+      1078,
+      1115,
+      1967,
+      2496,
+      2604,
+      2688,
+      2718,
+      2749,
+      2774,
+      2798,
+      2819,
+      2840,
+      2860,
+      2881,
+      2896,
+      2910,
+      2920,
+      2929,
+      2938,
+      2948,
+      2960,
+      2972,
+      2993,
+      3020,
+      3056,
+      3082,
+      3109,
+      3146,
+      3182,
+      3214,
+      3243,
+      3276,
+      3298,
+      3311,
+      3324,
+      3336,
+      3349,
+      3366,
+      3383,
+      3402,
+      3421,
+      3451,
+      3481,
+      3563,
+      3630,
+      3686,
+      3728,
+      3821,
+      3896,
+      3990,
+      4085,
+      4454,
+      5132,
+      5399,
+      5425,
+      5449,
+      5468,
+      5478,
+      5488,
+      5498,
+      5509,
+      5522,
+      5537,
+      5552,
+      5566,
+      5582,
+      5599,
+      5614,
+      5629,
+      5644,
+      5658,
+      5678,
+      5699,
+      5730,
+      5791
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.9919120567955195,
+    "rapid_planner_selected_samples": 117,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5792,
+    "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": 0.004592418670654297,
+    "raw_replay_rms_error_rad": 0.0007613214635176177,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0050839088280161,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9395840031367607,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9853577388017344,
+    "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": 0.9975492279894979,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9660716216753744,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9925363750051631,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0006975680589675903,
+      0.001039743423461914,
+      0.0017368197441101074,
+      0.003801792860031128,
+      0.003522634506225586,
+      0.008637731894850731
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9898111719484128,
+    "replay_smoothing_max_deviation_rad": 0.008637731894850731,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002351032104343176,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.2105131149292,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.87650680541992,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.957620264751488,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1938.314208984375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16228.1474609375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1270.0464677860714,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0190083980560303,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.25710511549990894,
+    "replay_smoothing_rms_deviation_rad": 0.0010747062710951129,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.257338523864746,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 58.13817596435547,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.885029493913182,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1933.5638427734375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15677.552734375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1260.567317224499,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.959222435951233,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25589957844786665,
+    "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": 0.9703884529839691,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953111121507704,
+    "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": 22.069,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008637731894850731,
+    "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": 0.004592418670654297,
+    "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": 0.035130977630615234,
+    "stage_planned_to_measured_rms_error_rad": 0.0067761729686294835,
+    "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": 1127,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8758018016815186,
+    "target_wall_accel_peak_abs_rad_s2": 2.8649563789367676,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 26.500060767051764,
+    "target_wall_accel_rms_rad_s2": 0.37526161263698965,
+    "target_wall_jerk_p95_abs_rad_s3": 19.56597900390625,
+    "target_wall_jerk_peak_abs_rad_s3": 68.602294921875,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 24.13339079299476,
+    "target_wall_jerk_rms_rad_s3": 8.65171337501387,
+    "target_wall_smoothness_samples": 1127,
+    "target_wall_velocity_peak_abs_rad_s": 0.6647024750709534,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 23.66672284004744,
+    "target_wall_velocity_rms_rad_s": 0.11508781249657413,
+    "tcp_pose_count": 1127,
+    "timestamp_count": 1127,
+    "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": 0.0,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.4499999999999995,
+    "window_lag_best_lag_p95_abs_s": 1.0099999999999991,
+    "window_lag_count": 29,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": -1.0099999999999991,
+    "window_lag_worst_end_s": 21.0,
+    "window_lag_worst_max_error_rad": 0.07723033428192139,
+    "window_lag_worst_rms_error_rad": 0.006030369870879699,
+    "window_lag_worst_start_s": 20.0,
+    "zero_lag_max_error_rad": 0.004592418670654297,
+    "zero_lag_p95_error_rad": 0.0017331724520772696,
+    "zero_lag_rms_error_rad": 0.0007613214635176177,
+    "zero_lag_samples": 1127,
+    "zero_lag_worst_joint": 2,
+    "zero_lag_worst_time_s": 10.642000000000001
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79095816cae1e27bebffe11b6585178ca9448bbf35d194b5963ec02ddbb78e18
+size 118979

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.json

@@ -0,0 +1,685 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T11:59:11",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1124,
+    "actual_playback_duration_s": 37.48003253992647,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.0056531429290771484,
+    "aligned_p95_error_rad": 0.002030475065112114,
+    "aligned_rms_error_rad": 0.0008976605521109773,
+    "aligned_samples": 1124,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 11.858,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1124,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1124,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5674152116061588,
+    "image_frame_counts": {
+      "cam_scene": 1124,
+      "cam_wrist": 1124
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0040517449378967285,
+      0.00501096248626709,
+      0.005006074905395508,
+      0.0034931283444166183,
+      0.005248069763183594,
+      0.0056531429290771484
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001635161810554564,
+      0.0019266805611550808,
+      0.0018803938291966915,
+      0.001135209109634161,
+      0.0018899290589615703,
+      0.0033111688680946827
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0006994378888854643,
+      0.000845423663924648,
+      0.0009096066169155031,
+      0.0005111822718609632,
+      0.0008586756700385333,
+      0.0013434272775432428
+    ],
+    "joint_lag_samples": [
+      1124,
+      1124,
+      1124,
+      1124,
+      1124,
+      1124
+    ],
+    "joint_lag_worst_time_s": [
+      13.501999999999999,
+      4.178999999999999,
+      4.051,
+      0.363,
+      4.178999999999999,
+      11.858
+    ],
+    "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": 16,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006799558061175048,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003960344474762678,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004274971323320642,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004886024208972232,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2683,
+    "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": 0.006879372987896204,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003986269002780318,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004307923489250243,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004928857367485774,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006814847933128476,
+    "leadthrough_capture_host_receive_dt_median_s": 0.00398742500692606,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004288971016649157,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.0048675354104489145,
+    "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": 0.014911537989974022,
+    "leadthrough_capture_loop_late_median_s": 0.008310925972182304,
+    "leadthrough_capture_loop_late_p95_s": 0.008613036636961623,
+    "leadthrough_capture_loop_late_p99_s": 0.009292793429922314,
+    "leadthrough_capture_loop_late_warn_count": 6792,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006848076009191573,
+    "leadthrough_capture_read_duration_median_s": 0.00397503498243168,
+    "leadthrough_capture_read_duration_p95_s": 0.004293142555980012,
+    "leadthrough_capture_read_duration_p99_s": 0.004911110100802039,
+    "leadthrough_capture_read_duration_warn_count": 2884,
+    "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": 23,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.004464922472834587,
+      0.0029537081718444824,
+      0.004328280687332153,
+      0.001818004995584488,
+      0.003011047840118408,
+      0.011697232723236084
+    ],
+    "leadthrough_delta_max_abs_rad": 0.011697232723236084,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0012404498411342502,
+      0.002363526960834861,
+      0.0036667976528406143,
+      0.0004710410430561751,
+      0.0017017782665789127,
+      0.004459983203560114
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006682878010906279,
+      0.0009293576003983617,
+      0.0013364753685891628,
+      0.0002292028075316921,
+      0.0006601144559681416,
+      0.001766290981322527
+    ],
+    "leadthrough_delta_samples": 5979,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.011697232723236084,
+    "leadthrough_delta_worst_from_rad": -0.8776096105575562,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.9950000000000001,
+    "leadthrough_delta_worst_to_rad": -0.8893068432807922,
+    "leadthrough_duration_s": 23.912,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5944,
+    "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": 5945,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6792,
+    "leadthrough_initial_stillness_first_motion_index": 813,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.248,
+    "leadthrough_initial_stillness_removed_samples": 812,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 812,
+    "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": [
+      0.004464922472834587,
+      0.0029537081718444824,
+      0.004328280687332153,
+      0.001818004995584488,
+      0.003011047840118408,
+      0.011697232723236084
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.011697232723236084,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.1162306182092654,
+      0.7384270429615298,
+      1.082070171833638,
+      0.6030065317948431,
+      0.7527619600293507,
+      2.9243081808086937
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 2.880662679672241,
+    "leadthrough_velocity_rms_rad_s": 0.2630413127424916,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0056531429290771484,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5018227696418762,
+    "measured_wall_accel_peak_abs_rad_s2": 2.5009548664093018,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 51.980326503980905,
+    "measured_wall_accel_rms_rad_s2": 0.24432961308594672,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.907172203063965,
+    "measured_wall_jerk_peak_abs_rad_s3": 49.33575439453125,
+    "measured_wall_jerk_peak_joint": 4,
+    "measured_wall_jerk_peak_time_s": 24.611826114007272,
+    "measured_wall_jerk_rms_rad_s3": 4.228194928965143,
+    "measured_wall_smoothness_samples": 1124,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6850222945213318,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 39.711714520002715,
+    "measured_wall_velocity_rms_rad_s": 0.11403794499236017,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.0056531429290771484,
+    "moving_aligned_p95_error_rad": 0.002312424359843135,
+    "moving_aligned_rms_error_rad": 0.0010510645069548615,
+    "moving_aligned_samples": 802,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 11.858,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.003875046968460083,
+      0.00501096248626709,
+      0.005006074905395508,
+      0.0034931283444166183,
+      0.005248069763183594,
+      0.0056531429290771484
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.001719884923659265,
+      0.0021210217382758856,
+      0.0020731028635054827,
+      0.0022259110119193792,
+      0.0021466135513037443,
+      0.0039299484342336655
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.000798775749807443,
+      0.0009831485562569976,
+      0.001112128506728855,
+      0.0009678281671628319,
+      0.0010290557757041355,
+      0.0019921787783819364
+    ],
+    "moving_joint_lag_samples": [
+      708,
+      773,
+      702,
+      242,
+      637,
+      473
+    ],
+    "moving_joint_lag_worst_time_s": [
+      13.457999999999998,
+      4.178999999999999,
+      4.051,
+      0.363,
+      4.178999999999999,
+      11.858
+    ],
+    "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": 4.310019493103027,
+    "playback_velocity_rms_rad_s": 0.5377894352201432,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 77.824,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 23.912,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1626,
+      4999
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.43650372947717486,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08662372827529907,
+    "rapid_planner_max_dt_s": 2.931000000000002,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007618427276611328,
+    "rapid_planner_median_dt_s": 0.08000000000000185,
+    "rapid_planner_path_max_error_rad": 0.0056531429290771484,
+    "rapid_planner_path_p95_error_rad": 0.0036726057529449458,
+    "rapid_planner_path_rms_error_rad": 0.0016330883867007983,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      41,
+      66,
+      101,
+      113,
+      126,
+      142,
+      152,
+      163,
+      170,
+      177,
+      184,
+      191,
+      200,
+      210,
+      219,
+      228,
+      233,
+      238,
+      242,
+      247,
+      252,
+      256,
+      261,
+      266,
+      274,
+      282,
+      295,
+      310,
+      326,
+      343,
+      360,
+      376,
+      400,
+      425,
+      450,
+      474,
+      500,
+      526,
+      579,
+      630,
+      695,
+      741,
+      784,
+      828,
+      882,
+      937,
+      1069,
+      1120,
+      1300,
+      1626,
+      2359,
+      2432,
+      2470,
+      2491,
+      2512,
+      2534,
+      2546,
+      2557,
+      2580,
+      2602,
+      2615,
+      2628,
+      2640,
+      2653,
+      2673,
+      2685,
+      2697,
+      2717,
+      2730,
+      2742,
+      2768,
+      2794,
+      2819,
+      2840,
+      2862,
+      2902,
+      2942,
+      2981,
+      3000,
+      3022,
+      3038,
+      3053,
+      3068,
+      3084,
+      3094,
+      3104,
+      3114,
+      3124,
+      3142,
+      3158,
+      3175,
+      3201,
+      3252,
+      3279,
+      3306,
+      3328,
+      3428,
+      3513,
+      3591,
+      3704,
+      4059,
+      4514,
+      4599,
+      4681,
+      4999,
+      5082,
+      5190,
+      5317,
+      5374,
+      5396,
+      5413,
+      5437,
+      5453,
+      5471,
+      5480,
+      5490,
+      5502,
+      5514,
+      5527,
+      5544,
+      5560,
+      5581,
+      5605,
+      5627,
+      5646,
+      5666,
+      5686,
+      5721,
+      5979
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.96317403586269,
+    "rapid_planner_selected_samples": 130,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5980,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 130,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.0056531429290771484,
+    "raw_replay_rms_error_rad": 0.0008976605521109773,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6976566300438248,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.970104250048922,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.8640395516715816,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.7063868641853333,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.7063868641853333
+    ],
+    "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": 0.3419417121866002,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9698552901571033,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8972847879221413,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0010037124156951904,
+      0.0009275302290916443,
+      0.001147449016571045,
+      0.0028025880455970764,
+      0.003612220287322998,
+      0.00872664526104927
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.9999998932782934,
+    "replay_smoothing_max_deviation_rad": 0.00872664526104927,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0024193963035941124,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.2844178676605225,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 38.75364685058594,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.4499940779277332,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 252.27711486816406,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 9819.6904296875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 227.85710552600113,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.9224305152893066,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2645039163921529,
+    "replay_smoothing_rms_deviation_rad": 0.001057020498999692,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.5937392711639404,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.59507751464844,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.252852233019127,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 86.26406860351562,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 9523.6787109375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 204.4527146084509,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.880662679672241,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2630413127424916,
+    "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": 0.9857078430441552,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9944703894384199,
+    "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": 22.041,
+    "replay_smoothing_wrist_max_deviation_rad": 0.00872664526104927,
+    "return_measured_wall_accel_p95_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_abs_rad_s2": null,
+    "return_measured_wall_accel_peak_joint": -1,
+    "return_measured_wall_accel_peak_time_s": null,
+    "return_measured_wall_accel_rms_rad_s2": null,
+    "return_measured_wall_jerk_p95_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_abs_rad_s3": null,
+    "return_measured_wall_jerk_peak_joint": -1,
+    "return_measured_wall_jerk_peak_time_s": null,
+    "return_measured_wall_jerk_rms_rad_s3": null,
+    "return_measured_wall_smoothness_samples": 0,
+    "return_measured_wall_velocity_peak_abs_rad_s": null,
+    "return_measured_wall_velocity_peak_joint": -1,
+    "return_measured_wall_velocity_peak_time_s": null,
+    "return_measured_wall_velocity_rms_rad_s": null,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0056531429290771484,
+    "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": 0.04199594259262085,
+    "stage_planned_to_measured_rms_error_rad": 0.0067683779871387335,
+    "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": 1124,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.887353777885437,
+    "target_wall_accel_peak_abs_rad_s2": 3.3120789527893066,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 23.700174081954174,
+    "target_wall_accel_rms_rad_s2": 0.41432268916601683,
+    "target_wall_jerk_p95_abs_rad_s3": 21.677452087402344,
+    "target_wall_jerk_peak_abs_rad_s3": 86.2582778930664,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 23.66674037394114,
+    "target_wall_jerk_rms_rad_s3": 9.877268063423529,
+    "target_wall_smoothness_samples": 1124,
+    "target_wall_velocity_peak_abs_rad_s": 0.7213679552078247,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 24.300054357969202,
+    "target_wall_velocity_rms_rad_s": 0.11521020486200609,
+    "tcp_pose_count": 1124,
+    "timestamp_count": 1124,
+    "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": 1.2200000000000029,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -0.09999999999999831,
+    "window_lag_best_lag_p95_abs_s": 0.7159999999999976,
+    "window_lag_count": 30,
+    "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": 0.005248069763183594,
+    "window_lag_worst_rms_error_rad": 0.0016478871810971765,
+    "window_lag_worst_start_s": 4.0,
+    "zero_lag_max_error_rad": 0.0056531429290771484,
+    "zero_lag_p95_error_rad": 0.002030475065112114,
+    "zero_lag_rms_error_rad": 0.0008976605521109773,
+    "zero_lag_samples": 1124,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 11.858
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b129bf151a141a01da5c57b1d1f5e3b69d687c5c0726f65b7e60aa2ede41ea
+size 117748

