diff --git a/.gitattributes b/.gitattributes index 15415404406d6d35aa3672004bf6932b9b4f02b0..86d8e3737f4fe6419ab214ee4d151f4bf66a677b 100644 --- a/.gitattributes +++ b/.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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000000_20260831_114536.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000000_20260831_114536.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e43c8489a68bc653df1b74a889efa91c04b53e2d --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000001_20260831_114756.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000001_20260831_114756.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..483872aaf3ff8ce84ee9ce279f97e43e1983cca1 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000002_20260831_114959.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000002_20260831_114959.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..93c37c1de40e673e775b51e0430d044f2a6b6fa9 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000003_20260831_115404.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000003_20260831_115404.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..61e40f211c1538a50b827052719a5db9f5c5606a --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000004_20260831_115914.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000004_20260831_115914.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5ba1cbaf7ee11f8ce4fc8cf12fbcb1210cdc52cc --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000005_20260831_120137.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/episode_000005_20260831_120137.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d87e5516f75bdbe19f8110e49783ce5378ff3708 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.json new file mode 100644 index 0000000000000000000000000000000000000000..6be08675061fbf9a6c255443336d0f918e935d96 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114324.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef5884aa49b628d426e93881bffe94155be566ef --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.json new file mode 100644 index 0000000000000000000000000000000000000000..59b1cbfd0f379edd6fda1a90aeae671266cafeb4 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114532.npz new file mode 100644 index 0000000000000000000000000000000000000000..a1717a35a218cec8ae04ccc8da5d62fff24e3763 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.json new file mode 100644 index 0000000000000000000000000000000000000000..45fae4f9cbe33089e610e54ca3290cc714f3a18e --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114743.npz new file mode 100644 index 0000000000000000000000000000000000000000..deca85e2906df856aed7a69af4fdb78ab8df3733 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee21ede69708a2cd1b40792b0dbf2b7b49f7d8e --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_114956.npz new file mode 100644 index 0000000000000000000000000000000000000000..86c3744b391b4be8dc2053cacc1666b3435f6cba --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.json new file mode 100644 index 0000000000000000000000000000000000000000..16a2686db6a3fa72fc97bd2a86d73ec7cc450e2c --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115351.npz new file mode 100644 index 0000000000000000000000000000000000000000..042f855c7c24e08a424bd9c59d8eea1f89743fd9 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.json new file mode 100644 index 0000000000000000000000000000000000000000..8a1264ba197951d3c63e90518df62c30640417d0 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_115910.npz new file mode 100644 index 0000000000000000000000000000000000000000..d7e56e6744f18b5798e5050709e5d1e93c3bfbac --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.json new file mode 100644 index 0000000000000000000000000000000000000000..86da712661cb8004ae9a0348aa2c3d2cb4791170 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120120.npz new file mode 100644 index 0000000000000000000000000000000000000000..07e8953454a11a2435e79e9b6f85023e1aff4779 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.json new file mode 100644 index 0000000000000000000000000000000000000000..e38133b5353b748ee15e3fcbc8806c27a3068ca5 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.npz b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/playback_debug/playback_attempt_001_rapid_planner_start_failed_20260831_120303.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e77ace359f0aab2ccaf92b8951abb45e4f96d67 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_manifest.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5d11d32e71858858b3d8b69854a475bddb37cc --- /dev/null +++ b/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" +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_summary.json b/flex_to_biotek_v2/raw/2026-08-31_11-39-12/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..53c92d207963da3ed3cd6721de027ec466d44ddd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000000_20260831_120642.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000000_20260831_120642.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6d0719c95e944a983f27ec8eed5efb6167e2d003 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000001_20260831_120922.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000001_20260831_120922.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6f04eb51638962b98b60eb6cf4611c508916b4c4 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000002_20260831_121137.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000002_20260831_121137.