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.json

@@ -0,0 +1,683 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:01:21",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1178,
+    "actual_playback_duration_s": 39.27817046409473,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005804657936096191,
+    "aligned_p95_error_rad": 0.001936566666699946,
+    "aligned_rms_error_rad": 0.0008248091276378669,
+    "aligned_samples": 1178,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 22.829,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1178,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1178,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5578539033076082,
+    "image_frame_counts": {
+      "cam_scene": 1178,
+      "cam_wrist": 1178
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.003652438521385193,
+      0.0038673728704452515,
+      0.004594683647155762,
+      0.0034049153327941895,
+      0.005804657936096191,
+      0.005378514528274536
+    ],
+    "joint_lag_p95_error_rad": [
+      0.001451548421755433,
+      0.0019283951260149479,
+      0.0020051540341228247,
+      0.0010633431375026703,
+      0.002360832877457142,
+      0.0024124551564455032
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0006054414817025143,
+      0.0008221916719379339,
+      0.0008849574759988367,
+      0.00045881750097428076,
+      0.0010137437907067706,
+      0.0010089411986410083
+    ],
+    "joint_lag_samples": [
+      1178,
+      1178,
+      1178,
+      1178,
+      1178,
+      1178
+    ],
+    "joint_lag_worst_time_s": [
+      23.134,
+      14.126,
+      14.126,
+      23.220999999999997,
+      22.829,
+      22.822000000000003
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 12,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.005746278911828995,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003972771984990686,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004296343342866748,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004661429449915887,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3435,
+    "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": 0.005814567091874778,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003997362102381885,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004326506820507348,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.004708070836495609,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.005715764942578971,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003996596089564264,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004311985417734832,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004678517966531218,
+    "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": 0.010549615952186286,
+    "leadthrough_capture_loop_late_median_s": 0.005901405878830701,
+    "leadthrough_capture_loop_late_p95_s": 0.006244827900081873,
+    "leadthrough_capture_loop_late_p99_s": 0.006601484518032521,
+    "leadthrough_capture_loop_late_warn_count": 7584,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.0057883079862222075,
+    "leadthrough_capture_read_duration_median_s": 0.003986594034358859,
+    "leadthrough_capture_read_duration_p95_s": 0.004314113425789401,
+    "leadthrough_capture_read_duration_p99_s": 0.004686941992258653,
+    "leadthrough_capture_read_duration_warn_count": 3605,
+    "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": [
+      0.003016829490661621,
+      0.0041425228118896484,
+      0.00580519437789917,
+      0.0018971040844917297,
+      0.003573119640350342,
+      0.004664257168769836
+    ],
+    "leadthrough_delta_max_abs_rad": 0.00580519437789917,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.001285669393837452,
+      0.0019794986583292484,
+      0.0023136360105127096,
+      0.000313208089210093,
+      0.0014935436192899942,
+      0.0035088451113551855
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006024303729645908,
+      0.00092484918422997,
+      0.0012369294418022037,
+      0.00021631376876030117,
+      0.0006913066026754677,
+      0.0011798827908933163
+    ],
+    "leadthrough_delta_samples": 6304,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.00580519437789917,
+    "leadthrough_delta_worst_from_rad": -0.8342863321304321,
+    "leadthrough_delta_worst_joint": 2,
+    "leadthrough_delta_worst_time_s": 10.950999999999999,
+    "leadthrough_delta_worst_to_rad": -0.828481137752533,
+    "leadthrough_duration_s": 25.213,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6242,
+    "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": 6243,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 7584,
+    "leadthrough_initial_stillness_first_motion_index": 1280,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 5.115,
+    "leadthrough_initial_stillness_removed_samples": 1279,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1279,
+    "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": [
+      0.003016829490661621,
+      0.0041425228118896484,
+      0.00580519437789917,
+      0.0018971040844917297,
+      0.003573119640350342,
+      0.004664257168769836
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.00580519437789917,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0056098302205023,
+      1.035630702972986,
+      1.4512985944755967,
+      0.63096980253853,
+      1.1872450510660357,
+      1.5523582696914084
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.3710111379623413,
+    "leadthrough_velocity_rms_rad_s": 0.22305372257453307,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005804657936096191,
+    "measured_wall_accel_p95_abs_rad_s2": 0.4944554567337036,
+    "measured_wall_accel_peak_abs_rad_s2": 2.431068181991577,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 16.566919631906785,
+    "measured_wall_accel_rms_rad_s2": 0.2426376160520836,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.778987884521484,
+    "measured_wall_jerk_peak_abs_rad_s3": 49.478355407714844,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 43.899809305905364,
+    "measured_wall_jerk_rms_rad_s3": 4.16472616266122,
+    "measured_wall_smoothness_samples": 1178,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6657044887542725,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 16.73935971595347,
+    "measured_wall_velocity_rms_rad_s": 0.10823564713607198,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005804657936096191,
+    "moving_aligned_p95_error_rad": 0.0021979499142616987,
+    "moving_aligned_rms_error_rad": 0.0009546639126098143,
+    "moving_aligned_samples": 864,
+    "moving_aligned_worst_joint": 4,
+    "moving_aligned_worst_time_s": 22.829,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.003652438521385193,
+      0.0038673728704452515,
+      0.004594683647155762,
+      0.0034049153327941895,
+      0.005804657936096191,
+      0.005378514528274536
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.001735488884150982,
+      0.002151643857359886,
+      0.0022978640627115965,
+      0.0021620721090584993,
+      0.002695672679692507,
+      0.0031872151885181665
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0007410803181020561,
+      0.0009452196376650481,
+      0.0010845994958035396,
+      0.0009969378607089974,
+      0.0013019121391642577,
+      0.0015639252784208125
+    ],
+    "moving_joint_lag_samples": [
+      655,
+      827,
+      717,
+      195,
+      638,
+      443
+    ],
+    "moving_joint_lag_worst_time_s": [
+      23.134,
+      14.126,
+      14.126,
+      23.220999999999997,
+      22.829,
+      22.822000000000003
+    ],
+    "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": 1.9376029968261719,
+    "playback_velocity_rms_rad_s": 0.3931922255905165,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 80.426,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.213,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1971,
+      5216
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4355321350677406,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08554404973983765,
+    "rapid_planner_max_dt_s": 2.9280000000000044,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.0076014697551727295,
+    "rapid_planner_median_dt_s": 0.09600000000000009,
+    "rapid_planner_path_max_error_rad": 0.005804657936096191,
+    "rapid_planner_path_p95_error_rad": 0.002979099750518799,
+    "rapid_planner_path_rms_error_rad": 0.0013947957820043856,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      88,
+      106,
+      122,
+      136,
+      150,
+      164,
+      179,
+      207,
+      235,
+      256,
+      278,
+      300,
+      321,
+      336,
+      350,
+      364,
+      378,
+      398,
+      418,
+      438,
+      459,
+      484,
+      508,
+      527,
+      546,
+      566,
+      590,
+      615,
+      640,
+      664,
+      692,
+      721,
+      749,
+      789,
+      838,
+      891,
+      930,
+      969,
+      999,
+      1042,
+      1106,
+      1166,
+      1225,
+      1304,
+      1385,
+      1452,
+      1509,
+      1593,
+      1971,
+      2534,
+      2616,
+      2655,
+      2684,
+      2709,
+      2726,
+      2735,
+      2744,
+      2759,
+      2774,
+      2790,
+      2805,
+      2818,
+      2830,
+      2842,
+      2855,
+      2872,
+      2888,
+      2921,
+      2940,
+      2960,
+      2999,
+      3020,
+      3040,
+      3061,
+      3082,
+      3103,
+      3133,
+      3158,
+      3184,
+      3198,
+      3211,
+      3224,
+      3236,
+      3248,
+      3260,
+      3277,
+      3297,
+      3325,
+      3347,
+      3392,
+      3412,
+      3484,
+      3568,
+      3657,
+      3746,
+      3806,
+      3891,
+      4061,
+      4323,
+      4374,
+      4428,
+      4484,
+      5216,
+      5525,
+      5568,
+      5599,
+      5621,
+      5639,
+      5654,
+      5669,
+      5695,
+      5718,
+      5732,
+      5745,
+      5758,
+      5770,
+      5794,
+      5817,
+      5845,
+      5870,
+      5896,
+      5920,
+      5944,
+      5968,
+      6033,
+      6142,
+      6304
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.901313012549885,
+    "rapid_planner_selected_samples": 128,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6305,
+    "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": 0.005804657936096191,
+    "raw_replay_rms_error_rad": 0.0008248091276378669,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9194853753939572,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.94440618221965,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9631774223011551,
+    "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": 0.9091360162715053,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9980185539941215,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9746148915231024,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.000410616397857666,
+      0.0010237693786621094,
+      0.0017693638801574707,
+      0.0031224898993968964,
+      0.003393888473510742,
+      0.008261680603027344
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.946718867810759,
+    "replay_smoothing_max_deviation_rad": 0.008261680603027344,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.001810586079955101,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.867683410644531,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 46.8251953125,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.413688755200228,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1542.5499267578125,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12117.294921875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 868.0012167503379,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.443900227546692,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.22392127502182602,
+    "replay_smoothing_rms_deviation_rad": 0.0008618521788532314,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.31473445892334,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.22200393676758,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2879879357721946,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1402.3876953125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12093.28515625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 845.9669117050515,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3710111379623413,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22305372257453307,
+    "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": 0.9495193032082312,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961256363549718,
+    "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": 2.2199999999999998,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008261680603027344,
+    "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": 0.005804657936096191,
+    "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": 0.039606258273124695,
+    "stage_planned_to_measured_rms_error_rad": 0.006420312327129013,
+    "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": 1178,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8149043321609497,
+    "target_wall_accel_peak_abs_rad_s2": 2.825641393661499,
+    "target_wall_accel_peak_joint": 3,
+    "target_wall_accel_peak_time_s": 28.000055617070757,
+    "target_wall_accel_rms_rad_s2": 0.36541087994408133,
+    "target_wall_jerk_p95_abs_rad_s3": 18.504867553710938,
+    "target_wall_jerk_peak_abs_rad_s3": 61.95933532714844,
+    "target_wall_jerk_peak_joint": 2,
+    "target_wall_jerk_peak_time_s": 9.333388030063361,
+    "target_wall_jerk_rms_rad_s3": 8.33785010516965,
+    "target_wall_smoothness_samples": 1178,
+    "target_wall_velocity_peak_abs_rad_s": 0.7001948952674866,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 0.9000555470120162,
+    "target_wall_velocity_rms_rad_s": 0.1091622715867095,
+    "tcp_pose_count": 1178,
+    "timestamp_count": 1178,
+    "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": 1.6000000000000032,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.3599999999999994,
+    "window_lag_best_lag_p95_abs_s": 1.4560000000000006,
+    "window_lag_count": 33,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": -1.3599999999999994,
+    "window_lag_worst_end_s": 21.5,
+    "window_lag_worst_max_error_rad": 0.1590450406074524,
+    "window_lag_worst_rms_error_rad": 0.010781720648166657,
+    "window_lag_worst_start_s": 20.5,
+    "zero_lag_max_error_rad": 0.005804657936096191,
+    "zero_lag_p95_error_rad": 0.001936566666699946,
+    "zero_lag_rms_error_rad": 0.0008248091276378669,
+    "zero_lag_samples": 1178,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 22.829
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd75d9b4bc76a9d955ece557628613c0bc092100324331ec4fd9f17141bbc7b
+size 122934

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.json

@@ -0,0 +1,498 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:03:04",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_start_failed",
+  "summary": {
+    "action_frame_count": 0,
+    "actual_playback_duration_s": 0.0,
+    "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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 0,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 0,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "rapid_planner_start_failed",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 0.0,
+    "image_frame_counts": {
+      "cam_scene": 0,
+      "cam_wrist": 0
+    },
+    "incomplete_reason": "rapid_planner_start_failed",
+    "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": 40,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006767412996850908,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.0039706279640085995,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004329980263719335,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005022336932597682,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3051,
+    "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": 0.006803703960031271,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003996497020125389,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004366291523911058,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0050923404539935345,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006735589005984366,
+    "leadthrough_capture_host_receive_dt_median_s": 0.0039947680197656155,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004346936126239598,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005023814088199291,
+    "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": 0.016332102939486504,
+    "leadthrough_capture_loop_late_median_s": 0.009501418622676283,
+    "leadthrough_capture_loop_late_p95_s": 0.009888534812489524,
+    "leadthrough_capture_loop_late_p99_s": 0.010609515622491017,
+    "leadthrough_capture_loop_late_warn_count": 6776,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006789236911572516,
+    "leadthrough_capture_read_duration_median_s": 0.00398486148333177,
+    "leadthrough_capture_read_duration_p95_s": 0.0043540554761420935,
+    "leadthrough_capture_read_duration_p99_s": 0.0050765572232194245,
+    "leadthrough_capture_read_duration_warn_count": 3225,
+    "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": 16,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003200986422598362,
+      0.002480745315551758,
+      0.004929900169372559,
+      0.0019054897129535675,
+      0.0038475394248962402,
+      0.006570339202880859
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006570339202880859,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0012538670562207699,
+      0.001990143908187747,
+      0.0030416096560657024,
+      0.000315482058795169,
+      0.0015058517456054688,
+      0.00483018159866333
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006172946887090802,
+      0.0009220597567036748,
+      0.0012856009416282177,
+      0.0002048044843832031,
+      0.0007020745542831719,
+      0.0015108746010810137
+    ],
+    "leadthrough_delta_samples": 5843,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006570339202880859,
+    "leadthrough_delta_worst_from_rad": -1.1990139484405518,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.584,
+    "leadthrough_delta_worst_to_rad": -1.2055842876434326,
+    "leadthrough_duration_s": 23.369,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5780,
+    "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": 5781,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6776,
+    "leadthrough_initial_stillness_first_motion_index": 933,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.727,
+    "leadthrough_initial_stillness_removed_samples": 932,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 932,
+    "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": [
+      0.003200986422598362,
+      0.002480745315551758,
+      0.004929900169372559,
+      0.0019054897129535675,
+      0.0038475394248962402,
+      0.006570339202880859
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006570339202880859,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      1.0616692403951877,
+      0.7118682066599258,
+      1.2324750423432753,
+      0.6321681042512018,
+      1.2793143590290856,
+      2.0359208186466717
+    ],
+    "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_duration_s": 23.369,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1787,
+      4854
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44865890487885884,
+    "rapid_planner_max_delta_rad": 0.08666402101516724,
+    "rapid_planner_max_dt_s": 2.292,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007830575108528137,
+    "rapid_planner_median_dt_s": 0.08000000000000096,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      55,
+      114,
+      134,
+      151,
+      164,
+      178,
+      191,
+      204,
+      218,
+      231,
+      244,
+      258,
+      272,
+      285,
+      296,
+      306,
+      317,
+      328,
+      338,
+      349,
+      360,
+      370,
+      381,
+      392,
+      402,
+      413,
+      425,
+      436,
+      458,
+      506,
+      530,
+      554,
+      588,
+      616,
+      644,
+      670,
+      696,
+      724,
+      751,
+      810,
+      855,
+      900,
+      964,
+      993,
+      1024,
+      1056,
+      1094,
+      1158,
+      1214,
+      1787,
+      2331,
+      2388,
+      2435,
+      2458,
+      2482,
+      2492,
+      2501,
+      2519,
+      2537,
+      2557,
+      2572,
+      2587,
+      2602,
+      2617,
+      2632,
+      2648,
+      2664,
+      2679,
+      2705,
+      2730,
+      2754,
+      2768,
+      2781,
+      2800,
+      2819,
+      2840,
+      2861,
+      2883,
+      2913,
+      2930,
+      2946,
+      2956,
+      2966,
+      2976,
+      2987,
+      3000,
+      3014,
+      3028,
+      3042,
+      3060,
+      3083,
+      3146,
+      3197,
+      3222,
+      3258,
+      3294,
+      3342,
+      3406,
+      3469,
+      3542,
+      3620,
+      3753,
+      4104,
+      4246,
+      4452,
+      4854,
+      5128,
+      5159,
+      5177,
+      5200,
+      5216,
+      5232,
+      5262,
+      5282,
+      5303,
+      5320,
+      5338,
+      5369,
+      5386,
+      5398,
+      5412,
+      5426,
+      5444,
+      5471,
+      5502,
+      5558,
+      5774,
+      5843
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.965482639802155,
+    "rapid_planner_selected_samples": 129,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5844,
+    "rapid_planner_start_error": "timed out waiting for EgmLeadthroughService planner playback recording state 5.0; last value=4.0",
+    "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": null,
+    "raw_replay_rms_error_rad": null,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9853414987138066,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8897954519079302,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9771766521729752,
+    "replay_smoothing_applied": true,
+    "replay_smoothing_blend": 0.7320459485054016,
+    "replay_smoothing_blend_by_joint": [
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      1.0,
+      0.7320459485054016
+    ],
+    "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": 1.0017035515004207,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9776062068237863,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9881803493320865,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00044365227222442627,
+      0.0007308721542358398,
+      0.0018709897994995117,
+      0.0019110655412077904,
+      0.002997159957885742,
+      0.008726641535758972
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.999999466391467,
+    "replay_smoothing_max_deviation_rad": 0.008726641535758972,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.002050854731351137,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.286985874176025,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.553226470947266,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.7813998939996236,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1718.8212890625,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16234.400390625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 955.8115445115108,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8207401037216187,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.24772862445193242,
+    "replay_smoothing_rms_deviation_rad": 0.0009982545585754908,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.180169582366943,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.659576416015625,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.6950956889457958,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1721.7493896484375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15870.8505859375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 944.5141859510259,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6983286142349243,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24644366876958196,
+    "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": 0.9327682796482136,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9948130512362338,
+    "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": 21.73,
+    "replay_smoothing_wrist_max_deviation_rad": 0.008726641535758972,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.0,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "service_command_failed": true,
+    "stage_planned_to_measured_max_error_rad": null,
+    "stage_planned_to_measured_rms_error_rad": null,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 0,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_rapid_planner_start_failed",
+    "tcp_pose_count": 0,
+    "timestamp_count": 0,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_rapid_planner_start_failed",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_rapid_planner_start_failed",
+    "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_rapid_planner_start_failed",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.npz

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

flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_manifest.json

@@ -0,0 +1,343 @@
+{
+  "action_type": "state_copy",
+  "camera_status": {
+    "cam_scene": {
+      "backend": "realsense",
+      "connected": true,
+      "error": null,
+      "frame_count": 0,
+      "has_frame": false,
+      "model": "Intel(R) RealSense(TM) Depth Camera 455",
+      "name": "cam_scene",
+      "product_id": "0b5c",
+      "serial": "324422301529",
+      "started": false,
+      "usb_min_speed_mbps": 5000.0,
+      "usb_path": "2-4.3",
+      "usb_serial": "408243061090",
+      "usb_speed_label": "5000M",
+      "usb_speed_mbps": 5000.0,
+      "usb_speed_ok": true
+    },
+    "cam_wrist": {
+      "backend": "realsense",
+      "connected": true,
+      "error": null,
+      "frame_count": 0,
+      "has_frame": false,
+      "model": "Intel(R) RealSense(TM) Depth Camera 405",
+      "name": "cam_wrist",
+      "product_id": "0b5b",
+      "serial": "218722271296",
+      "started": false,
+      "usb_min_speed_mbps": 5000.0,
+      "usb_path": "2-3.4",
+      "usb_serial": "235123075560",
+      "usb_speed_label": "5000M",
+      "usb_speed_mbps": 5000.0,
+      "usb_speed_ok": true
+    }
+  },
+  "cameras": [
+    "cam_wrist",
+    "cam_scene"
+  ],
+  "collection_mode": "leadthrough_record",
+  "counts": {
+    "attempted": 9,
+    "discard": 3,
+    "failure": 0,
+    "success": 6
+  },
+  "dataset_schema_version": "abb_gofa_dataset_v1",
+  "episodes": [
+    {
+      "dropped_ticks": 0,
+      "duration_s": 41.233,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:discard_000001",
+      "episode_idx": -1,
+      "file": null,
+      "file_size_mb": 0.0,
+      "included": false,
+      "measured_fps": 30.0,
+      "num_frames": 1238,
+      "outcome": "discard",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 10,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 39.667,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000000",
+      "episode_idx": 0,
+      "file": "episode_000000_20260831_114536.hdf5",
+      "file_size_mb": 1433.7,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1191,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 6,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 38.967,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000001",
+      "episode_idx": 1,
+      "file": "episode_000001_20260831_114756.hdf5",
+      "file_size_mb": 1411.7,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1170,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 4,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 38.733,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000002",
+      "episode_idx": 2,
+      "file": "episode_000002_20260831_114959.hdf5",
+      "file_size_mb": 1404.9,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1163,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 6,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 29.385,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:discard_000002",
+      "episode_idx": -1,
+      "file": null,
+      "file_size_mb": 0.0,
+      "included": false,
+      "measured_fps": 250.03,
+      "num_frames": 7348,
+      "outcome": "discard",
+      "playback_attempts": 0,
+      "playback_tracking_geometry_pass": false,
+      "playback_tracking_pass": false,
+      "slow_ticks": 22,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": false,
+      "tool_state_valid": true,
+      "tool_transitions": 2,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 27.916,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:discard_000003",
+      "episode_idx": -1,
+      "file": null,
+      "file_size_mb": 0.0,
+      "included": false,
+      "measured_fps": 249.93,
+      "num_frames": 6978,
+      "outcome": "discard",
+      "playback_attempts": 0,
+      "playback_tracking_geometry_pass": false,
+      "playback_tracking_pass": false,
+      "slow_ticks": 21,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": false,
+      "tool_state_valid": true,
+      "tool_transitions": 2,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 37.533,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000003",
+      "episode_idx": 3,
+      "file": "episode_000003_20260831_115404.hdf5",
+      "file_size_mb": 1356.3,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1127,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 8,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 37.433,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000004",
+      "episode_idx": 4,
+      "file": "episode_000004_20260831_115914.hdf5",
+      "file_size_mb": 1353.1,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1124,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 8,
+      "warnings": []
+    },
+    {
+      "dropped_ticks": 0,
+      "duration_s": 39.233,
+      "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_11-39-12:episode_000005",
+      "episode_idx": 5,
+      "file": "episode_000005_20260831_120137.hdf5",
+      "file_size_mb": 1427.7,
+      "included": true,
+      "measured_fps": 30.0,
+      "num_frames": 1178,
+      "outcome": "success",
+      "playback_attempts": 1,
+      "playback_tracking_geometry_pass": true,
+      "playback_tracking_pass": true,
+      "slow_ticks": 0,
+      "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+      "start_pose_id": "start_pose_v018",
+      "tool_command_valid": true,
+      "tool_state_valid": true,
+      "tool_transitions": 8,
+      "warnings": []
+    }
+  ],
+  "operator": "Jesse",
+  "rapid_service_status": {
+    "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
+    "configured": true,
+    "message": "configured",
+    "ok": true,
+    "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
+  },
+  "robot_type": "abb_gofa",
+  "session_ended": "",
+  "session_id": "flex_to_biotek_v2_2026-08-31_11-39-12",
+  "session_started": "2026-08-31T11:39:13",
+  "settings": {
+    "arm_mode": "egm",
+    "fps": 30,
+    "leadthrough_reference_hz": 250.0,
+    "max_duration": 180.0,
+    "num_episodes": 25,
+    "playback_backend": "rapid_planner",
+    "playback_keepalive_hz": 250.0,
+    "playback_settle_s": 0.25,
+    "playback_speed_scale": 1.0,
+    "playback_speedref_scale": 0.25,
+    "start_index": 0
+  },
+  "start_pose": {
+    "leadthrough_start_arm_mode": "",
+    "leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_start_pose_enabled": true,
+    "leadthrough_start_pose_locked": true,
+    "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
+    "leadthrough_start_pose_notes": "",
+    "leadthrough_start_pose_project": "flex_to_biotek_v2",
+    "leadthrough_start_pose_role": "leadthrough_start",
+    "leadthrough_start_pose_saved_task_local": true,
+    "leadthrough_start_pose_source": "saved_pose",
+    "leadthrough_start_pose_uploaded": true,
+    "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
+    "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
+    "leadthrough_start_tcp_pos_m": [],
+    "leadthrough_start_tcp_quat": [],
+    "leadthrough_start_tool_command_supported": false,
+    "leadthrough_start_tool_commanded": false,
+    "leadthrough_start_tool_io_backend": "",
+    "leadthrough_start_tool_state": 0.0,
+    "leadthrough_start_tool_state_valid": true,
+    "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf",
+    "start_pose_id": "start_pose_v018",
+    "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v018.json"
+  },
+  "task_id": "flex_to_biotek_v2",
+  "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
+  "tool_signal": "read-only configured",
+  "tool_status": {
+    "backend": "rws_rapid_feedback",
+    "can_command": false,
+    "can_read": true,
+    "command_failures": 0,
+    "command_hysteresis": 0.05,
+    "command_mode": "binary",
+    "command_signal": "read-only configured",
+    "command_threshold": 0.5,
+    "configured": true,
+    "last_state": null,
+    "last_state_age_s": null,
+    "message": "read RAPID gripper feedback array configured",
+    "ok": true,
+    "read_failures": 0,
+    "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
+    "state_valid": false
+  },
+  "updated_at": "2026-08-31T12:01:47"
+}

flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_summary.json

@@ -0,0 +1,387 @@
+{
+  "task_id": "flex_to_biotek_v2",
+  "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
+  "operator": "Jesse",
+  "robot_type": "abb_gofa",
+  "collection_mode": "leadthrough_record",
+  "action_type": "state_copy",
+  "session_started": "2026-08-31T11:39:16",
+  "session_ended": "",
+  "counts": {
+    "attempted": 9,
+    "success": 6,
+    "failure": 0,
+    "discard": 3
+  },
+  "episodes": [
+    {
+      "episode_idx": -1,
+      "outcome": "discard",
+      "file": null,
+      "num_frames": 1238,
+      "duration_s": 41.233,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 0.0,
+      "file_size_mb": 0.0,
+      "save_metrics": {}
+    },
+    {
+      "episode_idx": 0,
+      "outcome": "success",
+      "file": "episode_000000_20260831_114536.hdf5",
+      "num_frames": 1191,
+      "duration_s": 39.667,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 13.772,
+      "file_size_mb": 1433.7,
+      "save_metrics": {
+        "validate_s": 0.0015155799919739366,
+        "prepare_arrays_s": 0.001947083044797182,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.33820962987374514,
+        "image_write_s": 13.373087696963921,
+        "image_chunking": "frame",
+        "image_input_mb": 2195.2512,
+        "image_storage_mb": 1431.028423,
+        "image_frame_count": 2382,
+        "image_camera_frame_counts": {
+          "cam_scene": 1191,
+          "cam_wrist": 1191
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1097.6256,
+          "cam_wrist": 1097.6256
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 744.420074,
+          "cam_wrist": 686.608349
+        },
+        "file_size_mb": 1433.726967,
+        "hdf5_write_s": 13.768467014888301,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 3.384996671229601e-05,
+        "total_s": 13.772040070965886
+      }
+    },
+    {
+      "episode_idx": 1,
+      "outcome": "success",
+      "file": "episode_000001_20260831_114756.hdf5",
+      "num_frames": 1170,
+      "duration_s": 38.967,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 13.476,
+      "file_size_mb": 1411.7,
+      "save_metrics": {
+        "validate_s": 0.0017177650006487966,
+        "prepare_arrays_s": 0.0024915420217439532,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.3451874330639839,
+        "image_write_s": 13.058961221948266,
+        "image_chunking": "frame",
+        "image_input_mb": 2156.544,
+        "image_storage_mb": 1409.042133,
+        "image_frame_count": 2340,
+        "image_camera_frame_counts": {
+          "cam_scene": 1170,
+          "cam_wrist": 1170
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1078.272,
+          "cam_wrist": 1078.272
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 731.655626,
+          "cam_wrist": 677.386507
+        },
+        "file_size_mb": 1411.749369,
+        "hdf5_write_s": 13.471925648045726,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 4.497508052736521e-05,
+        "total_s": 13.476262861047871
+      }
+    },
+    {
+      "episode_idx": 2,
+      "outcome": "success",
+      "file": "episode_000002_20260831_114959.hdf5",
+      "num_frames": 1163,
+      "duration_s": 38.733,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 51.098,
+      "file_size_mb": 1404.9,
+      "save_metrics": {
+        "validate_s": 0.002074382035061717,
+        "prepare_arrays_s": 0.002261417917907238,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.3103393620112911,
+        "image_write_s": 50.5618258100003,
+        "image_chunking": "frame",
+        "image_input_mb": 2143.6416,
+        "image_storage_mb": 1402.5149299999998,
+        "image_frame_count": 2326,
+        "image_camera_frame_counts": {
+          "cam_scene": 1163,
+          "cam_wrist": 1163
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1071.8208,
+          "cam_wrist": 1071.8208
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 727.517524,
+          "cam_wrist": 674.997406
+        },
+        "file_size_mb": 1404.895022,
+        "hdf5_write_s": 51.092509418027475,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 7.05209095031023e-05,
+        "total_s": 51.09778104699217
+      }
+    },
+    {
+      "episode_idx": -1,
+      "outcome": "discard",
+      "file": null,
+      "num_frames": 7348,
+      "duration_s": 29.385,
+      "measured_fps": 250.03,
+      "slow_ticks": 22,
+      "dropped_ticks": 0,
+      "save_time_s": 0.0,
+      "file_size_mb": 0.0,
+      "save_metrics": {}
+    },
+    {
+      "episode_idx": -1,
+      "outcome": "discard",
+      "file": null,
+      "num_frames": 6978,
+      "duration_s": 27.916,
+      "measured_fps": 249.93,
+      "slow_ticks": 21,
+      "dropped_ticks": 0,
+      "save_time_s": 0.0,
+      "file_size_mb": 0.0,
+      "save_metrics": {}
+    },
+    {
+      "episode_idx": 3,
+      "outcome": "success",
+      "file": "episode_000003_20260831_115404.hdf5",
+      "num_frames": 1127,
+      "duration_s": 37.533,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 205.127,
+      "file_size_mb": 1356.3,
+      "save_metrics": {
+        "validate_s": 0.001114976010285318,
+        "prepare_arrays_s": 0.0017467030556872487,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.27819796302355826,
+        "image_write_s": 202.63493046502117,
+        "image_chunking": "frame",
+        "image_input_mb": 2077.2864,
+        "image_storage_mb": 1353.784334,
+        "image_frame_count": 2254,
+        "image_camera_frame_counts": {
+          "cam_scene": 1127,
+          "cam_wrist": 1127
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1038.6432,
+          "cam_wrist": 1038.6432
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 705.235456,
+          "cam_wrist": 648.548878
+        },
+        "file_size_mb": 1356.250286,
+        "hdf5_write_s": 205.03122062701732,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 3.71420755982399e-05,
+        "total_s": 205.1267639209982
+      }
+    },
+    {
+      "episode_idx": 4,
+      "outcome": "success",
+      "file": "episode_000004_20260831_115914.hdf5",
+      "num_frames": 1124,
+      "duration_s": 37.433,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 9.651,
+      "file_size_mb": 1353.1,
+      "save_metrics": {
+        "validate_s": 0.0010862710187211633,
+        "prepare_arrays_s": 0.0013859260361641645,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.2768955819774419,
+        "image_write_s": 9.324805402895436,
+        "image_chunking": "frame",
+        "image_input_mb": 2071.7568,
+        "image_storage_mb": 1350.64037,
+        "image_frame_count": 2248,
+        "image_camera_frame_counts": {
+          "cam_scene": 1124,
+          "cam_wrist": 1124
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1035.8784,
+          "cam_wrist": 1035.8784
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 702.839332,
+          "cam_wrist": 647.801038
+        },
+        "file_size_mb": 1353.126338,
+        "hdf5_write_s": 9.648289182921872,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 4.760699812322855e-05,
+        "total_s": 9.651151752914302
+      }
+    },
+    {
+      "episode_idx": 5,
+      "outcome": "success",
+      "file": "episode_000005_20260831_120137.hdf5",
+      "num_frames": 1178,
+      "duration_s": 39.233,
+      "measured_fps": 30.0,
+      "slow_ticks": 0,
+      "dropped_ticks": 0,
+      "save_time_s": 10.095,
+      "file_size_mb": 1427.7,
+      "save_metrics": {
+        "validate_s": 0.0014616799307987094,
+        "prepare_arrays_s": 0.0021869230549782515,
+        "image_compression": "lzf",
+        "image_gzip_level": 0,
+        "image_stack_s": 0.2902257589157671,
+        "image_write_s": 9.756121866987087,
+        "image_chunking": "frame",
+        "image_input_mb": 2171.2896,
+        "image_storage_mb": 1424.9839120000001,
+        "image_frame_count": 2356,
+        "image_camera_frame_counts": {
+          "cam_scene": 1178,
+          "cam_wrist": 1178
+        },
+        "image_camera_chunks": {
+          "cam_scene": [
+            1,
+            480,
+            640,
+            3
+          ],
+          "cam_wrist": [
+            1,
+            480,
+            640,
+            3
+          ]
+        },
+        "image_camera_input_mb": {
+          "cam_scene": 1085.6448,
+          "cam_wrist": 1085.6448
+        },
+        "image_camera_storage_mb": {
+          "cam_scene": 736.103284,
+          "cam_wrist": 688.880628
+        },
+        "file_size_mb": 1427.698504,
+        "hdf5_write_s": 10.091214549029246,
+        "hdf5_attr_timing_scope": "pre_close_pre_replace",
+        "replace_s": 3.86539613828063e-05,
+        "total_s": 10.094989540055394
+      }
+    }
+  ]
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000000_20260831_120642.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147970096be52e0c22c5a66ddb0edd090917d41b5541c9ae2f377e59da645155
+size 1394269832