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..edf0f00b120a8f35746040235496d0339ec5e003 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000003_20260831_121357.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000003_20260831_121357.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c27893786ae77d50de645429e25b3b2056bc5559 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000004_20260831_132347.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000004_20260831_132347.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c3e25391f075748632d84976509a6ecc2e71b925 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000005_20260831_135015.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000005_20260831_135015.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c64b98057f8c619d8c3c192503fe2460d6ff9198 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000006_20260831_163409.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000006_20260831_163409.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8f6854ce795a9b8c50303a95a8f45c283e09e926 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000007_20260831_163605.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000007_20260831_163605.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..27cd68c9ec5b57c69f5432e6bd2ab7559de724ac --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000008_20260831_164038.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000008_20260831_164038.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f24c702290ce1b79d72f37ac9f0b8bf11cf721b1 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000009_20260831_164301.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000009_20260831_164301.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6beaaaf903992075b0d94878d9bdd74b9b9a3264 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000010_20260831_164641.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000010_20260831_164641.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..43bc06787bacff125f13ddbb11263e59b4ba46c0 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000011_20260831_164844.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000011_20260831_164844.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..bbf3540d5c899db63aff568a4c4928fabaa11304 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000012_20260831_165043.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/episode_000012_20260831_165043.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..902cb6cf554b7a2ee394edac8d8bf4d7fd199cc9 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.json new file mode 100644 index 0000000000000000000000000000000000000000..2e2be34c1345f5a3fb167d0b35cd92327fffd6bb --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_operator_stop_20260831_165227.npz new file mode 100644 index 0000000000000000000000000000000000000000..84d3b0894e12d52f5b793a65a42fe9aec128ce3d --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.json new file mode 100644 index 0000000000000000000000000000000000000000..c05d9c907c0904c0228bce85e982b067e0756b96 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120636.npz new file mode 100644 index 0000000000000000000000000000000000000000..7eee434a87676abf848e32879b521a66db78848d --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.json new file mode 100644 index 0000000000000000000000000000000000000000..9da060a36e753293d4f692886878cf6075248fe9 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_120901.npz new file mode 100644 index 0000000000000000000000000000000000000000..d15203bbccd6b2bc9e624e408fdbf52ed4b3c796 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.json new file mode 100644 index 0000000000000000000000000000000000000000..d1881ef2ac04e9375ecacf1ce4f42297da7b1a79 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121127.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ef621a232c6b1228a8191a7a1ca276ec44d9e4d --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.json new file mode 100644 index 0000000000000000000000000000000000000000..1a97936dcf529ce3098d4ca04f205b31d912b6f7 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_121353.npz new file mode 100644 index 0000000000000000000000000000000000000000..fde20d7df43ab166145716a62c945da08203c0ea --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab4b832ab79e872f6e7376be9a7428620e18759 --- /dev/null +++ b/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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_131718.npz new file mode 100644 index 0000000000000000000000000000000000000000..2778d5f0d88ab6dafda8ae8df6d9af690ec0bc13 --- /dev/null +++ b/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 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.json new file mode 100644 index 0000000000000000000000000000000000000000..87eec5c2fd9d8d54bd469d1dca84cbcecee65635 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.json @@ -0,0 +1,683 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T13:21:34", + "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_132131.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1172, + "actual_playback_duration_s": 39.07708624494262, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004796242341399193, + "aligned_p95_error_rad": 0.0019507348770275712, + "aligned_rms_error_rad": 0.0008401060501245924, + "aligned_samples": 1172, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 24.737, + "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_132131.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_132131.