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000001_20260831_120922.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f31832c3d18d9d2c5cc0e54b3777ab01570be63c9f64d155c1b4b9d44457c0bc
+size 1391632353

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000002_20260831_121137.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1787bc00f6537d2520cc5526200ea9da9bf1a7bf74f50cfe3d9af28993ce5774
+size 1473376768

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000003_20260831_121357.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b78f4f485dc99f1892c583497e931d956fe30b66ba743e7fa5d633cdba21c50
+size 1381917490

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000004_20260831_132347.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af59dafc8868606498b20db8fc939c3f6b4c83323b8f3337795c4f3a3c2a429e
+size 1466484084

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000005_20260831_135015.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a72863e7884f7827c2b02c3c1a211945ae29656429d85ec37dbd0fa6168089
+size 1378472938

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000006_20260831_163409.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f03b0deaf0300312bf8edb7175510b2d8047c536188e7dd8c1132a9e93cfecc
+size 1395132357

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000007_20260831_163605.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77446c774c1135f2a15f6836dab7946077134dd67e7d0c000b95d4d7449d7107
+size 1434346104

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000008_20260831_164038.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fb917ace304a7925035adc4fa7c447d4884eaf2e34227d431635d18275fadf
+size 1359594640

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000009_20260831_164301.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34672600358431050080a9e4f9f488a0fce8741beb8fccd85c1a573981ce490b
+size 1336356239

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000010_20260831_164641.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e807e9e7a2234e75d2d56ae78be720aab6144ded38dbfb68f9a35db5cc07ff31
+size 1391191280

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000011_20260831_164844.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6722a89db3c7afcafd01585c7fb6719716a01f39598453d5e8e0fbafeb2d5e
+size 1419012561

flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000012_20260831_165043.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a531150e2c87162804cc998d871420637eb5a719b4f7c75fdec62f9544c7659a
+size 1347759344

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.json

@@ -0,0 +1,518 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T16:52:28",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "operator_stop",
+  "summary": {
+    "action_frame_count": 0,
+    "actual_playback_duration_s": 4.33404595090542,
+    "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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 125,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 125,
+    "diagnostic_settle_samples": 0,
+    "diagnostics_skip_reason": "operator_stop",
+    "diagnostics_skipped": true,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 125,
+    "duration_ratio": 0.14667318524841516,
+    "image_frame_counts": {
+      "cam_scene": 0,
+      "cam_wrist": 0
+    },
+    "incomplete_reason": "operator_stop",
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 36,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.008132303017191589,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003981087531428784,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004254295001737773,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004618529838044198,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3687,
+    "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": 0.008179283002391458,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004005171009339392,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0042863423237577076,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0046568398526869725,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.008156889001838863,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004007472074590623,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004264036298263818,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004614003479946405,
+    "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_v018",
+    "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": 0.01339913799893111,
+    "leadthrough_capture_loop_late_median_s": 0.006563801143784076,
+    "leadthrough_capture_loop_late_p95_s": 0.006866767734754831,
+    "leadthrough_capture_loop_late_p99_s": 0.0073148991062771535,
+    "leadthrough_capture_loop_late_warn_count": 8500,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.008161342004314065,
+    "leadthrough_capture_read_duration_median_s": 0.003994591010268778,
+    "leadthrough_capture_read_duration_p95_s": 0.004273232270497829,
+    "leadthrough_capture_read_duration_p99_s": 0.004639545461395758,
+    "leadthrough_capture_read_duration_warn_count": 4102,
+    "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": 3,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002203896641731262,
+      0.0022873878479003906,
+      0.003482639789581299,
+      0.002679675817489624,
+      0.0026395320892333984,
+      0.006183803081512451
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006183803081512451,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.00109226000495255,
+      0.0018403353169560432,
+      0.0025233409833163023,
+      0.0005898047238588333,
+      0.0013709573540836573,
+      0.0035976076032966375
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0004684071463998407,
+      0.0007544929976575077,
+      0.0010671655181795359,
+      0.0002992714289575815,
+      0.0005676333676092327,
+      0.0012212080182507634
+    ],
+    "leadthrough_delta_samples": 7388,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006183803081512451,
+    "leadthrough_delta_worst_from_rad": -0.8848139643669128,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.2599999999999998,
+    "leadthrough_delta_worst_to_rad": -0.8909977674484253,
+    "leadthrough_duration_s": 29.549,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 7387,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.4399999999999977,
+    "leadthrough_final_stillness_removed_samples": 110,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 7388,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 8500,
+    "leadthrough_initial_stillness_first_motion_index": 1002,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 4.003,
+    "leadthrough_initial_stillness_removed_samples": 1001,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1001,
+    "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": [
+      0.002203896641731262,
+      0.0022873878479003906,
+      0.003482639789581299,
+      0.002679675817489624,
+      0.0026395320892333984,
+      0.006183803081512451
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006183803081512451,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.5509741604326316,
+      0.5718469619749067,
+      0.8706599473958072,
+      0.6699189543727773,
+      0.6598830223082758,
+      1.545950770378283
+    ],
+    "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": 89.098,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 29.549,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      3025,
+      6395
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4350079180489421,
+    "rapid_planner_last_state": 5.0,
+    "rapid_planner_max_delta_rad": 0.0847465991973877,
+    "rapid_planner_max_dt_s": 2.2720000000000002,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007592320442199707,
+    "rapid_planner_median_dt_s": 0.11000000000000121,
+    "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,
+      85,
+      112,
+      137,
+      150,
+      163,
+      178,
+      192,
+      207,
+      222,
+      231,
+      240,
+      258,
+      274,
+      290,
+      302,
+      313,
+      324,
+      336,
+      348,
+      359,
+      374,
+      389,
+      414,
+      437,
+      460,
+      484,
+      507,
+      525,
+      543,
+      561,
+      579,
+      601,
+      623,
+      648,
+      673,
+      704,
+      734,
+      778,
+      816,
+      866,
+      916,
+      957,
+      998,
+      1051,
+      1104,
+      1160,
+      1217,
+      1300,
+      1361,
+      1591,
+      1729,
+      1794,
+      1850,
+      2022,
+      2110,
+      2457,
+      3025,
+      3294,
+      3365,
+      3560,
+      3709,
+      3788,
+      3817,
+      3842,
+      3873,
+      3908,
+      3930,
+      3951,
+      4000,
+      4031,
+      4056,
+      4187,
+      4232,
+      4260,
+      4278,
+      4296,
+      4313,
+      4330,
+      4346,
+      4363,
+      4380,
+      4398,
+      4416,
+      4433,
+      4452,
+      4470,
+      4488,
+      4506,
+      4526,
+      4545,
+      4578,
+      4611,
+      4648,
+      4686,
+      4730,
+      4779,
+      4805,
+      4820,
+      4835,
+      4849,
+      4863,
+      4876,
+      4890,
+      4903,
+      4916,
+      4926,
+      4936,
+      4957,
+      4982,
+      5048,
+      5084,
+      5121,
+      5159,
+      5229,
+      5278,
+      5320,
+      5365,
+      5468,
+      5529,
+      5579,
+      5740,
+      6065,
+      6395,
+      6611,
+      6715,
+      6744,
+      6771,
+      6794,
+      6813,
+      6864,
+      6898,
+      6926,
+      6962,
+      6997,
+      7037,
+      7067,
+      7106,
+      7149,
+      7177,
+      7219,
+      7278,
+      7297,
+      7319,
+      7341,
+      7388
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.8556224620970845,
+    "rapid_planner_selected_samples": 147,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 7389,
+    "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": 147,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.004242077469825745,
+    "raw_replay_rms_error_rad": 0.0008824342073141899,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8805037008416192,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9733138569687145,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.932596591323647,
+    "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": 0.8926932830397689,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.942092525249522,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9723056332856305,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0003239531069993973,
+      0.0004936456680297852,
+      0.000625908374786377,
+      0.004247337579727173,
+      0.0021772384643554688,
+      0.004727751016616821
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.5417603638783308,
+    "replay_smoothing_max_deviation_rad": 0.004727751016616821,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0017473460175096989,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.307785749435425,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 20.822837829589844,
+    "replay_smoothing_raw_accel_rms_rad_s2": 1.386118802039693,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 301.93817138671875,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 5846.57763671875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 313.3019590670801,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5455111265182495,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.20028904483180743,
+    "replay_smoothing_rms_deviation_rad": 0.0008184036785110915,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0320138931274414,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 20.26715660095215,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.2926896699518349,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 269.5381774902344,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 5508.01708984375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 304.625259720346,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5163123607635498,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19949033981726277,
+    "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": 0.9811073726654566,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960122381370615,
+    "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": 22.086,
+    "replay_smoothing_wrist_max_deviation_rad": 0.004727751016616821,
+    "safety_abort": false,
+    "safety_path_error_rad": 0.004242077469825745,
+    "saved_data_source": "measured_rapid_planner_playback",
+    "send_failures": 0,
+    "stage_planned_to_measured_max_error_rad": 0.03275531530380249,
+    "stage_planned_to_measured_rms_error_rad": 0.011285017691943233,
+    "stage_sent_to_measured_max_error_rad": null,
+    "stage_sent_to_measured_rms_error_rad": null,
+    "stage_sent_to_planned_max_error_rad": null,
+    "stage_sent_to_planned_rms_error_rad": null,
+    "stage_target_to_sent_max_error_rad": null,
+    "stage_target_to_sent_rms_error_rad": null,
+    "state_frame_count": 0,
+    "stopped_early": true,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "diagnostics_skipped_operator_stop",
+    "tcp_pose_count": 0,
+    "timestamp_count": 0,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
+    "tracking_pass": false,
+    "tracking_reason": "diagnostics_skipped_operator_stop",
+    "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
+    "tracking_threshold_max_error_rad": 0.08726646259971647,
+    "tracking_threshold_max_lag_s": 0.1,
+    "tracking_threshold_rms_error_rad": 0.03490658503988659,
+    "tracking_timing_pass": false,
+    "tracking_timing_reason": "diagnostics_skipped_operator_stop",
+    "window_lag_count": 0
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03b92751d5b5032f19a84dfa0baf2a6fff1e46977c29525bea4e4d47dbab92f
+size 20043

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.json

@@ -0,0 +1,694 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:06:37",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1148,
+    "actual_playback_duration_s": 38.286189378006384,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005872424691915512,
+    "aligned_p95_error_rad": 0.0020461922977119684,
+    "aligned_rms_error_rad": 0.0008893408428839093,
+    "aligned_samples": 1148,
+    "aligned_worst_joint": 3,
+    "aligned_worst_time_s": 14.661999999999999,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1148,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1148,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.4296026801839508,
+    "image_frame_counts": {
+      "cam_scene": 1148,
+      "cam_wrist": 1148
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004233423620462418,
+      0.004727862775325775,
+      0.00480419397354126,
+      0.005872424691915512,
+      0.005396425724029541,
+      0.005638837814331055
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0016801739111542702,
+      0.0019295038655400276,
+      0.0018872354412451386,
+      0.001224343664944172,
+      0.002405840437859297,
+      0.002407316816970706
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007468628795823378,
+      0.0008945526869654085,
+      0.0008501451295756024,
+      0.0006467389668949214,
+      0.0010614043761674572,
+      0.0010582706912150893
+    ],
+    "joint_lag_samples": [
+      1148,
+      1148,
+      1148,
+      1148,
+      1148,
+      1148
+    ],
+    "joint_lag_worst_time_s": [
+      24.948999999999998,
+      24.948999999999998,
+      2.651,
+      14.661999999999999,
+      14.634,
+      24.645
+    ],
+    "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": 40,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006863555987365544,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003970742516685277,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004333084111567587,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.0052310354763176305,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3314,
+    "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": 0.006900127045810223,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003998772008344531,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004370285384356976,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.00527220328804105,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006543739000335336,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004002082976512611,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.00434797047637403,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005235387862194327,
+    "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_v018",
+    "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": 0.013740398921072483,
+    "leadthrough_capture_loop_late_median_s": 0.007745944836642593,
+    "leadthrough_capture_loop_late_p95_s": 0.008110480348113925,
+    "leadthrough_capture_loop_late_p99_s": 0.009181259259348736,
+    "leadthrough_capture_loop_late_warn_count": 7804,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006887005991302431,
+    "leadthrough_capture_read_duration_median_s": 0.003986601019278169,
+    "leadthrough_capture_read_duration_p95_s": 0.004355191905051469,
+    "leadthrough_capture_read_duration_p99_s": 0.005254501455929132,
+    "leadthrough_capture_read_duration_warn_count": 3617,
+    "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": 26,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003154247999191284,
+      0.0032297372817993164,
+      0.005458414554595947,
+      0.0016981661319732666,
+      0.003199160099029541,
+      0.00663989782333374
+    ],
+    "leadthrough_delta_max_abs_rad": 0.00663989782333374,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0012105070054531097,
+      0.0020646825432777405,
+      0.0022442564368247986,
+      0.0003499389858916402,
+      0.0015852153301239014,
+      0.004494860768318176
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005489627365022898,
+      0.0008366022957488894,
+      0.0010797709692269564,
+      0.00018041598377749324,
+      0.0006576882442459464,
+      0.0014337747124955058
+    ],
+    "leadthrough_delta_samples": 6696,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.00663989782333374,
+    "leadthrough_delta_worst_from_rad": -0.649513840675354,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.0510000000000002,
+    "leadthrough_delta_worst_to_rad": -0.6561537384986877,
+    "leadthrough_duration_s": 26.781,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6695,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.532,
+    "leadthrough_final_stillness_removed_samples": 133,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6696,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7804,
+    "leadthrough_initial_stillness_first_motion_index": 975,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.896,
+    "leadthrough_initial_stillness_removed_samples": 974,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 974,
+    "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": [
+      0.003154247999191284,
+      0.0032297372817993164,
+      0.005458414554595947,
+      0.0016981661319732666,
+      0.003199160099029541,
+      0.00663989782333374
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.00663989782333374,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7885619997975577,
+      1.056750615439037,
+      1.7871161301930067,
+      0.4245415329931749,
+      0.895222028096483,
+      2.213299274444496
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.964179515838623,
+    "leadthrough_velocity_rms_rad_s": 0.22529402820542052,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005872424691915512,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5989742875099182,
+    "measured_wall_accel_peak_abs_rad_s2": 2.3706138134002686,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 19.620374229038134,
+    "measured_wall_accel_rms_rad_s2": 0.2802918247184992,
+    "measured_wall_jerk_p95_abs_rad_s3": 10.71420669555664,
+    "measured_wall_jerk_peak_abs_rad_s3": 58.49480056762695,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 22.25424474000465,
+    "measured_wall_jerk_rms_rad_s3": 4.888390348220539,
+    "measured_wall_smoothness_samples": 1148,
+    "measured_wall_velocity_peak_abs_rad_s": 0.9961729645729065,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 17.252843903028406,
+    "measured_wall_velocity_rms_rad_s": 0.11947099204397972,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005872424691915512,
+    "moving_aligned_p95_error_rad": 0.0021088437642902136,
+    "moving_aligned_rms_error_rad": 0.0009301257108967643,
+    "moving_aligned_samples": 1019,
+    "moving_aligned_worst_joint": 3,
+    "moving_aligned_worst_time_s": 14.661999999999999,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004233423620462418,
+      0.004727862775325775,
+      0.00480419397354126,
+      0.005872424691915512,
+      0.005396425724029541,
+      0.005638837814331055
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0020575032103806734,
+      0.0023695603013038635,
+      0.0021905547473579645,
+      0.0028274788055568933,
+      0.0029229819774627686,
+      0.0032722712494432926
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.000922820939948343,
+      0.0010913734294015665,
+      0.0009640239966145785,
+      0.0013727479585421806,
+      0.0014130020696626546,
+      0.001721535849734717
+    ],
+    "moving_joint_lag_samples": [
+      683,
+      719,
+      823,
+      171,
+      586,
+      393
+    ],
+    "moving_joint_lag_worst_time_s": [
+      24.948999999999998,
+      24.948999999999998,
+      2.651,
+      14.661999999999999,
+      14.634,
+      24.645
+    ],
+    "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": 1.8012291193008423,
+    "playback_velocity_rms_rad_s": 0.39326495315008647,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 83.562,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.781,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1983,
+      5716
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4490917681175084,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08566337823867798,
+    "rapid_planner_max_dt_s": 1.676000000000002,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007838129997253418,
+    "rapid_planner_median_dt_s": 0.09200000000000053,
+    "rapid_planner_path_max_error_rad": 0.005872424691915512,
+    "rapid_planner_path_p95_error_rad": 0.003048092778772114,
+    "rapid_planner_path_rms_error_rad": 0.0015060782644040472,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      40,
+      90,
+      107,
+      123,
+      134,
+      145,
+      158,
+      172,
+      180,
+      189,
+      198,
+      206,
+      214,
+      223,
+      232,
+      240,
+      248,
+      256,
+      264,
+      272,
+      280,
+      288,
+      296,
+      305,
+      312,
+      320,
+      334,
+      348,
+      362,
+      376,
+      390,
+      408,
+      429,
+      459,
+      494,
+      530,
+      568,
+      606,
+      643,
+      723,
+      777,
+      830,
+      866,
+      902,
+      969,
+      1023,
+      1104,
+      1162,
+      1387,
+      1787,
+      1916,
+      1983,
+      2072,
+      2151,
+      2492,
+      2595,
+      2660,
+      2709,
+      2755,
+      2791,
+      2808,
+      2825,
+      2842,
+      2859,
+      2893,
+      2918,
+      2934,
+      2949,
+      2966,
+      2975,
+      2984,
+      3001,
+      3018,
+      3038,
+      3059,
+      3084,
+      3108,
+      3131,
+      3154,
+      3180,
+      3205,
+      3235,
+      3260,
+      3276,
+      3291,
+      3308,
+      3317,
+      3326,
+      3342,
+      3359,
+      3377,
+      3395,
+      3416,
+      3448,
+      3483,
+      3518,
+      3593,
+      3641,
+      3713,
+      3736,
+      3767,
+      3801,
+      3879,
+      3923,
+      4010,
+      4087,
+      4175,
+      4432,
+      4516,
+      4855,
+      4922,
+      5016,
+      5297,
+      5716,
+      5973,
+      6043,
+      6068,
+      6087,
+      6110,
+      6131,
+      6149,
+      6173,
+      6188,
+      6203,
+      6215,
+      6227,
+      6250,
+      6270,
+      6290,
+      6308,
+      6326,
+      6348,
+      6364,
+      6389,
+      6414,
+      6451,
+      6594,
+      6696
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.908150031909067,
+    "rapid_planner_selected_samples": 139,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6697,
+    "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": 0.005872424691915512,
+    "raw_replay_rms_error_rad": 0.0008893408428839093,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9658035393701346,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.980617851417351,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9834385059732419,
+    "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": 0.9717914922403481,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.011238935451239,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9895710970539903,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005512959323823452,
+      0.0008872151374816895,
+      0.0014379024505615234,
+      0.0022654831409454346,
+      0.004211604595184326,
+      0.005669742822647095
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.6497046743573885,
+    "replay_smoothing_max_deviation_rad": 0.005669742822647095,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0018590415129438043,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.885864734649658,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.49372863769531,
+    "replay_smoothing_raw_accel_rms_rad_s2": 4.1177550565733965,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1387.1097412109375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18135.544921875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 1056.4804493728466,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9754512310028076,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2261864987757864,
+    "replay_smoothing_rms_deviation_rad": 0.0008593239846630764,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.650392532348633,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 64.22431945800781,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 4.049558880800303,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1347.9814453125,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18339.369140625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 1045.4625173019804,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.964179515838623,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22529402820542052,
+    "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": 0.9942941060820506,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960542712531637,
+    "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": 25.453,
+    "replay_smoothing_wrist_max_deviation_rad": 0.005669742822647095,
+    "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": 0.005872424691915512,
+    "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": 0.057129740715026855,
+    "stage_planned_to_measured_rms_error_rad": 0.00709700561182424,
+    "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": 1148,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.9390892386436462,
+    "target_wall_accel_peak_abs_rad_s2": 5.483975410461426,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 2.2675622780807316,
+    "target_wall_accel_rms_rad_s2": 0.41311248103615533,
+    "target_wall_jerk_p95_abs_rad_s3": 20.858745574951172,
+    "target_wall_jerk_peak_abs_rad_s3": 110.11039733886719,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 2.233389578992501,
+    "target_wall_jerk_rms_rad_s3": 9.374348566253804,
+    "target_wall_smoothness_samples": 1148,
+    "target_wall_velocity_peak_abs_rad_s": 1.1011875867843628,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 2.233389578992501,
+    "target_wall_velocity_rms_rad_s": 0.1205900725260167,
+    "tcp_pose_count": 1148,
+    "timestamp_count": 1148,
+    "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": 1.730000000000003,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 0.7785000000000002,
+    "window_lag_count": 32,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 15.0,
+    "window_lag_worst_max_error_rad": 0.005872424691915512,
+    "window_lag_worst_rms_error_rad": 0.0016451732564125583,
+    "window_lag_worst_start_s": 14.0,
+    "zero_lag_max_error_rad": 0.005872424691915512,
+    "zero_lag_p95_error_rad": 0.0020461922977119684,
+    "zero_lag_rms_error_rad": 0.0008893408428839093,
+    "zero_lag_samples": 1148,
+    "zero_lag_worst_joint": 3,
+    "zero_lag_worst_time_s": 14.661999999999999
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd30eee76711ca5916dfbbd1d8eba64a28732ebba33356c30e9c8df2e488193
+size 119455

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.json

@@ -0,0 +1,678 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:09:02",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.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": 38.48116635007318,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.0055350810289382935,
+    "aligned_p95_error_rad": 0.001807723194360733,
+    "aligned_rms_error_rad": 0.0008082001788733087,
+    "aligned_samples": 1154,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 20.205000000000002,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.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": 1.755447577668591,
+    "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": [
+      0.005354210734367371,
+      0.0051838308572769165,
+      0.0045867860317230225,
+      0.005263019353151321,
+      0.005163788795471191,
+      0.0055350810289382935
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0013599555240944028,
+      0.0015013105003163218,
+      0.0018664917442947626,
+      0.0007354530389420688,
+      0.0020330543629825115,
+      0.0022575347684323788
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007247956183212888,
+      0.0007782051549462578,
+      0.0008811101413837417,
+      0.0004152645288401127,
+      0.0009168005796232986,
+      0.000999434945508074
+    ],
+    "joint_lag_samples": [
+      1154,
+      1154,
+      1154,
+      1154,
+      1154,
+      1154
+    ],
+    "joint_lag_worst_time_s": [
+      19.397000000000002,
+      20.193,
+      20.193,
+      16.013,
+      16.013,
+      20.205000000000002
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.014999999897554517,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": true,
+    "leadthrough_capture_controller_tm_gap_warn_count": 1,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 44,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.01780331798363477,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003954519983381033,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004382164636626839,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004996325098909438,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2737,
+    "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
+    "leadthrough_capture_egm_recorded_seqno_step_max": 4,
+    "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
+    "leadthrough_capture_expected_dt_s": 0.004,
+    "leadthrough_capture_host_loop_dt_max_s": 0.01787461107596755,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003995076986029744,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004441368259722366,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005046636136248709,
+    "leadthrough_capture_host_loop_gap_warn": true,
+    "leadthrough_capture_host_loop_gap_warn_count": 1,
+    "leadthrough_capture_host_receive_dt_max_s": 0.01790070498827845,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003995066450443119,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004389898112276568,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004974628946511075,
+    "leadthrough_capture_host_receive_gap_warn": true,
+    "leadthrough_capture_host_receive_gap_warn_count": 1,
+    "leadthrough_capture_leadthrough_start_arm_mode": "",
+    "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
+    "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
+    "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
+    "leadthrough_capture_leadthrough_start_joints_deg": [
+      16.926,
+      -0.49,
+      52.285,
+      4.341,
+      41.395,
+      7.983
+    ],
+    "leadthrough_capture_leadthrough_start_joints_rad": [
+      0.295419,
+      -0.008551,
+      0.912542,
+      0.075773,
+      0.722472,
+      0.139336
+    ],
+    "leadthrough_capture_leadthrough_start_pose_enabled": true,
+    "leadthrough_capture_leadthrough_start_pose_locked": true,
+    "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v018",
+    "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": 0.02443082584068179,
+    "leadthrough_capture_loop_late_median_s": 0.010197553434409201,
+    "leadthrough_capture_loop_late_p95_s": 0.022311828285455703,
+    "leadthrough_capture_loop_late_p99_s": 0.02270871240645647,
+    "leadthrough_capture_loop_late_warn_count": 6409,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.017847656039521098,
+    "leadthrough_capture_read_duration_median_s": 0.003977761953137815,
+    "leadthrough_capture_read_duration_p95_s": 0.004419785807840525,
+    "leadthrough_capture_read_duration_p99_s": 0.005026822583749891,
+    "leadthrough_capture_read_duration_warn_count": 2951,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.015000000000000568,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": true,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 1,
+    "leadthrough_capture_slow_ticks": 6,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.0030036475509405136,
+      0.0033500194549560547,
+      0.0061463117599487305,
+      0.001642438117414713,
+      0.005282044410705566,
+      0.0062563419342041016
+    ],
+    "leadthrough_delta_max_abs_rad": 0.0062563419342041016,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0014431958552449942,
+      0.0021229854319244623,
+      0.003358301240950823,
+      0.0004950394504703581,
+      0.0014689264353364706,
+      0.004661263432353735
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0006305429851636291,
+      0.0009199897176586092,
+      0.0013790769735351205,
+      0.00021241101785562932,
+      0.000713804445695132,
+      0.0014419092331081629
+    ],
+    "leadthrough_delta_samples": 5478,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.0062563419342041016,
+    "leadthrough_delta_worst_from_rad": -0.8027765154838562,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 1.1669999999999994,
+    "leadthrough_delta_worst_to_rad": -0.8090328574180603,
+    "leadthrough_duration_s": 21.921,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5447,
+    "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": 5448,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 6409,
+    "leadthrough_initial_stillness_first_motion_index": 931,
+    "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": 930,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 930,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.015000000000000568,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": true,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.0030036475509405136,
+      0.0033500194549560547,
+      0.0061463117599487305,
+      0.001642438117414713,
+      0.005282044410705566,
+      0.0062563419342041016
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.0062563419342041016,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7509118877355446,
+      1.116673151651976,
+      1.9861857096353415,
+      0.4106095293535411,
+      1.7229318618773761,
+      1.90309683481845
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.7138676643371582,
+    "leadthrough_velocity_rms_rad_s": 0.24855006551624134,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.0055350810289382935,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5581099390983582,
+    "measured_wall_accel_peak_abs_rad_s2": 2.5613207817077637,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 41.28419392206706,
+    "measured_wall_accel_rms_rad_s2": 0.253764697392097,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.936759948730469,
+    "measured_wall_jerk_peak_abs_rad_s3": 44.4493293762207,
+    "measured_wall_jerk_peak_joint": 5,
+    "measured_wall_jerk_peak_time_s": 24.911535106017254,
+    "measured_wall_jerk_rms_rad_s3": 4.166163202738259,
+    "measured_wall_smoothness_samples": 1154,
+    "measured_wall_velocity_peak_abs_rad_s": 0.7252232432365417,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 40.31250960903708,
+    "measured_wall_velocity_rms_rad_s": 0.10966641846132132,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.0055350810289382935,
+    "moving_aligned_p95_error_rad": 0.002003815956413746,
+    "moving_aligned_rms_error_rad": 0.000935570800853499,
+    "moving_aligned_samples": 844,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 20.205000000000002,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005354210734367371,
+      0.0051838308572769165,
+      0.0045867860317230225,
+      0.0033460035920143127,
+      0.005163788795471191,
+      0.0055350810289382935
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.001943544251844287,
+      0.0018036835826933384,
+      0.002140812575817108,
+      0.0014448375441133976,
+      0.0026105400174856186,
+      0.002963847713544965
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009382898111949843,
+      0.0009133238924317666,
+      0.0010687549976589022,
+      0.0006426544224307349,
+      0.001211216187100173,
+      0.0015646498824171936
+    ],
+    "moving_joint_lag_samples": [
+      653,
+      785,
+      696,
+      230,
+      595,
+      433
+    ],
+    "moving_joint_lag_worst_time_s": [
+      19.397000000000002,
+      20.193,
+      20.193,
+      15.938,
+      16.013,
+      20.205000000000002
+    ],
+    "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": 2.10123872756958,
+    "playback_velocity_rms_rad_s": 0.40307589740447963,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 73.842,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 21.921,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1491,
+      4458
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4495152398460492,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08582425117492676,
+    "rapid_planner_max_dt_s": 2.1999999999999993,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007845520973205566,
+    "rapid_planner_median_dt_s": 0.09600000000000009,
+    "rapid_planner_path_max_error_rad": 0.0055350810289382935,
+    "rapid_planner_path_p95_error_rad": 0.002760767936706542,
+    "rapid_planner_path_rms_error_rad": 0.0013878052623884393,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      41,
+      83,
+      102,
+      125,
+      138,
+      150,
+      168,
+      177,
+      186,
+      202,
+      219,
+      236,
+      252,
+      262,
+      271,
+      280,
+      290,
+      298,
+      306,
+      314,
+      322,
+      332,
+      341,
+      350,
+      360,
+      379,
+      397,
+      412,
+      427,
+      457,
+      482,
+      507,
+      531,
+      555,
+      613,
+      652,
+      691,
+      755,
+      800,
+      846,
+      893,
+      968,
+      1026,
+      1060,
+      1119,
+      1181,
+      1268,
+      1491,
+      2041,
+      2095,
+      2123,
+      2147,
+      2159,
+      2171,
+      2185,
+      2198,
+      2211,
+      2227,
+      2242,
+      2270,
+      2297,
+      2318,
+      2340,
+      2370,
+      2384,
+      2399,
+      2423,
+      2447,
+      2471,
+      2495,
+      2526,
+      2558,
+      2590,
+      2621,
+      2651,
+      2666,
+      2681,
+      2693,
+      2705,
+      2721,
+      2737,
+      2753,
+      2769,
+      2789,
+      2809,
+      2827,
+      2844,
+      2896,
+      2946,
+      3018,
+      3075,
+      3150,
+      3220,
+      3270,
+      3355,
+      3436,
+      3537,
+      3797,
+      3966,
+      4108,
+      4458,
+      4662,
+      4736,
+      4754,
+      4770,
+      4797,
+      4824,
+      4868,
+      4892,
+      4915,
+      4934,
+      4954,
+      4975,
+      4991,
+      5014,
+      5036,
+      5064,
+      5094,
+      5127,
+      5156,
+      5186,
+      5478
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.917367372194,
+    "rapid_planner_selected_samples": 123,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5479,
+    "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": 0.0055350810289382935,
+    "raw_replay_rms_error_rad": 0.0008082001788733087,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9450014194597488,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8361874225342738,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9670548045555108,
+    "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": 0.9524508283975756,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8055007739705745,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9811642407094379,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.000720292329788208,
+      0.0010674595832824707,
+      0.0025701522827148438,
+      0.0019038692116737366,
+      0.00546574592590332,
+      0.006245896220207214
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7157269909334574,
+    "replay_smoothing_max_deviation_rad": 0.006245896220207214,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0021761497482657433,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.629708766937256,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 67.8577880859375,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.5139410874976416,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 618.089599609375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18803.958984375,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 915.2661752683953,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7756088972091675,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.24961610044355043,
+    "replay_smoothing_rms_deviation_rad": 0.0010086178045445465,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.430079936981201,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.74182891845703,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.398173611589611,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 588.699951171875,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15146.603515625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 898.0264419042463,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7138676643371582,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24855006551624134,
+    "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": 0.9652281349969288,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9957293022148218,
+    "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": 20.165000000000003,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006245896220207214,
+    "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": 0.0055350810289382935,
+    "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": 0.04102504253387451,
+    "stage_planned_to_measured_rms_error_rad": 0.006504429999105879,
+    "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": 0.8336774706840515,
+    "target_wall_accel_peak_abs_rad_s2": 3.723797559738159,
+    "target_wall_accel_peak_joint": 4,
+    "target_wall_accel_peak_time_s": 27.26672332303133,
+    "target_wall_accel_rms_rad_s2": 0.37721422511654246,
+    "target_wall_jerk_p95_abs_rad_s3": 19.046897888183594,
+    "target_wall_jerk_peak_abs_rad_s3": 108.46983337402344,
+    "target_wall_jerk_peak_joint": 4,
+    "target_wall_jerk_peak_time_s": 27.30005592107773,
+    "target_wall_jerk_rms_rad_s3": 8.549868757722594,
+    "target_wall_smoothness_samples": 1154,
+    "target_wall_velocity_peak_abs_rad_s": 0.7478284239768982,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 24.20007182599511,
+    "target_wall_velocity_rms_rad_s": 0.1105923737608253,
+    "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": 1.3700000000000028,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 0.8900000000000023,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.8900000000000023,
+    "window_lag_worst_end_s": 6.0,
+    "window_lag_worst_max_error_rad": 0.042291879653930664,
+    "window_lag_worst_rms_error_rad": 0.003781877808020236,
+    "window_lag_worst_start_s": 5.0,
+    "zero_lag_max_error_rad": 0.0055350810289382935,
+    "zero_lag_p95_error_rad": 0.001807723194360733,
+    "zero_lag_rms_error_rad": 0.0008082001788733087,
+    "zero_lag_samples": 1154,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 20.205000000000002
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b302ccfd47be4ecb25b84bd727545fbdbdb94a8a93c1c5ad9f6b588975887f
+size 119227