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1172, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1172, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4637257461491038, + "image_frame_counts": { + "cam_scene": 1172, + "cam_wrist": 1172 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003483712673187256, + 0.004273869097232819, + 0.00475764274597168, + 0.004699184559285641, + 0.0042427778244018555, + 0.004796242341399193 + ], + "joint_lag_p95_error_rad": [ + 0.001720189000479877, + 0.0018213944276794791, + 0.0020214433316141367, + 0.0013968735001981258, + 0.002133152913302183, + 0.0024689293932169676 + ], + "joint_lag_rms_error_rad": [ + 0.0006795850095302646, + 0.0008279776684286513, + 0.0008643860085802793, + 0.0006536019802846919, + 0.0009094438061486829, + 0.001042036223524523 + ], + "joint_lag_samples": [ + 1172, + 1172, + 1172, + 1172, + 1172, + 1172 + ], + "joint_lag_worst_time_s": [ + 25.585, + 16.158, + 4.695, + 16.19, + 24.737, + 24.737 + ], + "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": 0.006553608924150467, + "leadthrough_capture_egm_poll_duration_median_s": 0.003983873000834137, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043387572164647285, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005035057140048594, + "leadthrough_capture_egm_poll_duration_warn_count": 3738, + "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": 0.006617457023821771, + "leadthrough_capture_host_loop_dt_median_s": 0.004013641970232129, + "leadthrough_capture_host_loop_dt_p95_s": 0.004380393540486693, + "leadthrough_capture_host_loop_dt_p99_s": 0.0050876675522886225, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006549266981892288, + "leadthrough_capture_host_receive_dt_median_s": 0.004015443962998688, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043313775095157325, + "leadthrough_capture_host_receive_dt_p99_s": 0.005009776819497347, + "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": 0.0189330120338127, + "leadthrough_capture_loop_late_median_s": 0.014230800501536578, + "leadthrough_capture_loop_late_p95_s": 0.014716446900274604, + "leadthrough_capture_loop_late_p99_s": 0.015308341055642815, + "leadthrough_capture_loop_late_warn_count": 8092, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00659291201736778, + "leadthrough_capture_read_duration_median_s": 0.003999909502454102, + "leadthrough_capture_read_duration_p95_s": 0.0043642703094519675, + "leadthrough_capture_read_duration_p99_s": 0.005058935940032826, + "leadthrough_capture_read_duration_warn_count": 4045, + "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": [ + 0.003521365113556385, + 0.002403244376182556, + 0.0035569071769714355, + 0.0025496436282992363, + 0.0030775070190429688, + 0.005486965179443359 + ], + "leadthrough_delta_max_abs_rad": 0.005486965179443359, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001108783297240734, + 0.00188082130625844, + 0.0026518581435084343, + 0.0003117693413514644, + 0.0015844102017581463, + 0.0038345421198755503 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005932906060479581, + 0.0008045164868235588, + 0.0011054303031414747, + 0.0002521738351788372, + 0.000668603228405118, + 0.001269475556910038 + ], + "leadthrough_delta_samples": 6675, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005486965179443359, + "leadthrough_delta_worst_from_rad": -0.4686407446861267, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8799999999999999, + "leadthrough_delta_worst_to_rad": -0.47412770986557007, + "leadthrough_duration_s": 26.697, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6674, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5950000000000024, + "leadthrough_final_stillness_removed_samples": 149, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6675, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8092, + "leadthrough_initial_stillness_first_motion_index": 1268, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.067, + "leadthrough_initial_stillness_removed_samples": 1267, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1267, + "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": [ + 0.003521365113556385, + 0.002403244376182556, + 0.0035569071769714355, + 0.0025496436282992363, + 0.0030775070190429688, + 0.005486965179443359 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005486965179443359, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8803412783888023, + 0.600811094045972, + 1.0327746470771912, + 0.6374109070745962, + 0.7693767547611686, + 1.823196808497042 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6117180585861206, + "leadthrough_velocity_rms_rad_s": 0.2157572240576556, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004796242341399193, + "measured_wall_accel_p95_abs_rad_s2": 0.46583589911460876, + "measured_wall_accel_peak_abs_rad_s2": 2.270270586013794, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 15.99191681703087, + "measured_wall_accel_rms_rad_s2": 0.2233235059898938, + "measured_wall_jerk_p95_abs_rad_s3": 8.219968795776367, + "measured_wall_jerk_peak_abs_rad_s3": 36.72184753417969, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 43.49168165004812, + "measured_wall_jerk_rms_rad_s3": 3.8417704051419546, + "measured_wall_smoothness_samples": 1172, + "measured_wall_velocity_peak_abs_rad_s": 0.5932536125183105, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 39.860019298037514, + "measured_wall_velocity_rms_rad_s": 0.10965212061159371, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004796242341399193, + "moving_aligned_p95_error_rad": 