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.json

@@ -0,0 +1,695 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:11:28",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1220,
+    "actual_playback_duration_s": 40.677657736930996,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.3843572437763214,
+    "aligned_p95_error_rad": 0.0018959922017529607,
+    "aligned_rms_error_rad": 0.005208285019512531,
+    "aligned_samples": 1220,
+    "aligned_worst_joint": 4,
+    "aligned_worst_time_s": 25.705,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1220,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1220,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5668756109907553,
+    "image_frame_counts": {
+      "cam_scene": 1220,
+      "cam_wrist": 1220
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.004869610071182251,
+      0.1522006392478943,
+      0.02168726921081543,
+      0.14836901426315308,
+      0.3843572437763214,
+      0.004841923713684082
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0017081965925171971,
+      0.0018432668875902891,
+      0.0019066507229581475,
+      0.0013183054979890585,
+      0.002054415876045823,
+      0.0020480698440223932
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0007631807799164368,
+      0.0044418209868332765,
+      0.0010551219595593487,
+      0.004284331858389768,
+      0.011047416142996402,
+      0.0009648799024075887
+    ],
+    "joint_lag_samples": [
+      1220,
+      1220,
+      1220,
+      1220,
+      1220,
+      1220
+    ],
+    "joint_lag_worst_time_s": [
+      17.114,
+      25.705,
+      25.705,
+      25.705,
+      25.705,
+      6.095000000000001
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.009000000078231096,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 2,
+    "leadthrough_capture_egm_drained_packet_max": 16,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.00895111495628953,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003955328022129834,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004289691965095699,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004809757596813142,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3036,
+    "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": 0.00906499708071351,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003988259006291628,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.0043350292253308,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0048745817330200225,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.008947074064053595,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003988793003372848,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004305205453420058,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.00480308920959942,
+    "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_v018",
+    "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": 0.01646137097850442,
+    "leadthrough_capture_loop_late_median_s": 0.009861449711024761,
+    "leadthrough_capture_loop_late_p95_s": 0.01396466011647135,
+    "leadthrough_capture_loop_late_p99_s": 0.01411936193704605,
+    "leadthrough_capture_loop_late_warn_count": 7697,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.009018422104418278,
+    "leadthrough_capture_read_duration_median_s": 0.0039740370120853186,
+    "leadthrough_capture_read_duration_p95_s": 0.004316670377738774,
+    "leadthrough_capture_read_duration_p99_s": 0.004850816200487316,
+    "leadthrough_capture_read_duration_warn_count": 3346,
+    "leadthrough_capture_recorded_timestamp_dt_max_s": 0.009000000000000341,
+    "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
+    "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
+    "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 7,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.003171425312757492,
+      0.003158271312713623,
+      0.005244314670562744,
+      0.0016376450657844543,
+      0.0029169321060180664,
+      0.005215555429458618
+    ],
+    "leadthrough_delta_max_abs_rad": 0.005244314670562744,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0012832320062443614,
+      0.0018607927486300468,
+      0.0029826024547219276,
+      0.0003591065760701895,
+      0.0019459425238892436,
+      0.0037126869428902864
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005817224155180156,
+      0.0008815768524073064,
+      0.0012584287906065583,
+      0.00020689869415946305,
+      0.0007175410864874721,
+      0.0012815543450415134
+    ],
+    "leadthrough_delta_samples": 6490,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.005244314670562744,
+    "leadthrough_delta_worst_from_rad": -0.7338085770606995,
+    "leadthrough_delta_worst_joint": 2,
+    "leadthrough_delta_worst_time_s": 13.294,
+    "leadthrough_delta_worst_to_rad": -0.7285642623901367,
+    "leadthrough_duration_s": 25.961,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6489,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7600000000000016,
+    "leadthrough_final_stillness_removed_samples": 190,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 6490,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 7697,
+    "leadthrough_initial_stillness_first_motion_index": 1017,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 4.064,
+    "leadthrough_initial_stillness_removed_samples": 1016,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1016,
+    "leadthrough_initial_stillness_trimmed": true,
+    "leadthrough_reference_hz": 250.0,
+    "leadthrough_sample_dt_max_s": 0.009000000000000341,
+    "leadthrough_sample_dt_median_s": 0.0039999999999995595,
+    "leadthrough_sample_gap_warn": false,
+    "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
+      0.003171425312757492,
+      0.003158271312713623,
+      0.005244314670562744,
+      0.0016376450657844543,
+      0.0029169321060180664,
+      0.005215555429458618
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.005244314670562744,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.7928563281898124,
+      1.0435581207274995,
+      1.7337203025817214,
+      0.4094112664463405,
+      0.9485483169555304,
+      1.3038888573647982
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.4887927770614624,
+    "leadthrough_velocity_rms_rad_s": 0.22736211189320812,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.3843572437763214,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5786457061767578,
+    "measured_wall_accel_peak_abs_rad_s2": 262.86541748046875,
+    "measured_wall_accel_peak_joint": 1,
+    "measured_wall_accel_peak_time_s": 17.454923530924134,
+    "measured_wall_accel_rms_rad_s2": 7.181421012865348,
+    "measured_wall_jerk_p95_abs_rad_s3": 9.77883243560791,
+    "measured_wall_jerk_peak_abs_rad_s3": 4157.7705078125,
+    "measured_wall_jerk_peak_joint": 1,
+    "measured_wall_jerk_peak_time_s": 17.48578984697815,
+    "measured_wall_jerk_rms_rad_s3": 93.36479937946196,
+    "measured_wall_smoothness_samples": 1220,
+    "measured_wall_velocity_peak_abs_rad_s": 16.847749710083008,
+    "measured_wall_velocity_peak_joint": 1,
+    "measured_wall_velocity_peak_time_s": 17.4216925149085,
+    "measured_wall_velocity_rms_rad_s": 0.3574204616611752,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.0057392120361328125,
+    "moving_aligned_p95_error_rad": 0.0020047305151820183,
+    "moving_aligned_rms_error_rad": 0.0009523451101661644,
+    "moving_aligned_samples": 917,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 17.922,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.004869610071182251,
+      0.0050199925899505615,
+      0.0057392120361328125,
+      0.004648065194487572,
+      0.005647182464599609,
+      0.004172712564468384
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0019542917143553495,
+      0.0018800426041707397,
+      0.0021248694974929094,
+      0.002853612182661891,
+      0.002361755585297942,
+      0.002428187057375908
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0008889949328183244,
+      0.0009478242334440332,
+      0.0010543671295903288,
+      0.0013923468773518997,
+      0.001188102566035284,
+      0.0012728674098861712
+    ],
+    "moving_joint_lag_samples": [
+      789,
+      865,
+      707,
+      174,
+      648,
+      552
+    ],
+    "moving_joint_lag_worst_time_s": [
+      17.114,
+      18.018,
+      17.922,
+      17.126,
+      17.89,
+      25.281
+    ],
+    "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": 2.399143934249878,
+    "playback_velocity_rms_rad_s": 0.3778471699337135,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 81.922,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 25.961,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      2218,
+      5654
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.44158026757778684,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08720654249191284,
+    "rapid_planner_max_dt_s": 2.815999999999999,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007707029581069946,
+    "rapid_planner_median_dt_s": 0.09199999999999875,
+    "rapid_planner_path_max_error_rad": 0.3843572437763214,
+    "rapid_planner_path_p95_error_rad": 0.0027974814176559442,
+    "rapid_planner_path_rms_error_rad": 0.011096778065667228,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      48,
+      75,
+      97,
+      114,
+      130,
+      146,
+      162,
+      178,
+      193,
+      204,
+      214,
+      224,
+      234,
+      244,
+      255,
+      266,
+      276,
+      291,
+      306,
+      322,
+      337,
+      350,
+      364,
+      390,
+      404,
+      417,
+      430,
+      444,
+      458,
+      471,
+      488,
+      506,
+      540,
+      568,
+      608,
+      636,
+      664,
+      713,
+      756,
+      784,
+      811,
+      840,
+      869,
+      898,
+      927,
+      962,
+      996,
+      1055,
+      1082,
+      1143,
+      1250,
+      1379,
+      1449,
+      1628,
+      2113,
+      2218,
+      2922,
+      3037,
+      3098,
+      3141,
+      3171,
+      3201,
+      3224,
+      3247,
+      3266,
+      3285,
+      3298,
+      3312,
+      3326,
+      3339,
+      3352,
+      3364,
+      3377,
+      3390,
+      3411,
+      3431,
+      3450,
+      3477,
+      3518,
+      3539,
+      3558,
+      3600,
+      3687,
+      3749,
+      3769,
+      3790,
+      3810,
+      3840,
+      3869,
+      3882,
+      3896,
+      3906,
+      3916,
+      3926,
+      3936,
+      3954,
+      3974,
+      4033,
+      4066,
+      4099,
+      4117,
+      4138,
+      4161,
+      4182,
+      4221,
+      4260,
+      4308,
+      4343,
+      4380,
+      4447,
+      4552,
+      4644,
+      4762,
+      5162,
+      5251,
+      5416,
+      5654,
+      5890,
+      5944,
+      5982,
+      6020,
+      6042,
+      6058,
+      6074,
+      6097,
+      6120,
+      6145,
+      6166,
+      6187,
+      6206,
+      6226,
+      6249,
+      6262,
+      6275,
+      6292,
+      6308,
+      6342,
+      6378,
+      6490
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.996566830714883,
+    "rapid_planner_selected_samples": 140,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6491,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 140,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.3843572437763214,
+    "raw_replay_rms_error_rad": 0.005208285019512531,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9674853202505919,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8606924902082372,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9696357016330571,
+    "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": 0.994333776838708,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.806822755516434,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9827689792461001,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0004549231380224228,
+      0.00046008825302124023,
+      0.000862807035446167,
+      0.0016681104898452759,
+      0.0024951696395874023,
+      0.006647348403930664
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7617300228971422,
+    "replay_smoothing_max_deviation_rad": 0.006647348403930664,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0023795776069164276,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.242943286895752,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.5040397644043,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.1485632268976214,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 864.2069702148438,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16348.611328125,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 787.8458420181053,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5485649108886719,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2285741030335014,
+    "replay_smoothing_rms_deviation_rad": 0.001099148527499097,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.072470664978027,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.63260269165039,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.0529593136489175,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 859.3101806640625,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13190.431640625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 774.2704539634175,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4887927770614624,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22736211189320812,
+    "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": 0.9614015961443243,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9946976008033787,
+    "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": 16.638,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006647348403930664,
+    "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": 0.3843572437763214,
+    "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": 0.5616181492805481,
+    "stage_planned_to_measured_rms_error_rad": 0.012166294290763751,
+    "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": 1220,
+    "stopped_early": false,
+    "strict_tracking_pass": false,
+    "strict_tracking_reason": "max_error_rad=0.3844",
+    "target_wall_accel_p95_abs_rad_s2": 0.8534371256828308,
+    "target_wall_accel_peak_abs_rad_s2": 255.6908721923828,
+    "target_wall_accel_peak_joint": 2,
+    "target_wall_accel_peak_time_s": 0.03338769590482116,
+    "target_wall_accel_rms_rad_s2": 5.6892387846520105,
+    "target_wall_jerk_p95_abs_rad_s3": 19.5430850982666,
+    "target_wall_jerk_peak_abs_rad_s3": 3830.95654296875,
+    "target_wall_jerk_peak_joint": 2,
+    "target_wall_jerk_peak_time_s": 0.06673344096634537,
+    "target_wall_jerk_rms_rad_s3": 70.0674732703981,
+    "target_wall_smoothness_samples": 1220,
+    "target_wall_velocity_peak_abs_rad_s": 17.05910301208496,
+    "target_wall_velocity_peak_joint": 2,
+    "target_wall_velocity_peak_time_s": 7.868977263569832e-06,
+    "target_wall_velocity_rms_rad_s": 0.30393215478754526,
+    "tcp_pose_count": 1220,
+    "timestamp_count": 1220,
+    "tool_failures": 0,
+    "tracking_geometry_pass": false,
+    "tracking_geometry_reason": "max_error_rad=0.3844",
+    "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": 1.9600000000000035,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 1.336000000000001,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 1.9600000000000035,
+    "window_lag_worst_end_s": 9.0,
+    "window_lag_worst_max_error_rad": 0.0162278413772583,
+    "window_lag_worst_rms_error_rad": 0.006329083787056694,
+    "window_lag_worst_start_s": 8.0,
+    "zero_lag_max_error_rad": 0.3843572437763214,
+    "zero_lag_p95_error_rad": 0.0018959922017529607,
+    "zero_lag_rms_error_rad": 0.005208285019512531,
+    "zero_lag_samples": 1220,
+    "zero_lag_worst_joint": 4,
+    "zero_lag_worst_time_s": 25.705
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7dd6457e0f035c8850cda5fa74b238570e3b98eeb9583b58b09ab631d786b50
+size 128235

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.json

@@ -0,0 +1,682 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T12:13:54",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1143,
+    "actual_playback_duration_s": 38.11427233903669,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.006053149700164795,
+    "aligned_p95_error_rad": 0.001972934463992715,
+    "aligned_rms_error_rad": 0.000877395572982271,
+    "aligned_samples": 1143,
+    "aligned_worst_joint": 2,
+    "aligned_worst_time_s": 14.463000000000001,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1143,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1143,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.7004672231211155,
+    "image_frame_counts": {
+      "cam_scene": 1143,
+      "cam_wrist": 1143
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.005904167890548706,
+      0.004770956933498383,
+      0.006053149700164795,
+      0.004735406953841448,
+      0.004830479621887207,
+      0.0054409801959991455
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0016596125205978751,
+      0.0018718237988650799,
+      0.0020992786157876253,
+      0.0014014042681083083,
+      0.002089178655296564,
+      0.0021867696195840836
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0008178831888965054,
+      0.0008864217490105458,
+      0.0010213583524906077,
+      0.0006517678915986432,
+      0.0009333262610064272,
+      0.0009083993301017943
+    ],
+    "joint_lag_samples": [
+      1143,
+      1143,
+      1143,
+      1143,
+      1143,
+      1143
+    ],
+    "joint_lag_worst_time_s": [
+      14.491,
+      14.463000000000001,
+      14.463000000000001,
+      9.523,
+      21.03,
+      20.998
+    ],
+    "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": 35,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.007596936076879501,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003963320981711149,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.004369010031223296,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.004956418760120869,
+    "leadthrough_capture_egm_poll_duration_warn_count": 2955,
+    "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": 0.0076908060582354665,
+    "leadthrough_capture_host_loop_dt_median_s": 0.003998001455329359,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.004416578920790925,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.0050278572470415376,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.0075933909974992275,
+    "leadthrough_capture_host_receive_dt_median_s": 0.003998027998022735,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004372022242750973,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.004974236628040671,
+    "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_v018",
+    "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": 0.012534816283732653,
+    "leadthrough_capture_loop_late_median_s": 0.008645731839351356,
+    "leadthrough_capture_loop_late_p95_s": 0.009097687178291378,
+    "leadthrough_capture_loop_late_p99_s": 0.009723464394919565,
+    "leadthrough_capture_loop_late_warn_count": 6753,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.007658813032321632,
+    "leadthrough_capture_read_duration_median_s": 0.00398184999357909,
+    "leadthrough_capture_read_duration_p95_s": 0.004394940612837672,
+    "leadthrough_capture_read_duration_p99_s": 0.00499823470134288,
+    "leadthrough_capture_read_duration_warn_count": 3184,
+    "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": 6,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002346910536289215,
+      0.003120720386505127,
+      0.00487518310546875,
+      0.0014566853642463684,
+      0.0032782554626464844,
+      0.006236597895622253
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006236597895622253,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.0010988876456394792,
+      0.0020005954429507256,
+      0.003201395273208618,
+      0.00033939379500225186,
+      0.001613527536392212,
+      0.004397324286401272
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005653260741382837,
+      0.0009042267920449376,
+      0.0014127300819382071,
+      0.00016403333574999124,
+      0.0006904430920258164,
+      0.0014155948301777244
+    ],
+    "leadthrough_delta_samples": 5604,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": -0.006236597895622253,
+    "leadthrough_delta_worst_from_rad": -0.15006287395954132,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 0.6280000000000001,
+    "leadthrough_delta_worst_to_rad": -0.15629947185516357,
+    "leadthrough_duration_s": 22.414,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 5603,
+    "leadthrough_final_stillness_min_trim_s": 0.25,
+    "leadthrough_final_stillness_removed_s": 0.7399999999999984,
+    "leadthrough_final_stillness_removed_samples": 185,
+    "leadthrough_final_stillness_tool_tol": 0.005,
+    "leadthrough_final_stillness_trim_enabled": true,
+    "leadthrough_final_stillness_trim_end_index": 5604,
+    "leadthrough_final_stillness_trimmed": true,
+    "leadthrough_frame_count": 6753,
+    "leadthrough_initial_stillness_first_motion_index": 964,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 3.851,
+    "leadthrough_initial_stillness_removed_samples": 963,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 963,
+    "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": [
+      0.002346910536289215,
+      0.003120720386505127,
+      0.00487518310546875,
+      0.0014566853642463684,
+      0.0032782554626464844,
+      0.006236597895622253
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006236597895622253,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.586727634072629,
+      0.7801800966260212,
+      1.2187957763667805,
+      0.36417134106179394,
+      0.8195638656613474,
+      2.0712763071059395
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.8297269344329834,
+    "leadthrough_velocity_rms_rad_s": 0.24348306106024914,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.006053149700164795,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5351240634918213,
+    "measured_wall_accel_peak_abs_rad_s2": 2.169956922531128,
+    "measured_wall_accel_peak_joint": 4,
+    "measured_wall_accel_peak_time_s": 33.30062358803116,
+    "measured_wall_accel_rms_rad_s2": 0.24642561778429606,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.957087516784668,
+    "measured_wall_jerk_peak_abs_rad_s3": 38.45399475097656,
+    "measured_wall_jerk_peak_joint": 4,
+    "measured_wall_jerk_peak_time_s": 44.40039435401559,
+    "measured_wall_jerk_rms_rad_s3": 4.247106654308726,
+    "measured_wall_smoothness_samples": 1143,
+    "measured_wall_velocity_peak_abs_rad_s": 0.6803673505783081,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 41.13433849194553,
+    "measured_wall_velocity_rms_rad_s": 0.11447961372687167,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.006053149700164795,
+    "moving_aligned_p95_error_rad": 0.0022626016288995743,
+    "moving_aligned_rms_error_rad": 0.0010144276606309911,
+    "moving_aligned_samples": 839,
+    "moving_aligned_worst_joint": 2,
+    "moving_aligned_worst_time_s": 14.463000000000001,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.005904167890548706,
+      0.004770956933498383,
+      0.006053149700164795,
+      0.004365649074316025,
+      0.004830479621887207,
+      0.0054409801959991455
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.001999347470700741,
+      0.002298748353496194,
+      0.002390002366155386,
+      0.002930743619799614,
+      0.002602156950160861,
+      0.0027221092022955418
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0009615524369992833,
+      0.0010334338539843473,
+      0.0012378655951826654,
+      0.0011769765477000092,
+      0.0011936400115157432,
+      0.0014663392034825198
+    ],
+    "moving_joint_lag_samples": [
+      705,
+      785,
+      688,
+      224,
+      642,
+      400
+    ],
+    "moving_joint_lag_worst_time_s": [
+      14.491,
+      14.463000000000001,
+      14.463000000000001,
+      15.231000000000002,
+      21.03,
+      20.998
+    ],
+    "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": 2.199904441833496,
+    "playback_velocity_rms_rad_s": 0.3752738660402212,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 74.828,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 22.414,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1704,
+      4789
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.4037358969340387,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08616399765014648,
+    "rapid_planner_max_dt_s": 2.1489999999999982,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007046520709991455,
+    "rapid_planner_median_dt_s": 0.09200000000000097,
+    "rapid_planner_path_max_error_rad": 0.006053149700164795,
+    "rapid_planner_path_p95_error_rad": 0.003035622835159301,
+    "rapid_planner_path_rms_error_rad": 0.0014658411103191877,
+    "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,
+      82,
+      99,
+      112,
+      124,
+      136,
+      145,
+      154,
+      162,
+      171,
+      180,
+      188,
+      197,
+      206,
+      222,
+      238,
+      251,
+      264,
+      278,
+      291,
+      303,
+      315,
+      335,
+      356,
+      376,
+      395,
+      414,
+      434,
+      455,
+      478,
+      500,
+      520,
+      540,
+      574,
+      609,
+      634,
+      658,
+      682,
+      707,
+      742,
+      778,
+      810,
+      843,
+      881,
+      919,
+      949,
+      980,
+      1135,
+      1272,
+      1461,
+      1704,
+      2241,
+      2393,
+      2493,
+      2544,
+      2568,
+      2590,
+      2614,
+      2639,
+      2663,
+      2688,
+      2749,
+      2782,
+      2800,
+      2818,
+      2837,
+      2851,
+      2865,
+      2879,
+      2893,
+      2908,
+      2923,
+      2938,
+      2953,
+      2975,
+      3004,
+      3045,
+      3086,
+      3112,
+      3139,
+      3166,
+      3194,
+      3216,
+      3238,
+      3260,
+      3281,
+      3298,
+      3314,
+      3330,
+      3345,
+      3360,
+      3376,
+      3388,
+      3399,
+      3422,
+      3448,
+      3514,
+      3569,
+      3660,
+      3748,
+      3836,
+      3932,
+      3996,
+      4286,
+      4420,
+      4495,
+      4789,
+      5075,
+      5125,
+      5161,
+      5193,
+      5231,
+      5267,
+      5294,
+      5309,
+      5324,
+      5338,
+      5353,
+      5370,
+      5387,
+      5410,
+      5434,
+      5469,
+      5494,
+      5548,
+      5604
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.936833411328537,
+    "rapid_planner_selected_samples": 127,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 5605,
+    "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": 0.006053149700164795,
+    "raw_replay_rms_error_rad": 0.000877395572982271,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8525539564845294,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9833206204418189,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9497939662787709,
+    "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": 0.630191568349443,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9776722615401849,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9836347452196869,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.0005432367324829102,
+      0.0024682283401489258,
+      0.003139704465866089,
+      0.0032995864748954773,
+      0.006722092628479004,
+      0.0040863752365112305
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.7702950801826862,
+    "replay_smoothing_max_deviation_rad": 0.006722092628479004,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0019471999257802963,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.8178727626800537,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 46.3150749206543,
+    "replay_smoothing_raw_accel_rms_rad_s2": 2.039853337540622,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 372.23577880859375,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13843.35546875,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 533.9078428784799,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8502510786056519,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.2443387075375737,
+    "replay_smoothing_rms_deviation_rad": 0.0008873471997446887,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.402388572692871,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 45.54256820678711,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 1.9374403920896959,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 234.57984924316406,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13534.2646484375,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 525.1703050005661,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8297269344329834,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24348306106024914,
+    "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": 0.9889073734856918,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964981132709275,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 4,
+    "replay_smoothing_worst_time_s": 10.562999999999999,
+    "replay_smoothing_wrist_max_deviation_rad": 0.006722092628479004,
+    "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": 0.006053149700164795,
+    "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": 0.0385129451751709,
+    "stage_planned_to_measured_rms_error_rad": 0.0067979544040767635,
+    "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": 1143,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.8393442630767822,
+    "target_wall_accel_peak_abs_rad_s2": 3.829785108566284,
+    "target_wall_accel_peak_joint": 2,
+    "target_wall_accel_peak_time_s": 19.401167634990998,
+    "target_wall_accel_rms_rad_s2": 0.3668005083208349,
+    "target_wall_jerk_p95_abs_rad_s3": 18.6176700592041,
+    "target_wall_jerk_peak_abs_rad_s3": 78.7684555053711,
+    "target_wall_jerk_peak_joint": 2,
+    "target_wall_jerk_peak_time_s": 19.433388030040078,
+    "target_wall_jerk_rms_rad_s3": 8.320052148452032,
+    "target_wall_smoothness_samples": 1143,
+    "target_wall_velocity_peak_abs_rad_s": 0.7386634945869446,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 25.166726429015398,
+    "target_wall_velocity_rms_rad_s": 0.1154331944832936,
+    "tcp_pose_count": 1143,
+    "timestamp_count": 1143,
+    "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": 1.1200000000000028,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": 0.0,
+    "window_lag_best_lag_p95_abs_s": 0.8200000000000012,
+    "window_lag_count": 29,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.0,
+    "window_lag_worst_end_s": 15.0,
+    "window_lag_worst_max_error_rad": 0.006053149700164795,
+    "window_lag_worst_rms_error_rad": 0.002081825770039485,
+    "window_lag_worst_start_s": 14.0,
+    "zero_lag_max_error_rad": 0.006053149700164795,
+    "zero_lag_p95_error_rad": 0.001972934463992715,
+    "zero_lag_rms_error_rad": 0.000877395572982271,
+    "zero_lag_samples": 1143,
+    "zero_lag_worst_joint": 2,
+    "zero_lag_worst_time_s": 14.463000000000001
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc5007a2b1d2b90e532a82e1ac9757930d8a411165354a0b96d51cf65e14676
+size 118753