0.0021979138255119324, + "moving_aligned_rms_error_rad": 0.0009713692586301648, + "moving_aligned_samples": 856, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 24.737, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0033767670392990112, + 0.004273869097232819, + 0.00475764274597168, + 0.004699184559285641, + 0.0042427778244018555, + 0.004796242341399193 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0018214791780337691, + 0.0020636122208088636, + 0.0022402757313102484, + 0.0035694974940270185, + 0.002699822187423706, + 0.00310988980345428 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007874746050124452, + 0.0009561283390553757, + 0.0009905041675120777, + 0.0014142421059587637, + 0.0011651804100039236, + 0.001552661975329518 + ], + "moving_joint_lag_samples": [ + 690, + 824, + 809, + 210, + 656, + 465 + ], + "moving_joint_lag_worst_time_s": [ + 24.289, + 16.158, + 4.695, + 16.19, + 24.737, + 24.737 + ], + "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": 1.6878386735916138, + "playback_velocity_rms_rad_s": 0.3770954036890127, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 83.394, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.697, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2181, + 5727 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44682243776577163, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08658528327941895, + "rapid_planner_max_dt_s": 2.4120000000000026, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007798522710800171, + "rapid_planner_median_dt_s": 0.08499999999999996, + "rapid_planner_path_max_error_rad": 0.004796242341399193, + "rapid_planner_path_p95_error_rad": 0.002980596572160721, + "rapid_planner_path_rms_error_rad": 0.001419636233713236, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 47, + 69, + 86, + 102, + 117, + 134, + 151, + 170, + 189, + 206, + 215, + 224, + 236, + 248, + 260, + 272, + 290, + 309, + 328, + 346, + 356, + 366, + 376, + 387, + 409, + 429, + 450, + 470, + 491, + 512, + 546, + 581, + 612, + 643, + 676, + 709, + 747, + 785, + 820, + 856, + 884, + 921, + 1011, + 1107, + 1246, + 1306, + 1348, + 1389, + 1435, + 1513, + 1625, + 2181, + 2784, + 2908, + 2962, + 2988, + 3022, + 3052, + 3081, + 3112, + 3142, + 3185, + 3204, + 3224, + 3242, + 3260, + 3278, + 3295, + 3312, + 3330, + 3348, + 3365, + 3386, + 3407, + 3428, + 3449, + 3476, + 3503, + 3527, + 3553, + 3568, + 3582, + 3594, + 3606, + 3618, + 3629, + 3648, + 3666, + 3684, + 3702, + 3720, + 3737, + 3765, + 3820, + 3892, + 3948, + 4003, + 4084, + 4219, + 4288, + 4379, + 4474, + 4586, + 5069, + 5338, + 5727, + 5938, + 5991, + 6014, + 6031, + 6048, + 6064, + 6087, + 6110, + 6124, + 6139, + 6156, + 6174, + 6200, + 6219, + 6246, + 6262, + 6282, + 6303, + 6328, + 6381, + 6675 + ], + "rapid_planner_selected_max_joint_step_deg": 4.960971299855362, + "rapid_planner_selected_samples": 128, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6676, + "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": 0.004796242341399193, + "raw_replay_rms_error_rad": 0.0008401060501245924, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9349035080087741, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9687495575899758, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9876604870745699, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0011464510477512, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9833397526054881, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9951514446052846, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004708096385002136, + 0.00044567324221134186, + 0.0007789134979248047, + 0.00256163626909256, + 0.0035686492919921875, + 0.004962444305419922 + ], + "replay_smoothing_max_deviation_normalized": 0.5686542339435858, + "replay_smoothing_max_deviation_rad": 0.004962444305419922, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001806117594242096, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.765909194946289, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.429771423339844, + "replay_smoothing_raw_accel_rms_rad_s2": 3.367498995882852, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1028.138916015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14520.7880859375, + "replay_smoothing_raw_jerk_rms_rad_s3": 866.6219151053639, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6286373138427734, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21652515489644336, + "replay_smoothing_rms_deviation_rad": 0.0007934460806719504, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.390568733215332, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.728816986083984, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.3259456984967826, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1029.317626953125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14278.8681640625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 862.4200507437012, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6117180585861206, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2157572240576556, + "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": 0.9896114038940126, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964533874174802, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 24.044999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.004962444305419922, + "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": 0.004796242341399193, + "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": 0.03426259756088257, + "stage_planned_to_measured_rms_error_rad": 0.0065019470417599, + "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": 1172, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7539117336273193, + "target_wall_accel_peak_abs_rad_s2": 2.5817770957946777, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 27.56672795698978, + "target_wall_accel_rms_rad_s2": 0.33868449160303904, + "target_wall_jerk_p95_abs_rad_s3": 17.533443450927734, + "target_wall_jerk_peak_abs_rad_s3": 70.27888488769531, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 1.6000540780369192, + "target_wall_jerk_rms_rad_s3": 7.752650056620264, + "target_wall_smoothness_samples": 1172, + "target_wall_velocity_peak_abs_rad_s": 0.6261565089225769, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.366720978054218, + "target_wall_velocity_rms_rad_s": 0.11040261767439837, + "tcp_pose_count": 1172, + "timestamp_count": 1172, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.650000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.500000000000003, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 17.0, + "window_lag_worst_max_error_rad": 0.004699184559285641, + "window_lag_worst_rms_error_rad": 0.0017803021386160074, + "window_lag_worst_start_s": 16.0, + "zero_lag_max_error_rad": 0.004796242341399193, + "zero_lag_p95_error_rad": 0.0019507348770275712, + "zero_lag_rms_error_rad": 0.0008401060501245924, + "zero_lag_samples": 1172, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 24.737 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d09c6c86fa4c8d37be0f1104ee6326d96af4fb0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132131.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c23e57a70cbf2ec243a65ba604e56c178667d116a165079438d39d1ccbefd981 +size 122645 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.json new file mode 100644 index 0000000000000000000000000000000000000000..af3e36f60610573abe28858252bc095323f32035 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.json @@ -0,0 +1,698 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T13:23:40", + "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_132338.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1207, + "actual_playback_duration_s": 40.24908041197341, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005630612373352051, + "aligned_p95_error_rad": 0.0022276281379163265, + "aligned_rms_error_rad": 0.0009298617151440978, + "aligned_samples": 1207, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 5.607999999999999, + "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_132338.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_132338.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1207, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1207, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5408705796858242, + "image_frame_counts": { + "cam_scene": 1207, + "cam_wrist": 1207 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005583733320236206, + 0.0036949515342712402, + 0.005613803863525391, + 0.003719605505466461, + 0.005630612373352051, + 0.005559241399168968 + ], + "joint_lag_p95_error_rad": [ + 0.001813136856071651, + 0.0018745561828836799, + 0.0021390377078205347, + 0.0016355363186448812, + 0.0024687049444764853, + 0.00278873136267066 + ], + "joint_lag_rms_error_rad": [ + 0.0008298766785270591, + 0.0007960226716545238, + 0.000943798420948651, + 0.000683911322434746, + 0.0010477956563981203, + 0.001187073530362316 + ], + "joint_lag_samples": [ + 1207, + 1207, + 1207, + 1207, + 1207, + 1207 + ], + "joint_lag_worst_time_s": [ + 25.501, + 25.916999999999998, + 5.607999999999999, + 15.405999999999999, + 5.607999999999999, + 25.505 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 31, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006362602929584682, + "leadthrough_capture_egm_poll_duration_median_s": 0.003993150487076491, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004254617542028427, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004894529622979462, + "leadthrough_capture_egm_poll_duration_warn_count": 3918, + "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": 0.006402357015758753, + "leadthrough_capture_host_loop_dt_median_s": 0.004023061948828399, + "leadthrough_capture_host_loop_dt_p95_s": 0.004289544245693833, + "leadthrough_capture_host_loop_dt_p99_s": 0.004936767076142132, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0064556540455669165, + "leadthrough_capture_host_receive_dt_median_s": 0.004021539003588259, + "leadthrough_capture_host_receive_dt_p95_s": 0.004255578352604061, + "leadthrough_capture_host_receive_dt_p99_s": 0.004876222910825163, + "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": 0.010811958112753928, + "leadthrough_capture_loop_late_median_s": 0.005199550359975547, + "leadthrough_capture_loop_late_p95_s": 0.005474604573100805, + "leadthrough_capture_loop_late_p99_s": 0.00614587663905695, + "leadthrough_capture_loop_late_warn_count": 8164, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0063864130061119795, + "leadthrough_capture_read_duration_median_s": 0.004009379539638758, + "leadthrough_capture_read_duration_p95_s": 0.004274650185834616, + "leadthrough_capture_read_duration_p99_s": 0.004915784501936286, + "leadthrough_capture_read_duration_warn_count": 4278, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 5, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002965696156024933, + 0.0026880502700805664, + 0.004672229290008545, + 0.0019570235162973404, + 0.0026239752769470215, + 0.005789577960968018 + ], + "leadthrough_delta_max_abs_rad": 