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.json

@@ -0,0 +1,697 @@
+{
+  "attempt": 1,
+  "controller_state_codes": {
+    "running": 1,
+    "stopped": 0,
+    "unknown": -1
+  },
+  "created_at": "2026-08-31T13:17:21",
+  "event_log": [],
+  "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.npz",
+  "phase_labels": {
+    "0": "connect_to_path",
+    "1": "return_to_start",
+    "2": "settle",
+    "3": "replay"
+  },
+  "reason": "rapid_planner_completed_candidate",
+  "summary": {
+    "action_frame_count": 1218,
+    "actual_playback_duration_s": 40.614937845035456,
+    "aligned_best_lag_s": 0.0,
+    "aligned_max_error_rad": 0.005233407020568848,
+    "aligned_p95_error_rad": 0.001722540706396103,
+    "aligned_rms_error_rad": 0.0007656417420913627,
+    "aligned_samples": 1218,
+    "aligned_worst_joint": 5,
+    "aligned_worst_time_s": 23.689,
+    "attempt": 1,
+    "capture_pipeline": "leadthrough_replay_measured_state_v1",
+    "completed": true,
+    "debug_sidecar_event_count": 0,
+    "debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.json",
+    "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.npz",
+    "debug_sidecar_saved": true,
+    "diagnostic_connect_to_path_samples": 0,
+    "diagnostic_ramp_samples": 0,
+    "diagnostic_replay_samples": 1218,
+    "diagnostic_return_to_start_samples": 0,
+    "diagnostic_samples": 1218,
+    "diagnostic_settle_samples": 0,
+    "dropped_arm_samples": 0,
+    "dropped_camera_samples": 0,
+    "duration_ratio": 1.5185992837926885,
+    "image_frame_counts": {
+      "cam_scene": 1218,
+      "cam_wrist": 1218
+    },
+    "joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "joint_lag_max_error_rad": [
+      0.0035192668437957764,
+      0.003467995673418045,
+      0.0040853023529052734,
+      0.004288417287170887,
+      0.0050688982009887695,
+      0.005233407020568848
+    ],
+    "joint_lag_p95_error_rad": [
+      0.0013653622008860111,
+      0.0015688552521169186,
+      0.0017320039914920926,
+      0.000995912472717464,
+      0.002203828189522028,
+      0.002194720786064863
+    ],
+    "joint_lag_rms_error_rad": [
+      0.0006005940830891021,
+      0.0007365405770897026,
+      0.0008035544254742844,
+      0.0005307846883148898,
+      0.0009129972295970908,
+      0.0009236029167093961
+    ],
+    "joint_lag_samples": [
+      1218,
+      1218,
+      1218,
+      1218,
+      1218,
+      1218
+    ],
+    "joint_lag_worst_time_s": [
+      16.974,
+      14.170000000000002,
+      10.150000000000002,
+      23.689,
+      23.701,
+      23.689
+    ],
+    "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
+    "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
+    "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
+    "leadthrough_capture_controller_tm_gap_warn": false,
+    "leadthrough_capture_controller_tm_gap_warn_count": 0,
+    "leadthrough_capture_dropped_ticks": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
+    "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
+    "leadthrough_capture_egm_drained_packet_events": 1,
+    "leadthrough_capture_egm_drained_packet_max": 11,
+    "leadthrough_capture_egm_drained_packet_p95": 1.0,
+    "leadthrough_capture_egm_poll_duration_max_s": 0.006793120061047375,
+    "leadthrough_capture_egm_poll_duration_median_s": 0.003974672988988459,
+    "leadthrough_capture_egm_poll_duration_p95_s": 0.0043512008152902125,
+    "leadthrough_capture_egm_poll_duration_p99_s": 0.005428963869344443,
+    "leadthrough_capture_egm_poll_duration_warn_count": 3648,
+    "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": 0.006877887062728405,
+    "leadthrough_capture_host_loop_dt_median_s": 0.004005828057415783,
+    "leadthrough_capture_host_loop_dt_p95_s": 0.00439842976629734,
+    "leadthrough_capture_host_loop_dt_p99_s": 0.005470300314482301,
+    "leadthrough_capture_host_loop_gap_warn": false,
+    "leadthrough_capture_host_loop_gap_warn_count": 0,
+    "leadthrough_capture_host_receive_dt_max_s": 0.006841939059086144,
+    "leadthrough_capture_host_receive_dt_median_s": 0.004011342010926455,
+    "leadthrough_capture_host_receive_dt_p95_s": 0.004372650291770697,
+    "leadthrough_capture_host_receive_dt_p99_s": 0.005457409063819795,
+    "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_v018",
+    "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": 0.014360973960720003,
+    "leadthrough_capture_loop_late_median_s": 0.008329810458235443,
+    "leadthrough_capture_loop_late_p95_s": 0.008811606699600816,
+    "leadthrough_capture_loop_late_p99_s": 0.009854549393057821,
+    "leadthrough_capture_loop_late_warn_count": 8207,
+    "leadthrough_capture_none_reads": 0,
+    "leadthrough_capture_read_duration_max_s": 0.006847474025562406,
+    "leadthrough_capture_read_duration_median_s": 0.0039913340006023645,
+    "leadthrough_capture_read_duration_p95_s": 0.004380374273750931,
+    "leadthrough_capture_read_duration_p99_s": 0.005453495951369404,
+    "leadthrough_capture_read_duration_warn_count": 3957,
+    "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": 0.0050000000000024695,
+    "leadthrough_capture_recorded_timestamp_gap_warn": false,
+    "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
+    "leadthrough_capture_slow_ticks": 29,
+    "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
+    "leadthrough_delta_max_abs_by_joint_rad": [
+      0.002237454056739807,
+      0.0028825998306274414,
+      0.005020588636398315,
+      0.0014423001557588577,
+      0.0031554698944091797,
+      0.006304264068603516
+    ],
+    "leadthrough_delta_max_abs_rad": 0.006304264068603516,
+    "leadthrough_delta_p95_abs_by_joint_rad": [
+      0.00132230413146317,
+      0.0018055374966934323,
+      0.0028982001822441816,
+      0.0003529960522428155,
+      0.0016109164571389556,
+      0.0045696040615439415
+    ],
+    "leadthrough_delta_rms_by_joint_rad": [
+      0.0005302033387124538,
+      0.0008538986439816654,
+      0.0012920412700623274,
+      0.00019577846978791058,
+      0.0006508655496872962,
+      0.0013859381433576345
+    ],
+    "leadthrough_delta_samples": 6687,
+    "leadthrough_delta_warn": false,
+    "leadthrough_delta_warn_count": 0,
+    "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
+    "leadthrough_delta_worst_delta_rad": 0.006304264068603516,
+    "leadthrough_delta_worst_from_rad": -0.5878052711486816,
+    "leadthrough_delta_worst_joint": 5,
+    "leadthrough_delta_worst_time_s": 14.646,
+    "leadthrough_delta_worst_to_rad": -0.5815010070800781,
+    "leadthrough_duration_s": 26.745,
+    "leadthrough_expected_dt_s": 0.004,
+    "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_final_stillness_last_motion_index": 6664,
+    "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": 6665,
+    "leadthrough_final_stillness_trimmed": false,
+    "leadthrough_frame_count": 8207,
+    "leadthrough_initial_stillness_first_motion_index": 1520,
+    "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
+    "leadthrough_initial_stillness_min_trim_s": 0.25,
+    "leadthrough_initial_stillness_removed_s": 6.075,
+    "leadthrough_initial_stillness_removed_samples": 1519,
+    "leadthrough_initial_stillness_tool_tol": 0.005,
+    "leadthrough_initial_stillness_trim_enabled": true,
+    "leadthrough_initial_stillness_trim_start_index": 1519,
+    "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": [
+      0.002237454056739807,
+      0.0028825998306274414,
+      0.005020588636398315,
+      0.0014423001557588577,
+      0.0031554698944091797,
+      0.006304264068603516
+    ],
+    "leadthrough_unwrapped_delta_max_abs_rad": 0.006304264068603516,
+    "leadthrough_velocity_max_abs_by_joint_rad_s": [
+      0.5593635141847649,
+      0.7206499576566197,
+      1.2551471590991596,
+      0.4048670331636911,
+      0.7888674736020315,
+      1.8986860911050714
+    ],
+    "leadthrough_velocity_peak_abs_rad_s": 1.67884361743927,
+    "leadthrough_velocity_rms_rad_s": 0.23314846710930984,
+    "leadthrough_wrap_suspect": false,
+    "leadthrough_wrap_suspect_count": 0,
+    "leadthrough_wrap_threshold_rad": 3.0,
+    "max_tracking_error_rad": 0.005233407020568848,
+    "measured_wall_accel_p95_abs_rad_s2": 0.5566062927246094,
+    "measured_wall_accel_peak_abs_rad_s2": 2.835409641265869,
+    "measured_wall_accel_peak_joint": 5,
+    "measured_wall_accel_peak_time_s": 42.80795230495278,
+    "measured_wall_accel_rms_rad_s2": 0.26901011934574454,
+    "measured_wall_jerk_p95_abs_rad_s3": 8.478776931762695,
+    "measured_wall_jerk_peak_abs_rad_s3": 48.65207290649414,
+    "measured_wall_jerk_peak_joint": 3,
+    "measured_wall_jerk_peak_time_s": 45.80814181501046,
+    "measured_wall_jerk_rms_rad_s3": 4.17742166956983,
+    "measured_wall_smoothness_samples": 1218,
+    "measured_wall_velocity_peak_abs_rad_s": 0.8637069463729858,
+    "measured_wall_velocity_peak_joint": 5,
+    "measured_wall_velocity_peak_time_s": 42.67473963194061,
+    "measured_wall_velocity_rms_rad_s": 0.11957537324357369,
+    "moving_aligned_best_lag_s": 0.0,
+    "moving_aligned_max_error_rad": 0.005233407020568848,
+    "moving_aligned_p95_error_rad": 0.00200744834728539,
+    "moving_aligned_rms_error_rad": 0.0008750746901361955,
+    "moving_aligned_samples": 920,
+    "moving_aligned_worst_joint": 5,
+    "moving_aligned_worst_time_s": 23.689,
+    "moving_joint_lag_best_lag_s": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    "moving_joint_lag_max_error_rad": [
+      0.002644449472427368,
+      0.003467995673418045,
+      0.0040853023529052734,
+      0.004288417287170887,
+      0.0050688982009887695,
+      0.005233407020568848
+    ],
+    "moving_joint_lag_p95_error_rad": [
+      0.0014870092272758484,
+      0.001866564154624939,
+      0.002106177620589733,
+      0.0032536527141928673,
+      0.002593731041997671,
+      0.002682602498680353
+    ],
+    "moving_joint_lag_rms_error_rad": [
+      0.0006919056341122778,
+      0.0008606291469352689,
+      0.0010346530064714399,
+      0.0011904607050059234,
+      0.0011549139731071604,
+      0.0014731605506324115
+    ],
+    "moving_joint_lag_samples": [
+      751,
+      821,
+      694,
+      181,
+      655,
+      434
+    ],
+    "moving_joint_lag_worst_time_s": [
+      23.145,
+      14.170000000000002,
+      10.150000000000002,
+      23.689,
+      23.701,
+      23.689
+    ],
+    "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": 1.7095749378204346,
+    "playback_velocity_rms_rad_s": 0.3594053041903659,
+    "rapid_planner_done_timeout_margin_s": 30.0,
+    "rapid_planner_done_timeout_s": 83.49000000000001,
+    "rapid_planner_done_timeout_scale": 2.0,
+    "rapid_planner_duration_s": 26.745,
+    "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
+    "rapid_planner_event_points_uploaded": 2,
+    "rapid_planner_event_selected_source_indices": [
+      1687,
+      5370
+    ],
+    "rapid_planner_event_upload_enabled": true,
+    "rapid_planner_event_wait_s": 0.2,
+    "rapid_planner_keypoint_error_deg": 0.40744127455877066,
+    "rapid_planner_last_state": 6.0,
+    "rapid_planner_max_delta_rad": 0.08717310428619385,
+    "rapid_planner_max_dt_s": 2.436000000000001,
+    "rapid_planner_max_joint_step_deg": 5.0,
+    "rapid_planner_max_keypoint_error_rad": 0.007111191749572754,
+    "rapid_planner_median_dt_s": 0.1039999999999992,
+    "rapid_planner_path_max_error_rad": 0.005233407020568848,
+    "rapid_planner_path_p95_error_rad": 0.0026444897055625917,
+    "rapid_planner_path_rms_error_rad": 0.0013164504790226202,
+    "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
+    "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
+    "rapid_planner_selected_indices": [
+      0,
+      53,
+      70,
+      87,
+      106,
+      121,
+      136,
+      151,
+      166,
+      181,
+      196,
+      214,
+      223,
+      232,
+      246,
+      259,
+      272,
+      286,
+      298,
+      309,
+      320,
+      332,
+      342,
+      353,
+      374,
+      391,
+      408,
+      436,
+      465,
+      493,
+      521,
+      544,
+      566,
+      602,
+      632,
+      676,
+      726,
+      774,
+      822,
+      850,
+      878,
+      914,
+      950,
+      986,
+      1023,
+      1057,
+      1091,
+      1137,
+      1261,
+      1468,
+      1687,
+      2296,
+      2367,
+      2442,
+      2518,
+      2586,
+      2636,
+      2679,
+      2715,
+      2746,
+      2768,
+      2789,
+      2812,
+      2835,
+      2867,
+      2922,
+      3029,
+      3060,
+      3077,
+      3098,
+      3110,
+      3123,
+      3136,
+      3148,
+      3160,
+      3172,
+      3184,
+      3195,
+      3206,
+      3216,
+      3226,
+      3236,
+      3260,
+      3276,
+      3293,
+      3326,
+      3352,
+      3378,
+      3404,
+      3430,
+      3453,
+      3476,
+      3502,
+      3529,
+      3556,
+      3570,
+      3585,
+      3596,
+      3608,
+      3619,
+      3630,
+      3644,
+      3658,
+      3672,
+      3685,
+      3698,
+      3711,
+      3737,
+      3792,
+      3843,
+      3905,
+      3970,
+      4043,
+      4161,
+      4382,
+      4839,
+      5008,
+      5050,
+      5137,
+      5370,
+      5636,
+      5698,
+      5750,
+      5812,
+      5849,
+      5877,
+      5905,
+      5940,
+      5963,
+      5981,
+      5999,
+      6022,
+      6046,
+      6073,
+      6098,
+      6126,
+      6153,
+      6205,
+      6235,
+      6279,
+      6531,
+      6687
+    ],
+    "rapid_planner_selected_max_joint_step_deg": 4.9946509626526945,
+    "rapid_planner_selected_samples": 142,
+    "rapid_planner_service_configured": true,
+    "rapid_planner_source_samples": 6688,
+    "rapid_planner_state_done": 6.0,
+    "rapid_planner_state_error": 7.0,
+    "rapid_planner_tool_command_hz": 30.0,
+    "rapid_planner_tool_command_supported": true,
+    "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
+    "rapid_planner_tool_io_configured": true,
+    "rapid_planner_tool_io_supported": true,
+    "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
+    "rapid_planner_tool_state_supported": true,
+    "rapid_planner_tool_transition_source_count": 2,
+    "rapid_planner_tool_transitions_uploaded": 2,
+    "rapid_planner_tool_upload_enabled": true,
+    "rapid_planner_uploaded": true,
+    "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
+    "rapid_planner_waypoints_uploaded": 142,
+    "raw_ramp_max_error_rad": null,
+    "raw_replay_max_error_rad": 0.005233407020568848,
+    "raw_replay_rms_error_rad": 0.0007656417420913627,
+    "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9329120767254432,
+    "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9848518062231894,
+    "replay_smoothing_accel_rms_rad_s2_ratio": 0.9858426514748417,
+    "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": 0.9231913759664553,
+    "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0018509700372458,
+    "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9920877909005166,
+    "replay_smoothing_max_deviation_by_joint_rad": [
+      0.00036334991455078125,
+      0.0011409521102905273,
+      0.0019843578338623047,
+      0.0014339759945869446,
+      0.0033485889434814453,
+      0.002866387367248535
+    ],
+    "replay_smoothing_max_deviation_normalized": 0.3837200305437524,
+    "replay_smoothing_max_deviation_rad": 0.0033485889434814453,
+    "replay_smoothing_method": "scipy_savgol",
+    "replay_smoothing_p95_deviation_rad": 0.0016658781096339226,
+    "replay_smoothing_passes": 8,
+    "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.843451023101807,
+    "replay_smoothing_raw_accel_peak_abs_rad_s2": 55.73849105834961,
+    "replay_smoothing_raw_accel_rms_rad_s2": 3.7850496520994756,
+    "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1072.380126953125,
+    "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14843.884765625,
+    "replay_smoothing_raw_jerk_rms_rad_s3": 970.0856967362113,
+    "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6962900161743164,
+    "replay_smoothing_raw_velocity_rms_rad_s": 0.23371996242119214,
+    "replay_smoothing_rms_deviation_rad": 0.0006706454455651906,
+    "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.451426029205322,
+    "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.8941535949707,
+    "replay_smoothing_smoothed_accel_rms_rad_s2": 3.731463384989674,
+    "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 990.0120849609375,
+    "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14871.3603515625,
+    "replay_smoothing_smoothed_jerk_rms_rad_s3": 962.4101758592163,
+    "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.67884361743927,
+    "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23314846710930984,
+    "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": 0.9897149670347093,
+    "replay_smoothing_velocity_rms_rad_s_ratio": 0.9975547860526676,
+    "replay_smoothing_window_s": 0.2,
+    "replay_smoothing_window_samples": 51,
+    "replay_smoothing_within_tolerance": true,
+    "replay_smoothing_worst_joint": 4,
+    "replay_smoothing_worst_time_s": 12.79,
+    "replay_smoothing_wrist_max_deviation_rad": 0.0033485889434814453,
+    "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": 0.005233407020568848,
+    "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": 0.05096369981765747,
+    "stage_planned_to_measured_rms_error_rad": 0.007091707785423382,
+    "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": 1218,
+    "stopped_early": false,
+    "strict_tracking_pass": true,
+    "strict_tracking_reason": "ok",
+    "target_wall_accel_p95_abs_rad_s2": 0.7774661183357239,
+    "target_wall_accel_peak_abs_rad_s2": 3.1077845096588135,
+    "target_wall_accel_peak_joint": 5,
+    "target_wall_accel_peak_time_s": 25.90005558996927,
+    "target_wall_accel_rms_rad_s2": 0.3654460373752579,
+    "target_wall_jerk_p95_abs_rad_s3": 17.157011032104492,
+    "target_wall_jerk_peak_abs_rad_s3": 89.30521392822266,
+    "target_wall_jerk_peak_joint": 5,
+    "target_wall_jerk_peak_time_s": 25.93338797998149,
+    "target_wall_jerk_rms_rad_s3": 7.8812105695615715,
+    "target_wall_smoothness_samples": 1218,
+    "target_wall_velocity_peak_abs_rad_s": 0.9239277243614197,
+    "target_wall_velocity_peak_joint": 5,
+    "target_wall_velocity_peak_time_s": 26.23339109204244,
+    "target_wall_velocity_rms_rad_s": 0.12029115621874586,
+    "tcp_pose_count": 1218,
+    "timestamp_count": 1218,
+    "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": 0.9700000000000024,
+    "window_lag_best_lag_median_s": 0.0,
+    "window_lag_best_lag_min_s": -1.2299999999999993,
+    "window_lag_best_lag_p95_abs_s": 0.9635000000000026,
+    "window_lag_count": 34,
+    "window_lag_window_s": 1.0,
+    "window_lag_worst_best_lag_s": 0.9600000000000026,
+    "window_lag_worst_end_s": 22.0,
+    "window_lag_worst_max_error_rad": 0.048169612884521484,
+    "window_lag_worst_rms_error_rad": 0.00264379302827432,
+    "window_lag_worst_start_s": 21.0,
+    "zero_lag_max_error_rad": 0.005233407020568848,
+    "zero_lag_p95_error_rad": 0.001722540706396103,
+    "zero_lag_rms_error_rad": 0.0007656417420913627,
+    "zero_lag_samples": 1218,
+    "zero_lag_worst_joint": 5,
+    "zero_lag_worst_time_s": 23.689
+  }
+}

flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208a25f1a8ec8dbdf1cce66d35decfbf0a140d39d5dae162909766c1bdbcb982
+size 129055