0.005789577960968018, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009920969605445862, + 0.0018799304962158203, + 0.0030443891882896423, + 0.0005596652626991272, + 0.0015872716903686523, + 0.004189696162939072 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005385042168200016, + 0.0008494578069075942, + 0.0012641248758882284, + 0.0002629222581163049, + 0.0006544277421198785, + 0.0013532439479604363 + ], + "leadthrough_delta_samples": 6531, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005789577960968018, + "leadthrough_delta_worst_from_rad": -0.6548905968666077, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1079999999999997, + "leadthrough_delta_worst_to_rad": -0.6606801748275757, + "leadthrough_duration_s": 26.121, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6530, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.6720000000000041, + "leadthrough_final_stillness_removed_samples": 418, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6531, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8164, + "leadthrough_initial_stillness_first_motion_index": 1215, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.855, + "leadthrough_initial_stillness_removed_samples": 1214, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1214, + "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": [ + 0.002965696156024933, + 0.0026880502700805664, + 0.004672229290008545, + 0.0019570235162973404, + 0.0026239752769470215, + 0.005789577960968018 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005789577960968018, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7414240390059856, + 0.8960167566934881, + 1.478592554728134, + 0.48925587907417173, + 0.7296403249104542, + 1.7862518628437636 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5752010345458984, + "leadthrough_velocity_rms_rad_s": 0.22961833649500218, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005630612373352051, + "measured_wall_accel_p95_abs_rad_s2": 0.5673819184303284, + "measured_wall_accel_peak_abs_rad_s2": 2.8670589923858643, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 43.548141512903385, + "measured_wall_accel_rms_rad_s2": 0.2671823762208993, + "measured_wall_jerk_p95_abs_rad_s3": 9.859798431396484, + "measured_wall_jerk_peak_abs_rad_s3": 53.21440124511719, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 46.64816007297486, + "measured_wall_jerk_rms_rad_s3": 4.461808631756977, + "measured_wall_smoothness_samples": 1207, + "measured_wall_velocity_peak_abs_rad_s": 0.8375840783119202, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 43.31553398689721, + "measured_wall_velocity_rms_rad_s": 0.11860712576962154, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005630612373352051, + "moving_aligned_p95_error_rad": 0.0024494766257703304, + "moving_aligned_rms_error_rad": 0.0010651490697808892, + "moving_aligned_samples": 907, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 5.607999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005583733320236206, + 0.0036949515342712402, + 0.005613803863525391, + 0.003662608563899994, + 0.005630612373352051, + 0.005559241399168968 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024252221919596195, + 0.0021597757004201412, + 0.002330332761630416, + 0.0030094764661043882, + 0.002798736095428467, + 0.003853389760479331 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010306496603063287, + 0.0009200661984580402, + 0.0011077702046255534, + 0.0012968068408895314, + 0.0013287821917622217, + 0.0017674802346932484 + ], + "moving_joint_lag_samples": [ + 743, + 834, + 763, + 248, + 681, + 496 + ], + "moving_joint_lag_worst_time_s": [ + 25.501, + 25.916999999999998, + 5.607999999999999, + 25.485, + 5.607999999999999, + 25.505 + ], + "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": 1.7009854316711426, + "playback_velocity_rms_rad_s": 0.3597276184334933, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 82.24199999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.121, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1913, + 5837 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43519233315653244, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08707356452941895, + "rapid_planner_max_dt_s": 2.3680000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007595539093017578, + "rapid_planner_median_dt_s": 0.10000000000000053, + "rapid_planner_path_max_error_rad": 0.005630612373352051, + "rapid_planner_path_p95_error_rad": 0.0033700105734169486, + "rapid_planner_path_rms_error_rad": 0.0015480579001138834, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 87, + 110, + 135, + 152, + 168, + 182, + 196, + 210, + 223, + 238, + 254, + 262, + 270, + 278, + 287, + 298, + 308, + 319, + 330, + 340, + 349, + 358, + 368, + 379, + 390, + 402, + 413, + 436, + 458, + 485, + 512, + 539, + 566, + 604, + 644, + 676, + 708, + 733, + 760, + 788, + 812, + 855, + 887, + 931, + 982, + 1030, + 1065, + 1100, + 1163, + 1208, + 1238, + 1344, + 1464, + 1666, + 1913, + 2505, + 2593, + 2675, + 2707, + 2737, + 2796, + 2831, + 2867, + 2908, + 2940, + 2954, + 2968, + 2980, + 2991, + 3002, + 3014, + 3026, + 3037, + 3048, + 3060, + 3082, + 3103, + 3135, + 3184, + 3214, + 3239, + 3254, + 3270, + 3292, + 3315, + 3335, + 3355, + 3376, + 3396, + 3436, + 3478, + 3520, + 3557, + 3576, + 3596, + 3622, + 3647, + 3668, + 3688, + 3700, + 3711, + 3722, + 3734, + 3748, + 3761, + 3774, + 3789, + 3881, + 3941, + 3969, + 4015, + 4076, + 4136, + 4195, + 4246, + 4325, + 4379, + 4469, + 4597, + 4998, + 5523, + 5837, + 6098, + 6123, + 6143, + 6174, + 6207, + 6224, + 6250, + 6267, + 6294, + 6312, + 6331, + 6358, + 6388, + 6402, + 6428, + 6443, + 6458, + 6498, + 6531 + ], + "rapid_planner_selected_max_joint_step_deg": 4.988947754695734, + "rapid_planner_selected_samples": 143, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6532, + "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": 143, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005630612373352051, + "raw_replay_rms_error_rad": 0.0009298617151440978, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9578694694086489, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.030566428464902, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9898795724856896, + "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": 0.9757740410238603, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0067611864594357, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9976400006213137, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00034077465534210205, + 0.0004570484161376953, + 0.0008900165557861328, + 0.0021170228719711304, + 0.0023630857467651367, + 0.0051887622103095055 + ], + "replay_smoothing_max_deviation_normalized": 0.5945883557013137, + "replay_smoothing_max_deviation_rad": 0.0051887622103095055, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002026039408519864, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.965809345245361, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 42.94625473022461, + "replay_smoothing_raw_accel_rms_rad_s2": 3.486254407364682, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1409.7467041015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11938.9814453125, + "replay_smoothing_raw_jerk_rms_rad_s3": 892.5231248926403, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5945420265197754, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23048903843219617, + "replay_smoothing_rms_deviation_rad": 0.0009000346012262771, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.672336101531982, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.258968353271484, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4509720223385028, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1375.59423828125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12019.703125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 890.4167708724306, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5752010345458984, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22961833649500218, + "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": 0.9878705034723416, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962223716011982, + "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": 25.361, + "replay_smoothing_wrist_max_deviation_rad": 0.0051887622103095055, + "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": 0.005630612373352051, + "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": 0.05031090974807739, + "stage_planned_to_measured_rms_error_rad": 0.00703314622563445, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 1207, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.822486162185669, + "target_wall_accel_peak_abs_rad_s2": 4.147342205047607, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 26.43342254497111, + "target_wall_accel_rms_rad_s2": 0.380169728712117, + "target_wall_jerk_p95_abs_rad_s3": 17.960424423217773, + "target_wall_jerk_peak_abs_rad_s3": 122.04661560058594, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 26.400058455998078, + "target_wall_jerk_rms_rad_s3": 8.452800497627269, + "target_wall_smoothness_samples": 1207, + "target_wall_velocity_peak_abs_rad_s": 0.8373151421546936, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 26.83340154995676, + "target_wall_velocity_rms_rad_s": 0.11940137205901874, + "tcp_pose_count": 1207, + "timestamp_count": 1207, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.5100000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0099999999999991, + "window_lag_best_lag_p95_abs_s": 0.33799999999999814, + "window_lag_count": 35, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.5100000000000033, + "window_lag_worst_end_s": 24.0, + "window_lag_worst_max_error_rad": 0.006834626197814941, + "window_lag_worst_rms_error_rad": 0.002776232934569167, + "window_lag_worst_start_s": 23.0, + "zero_lag_max_error_rad": 0.005630612373352051, + "zero_lag_p95_error_rad": 0.0022276281379163265, + "zero_lag_rms_error_rad": 0.0009298617151440978, + "zero_lag_samples": 1207, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 5.607999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.npz new file mode 100644 index 0000000000000000000000000000000000000000..96efbc40aabd627fa42078a211d34a554f8b57d5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_132338.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a8672ef13e21db5b864fba26ebc4ae79c1d28b5069008c1714722acad43c297 +size 127451 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.json new file mode 100644 index 0000000000000000000000000000000000000000..0733b52725eeeb8eae7ba5f66bddec35758d1ec5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.json @@ -0,0 +1,687 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T13:50:05", + "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_135003.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1140, + "actual_playback_duration_s": 38.0152820070507, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0054361820220947266, + "aligned_p95_error_rad": 0.001779239042662084, + "aligned_rms_error_rad": 0.0008107666637208685, + "aligned_samples": 1140, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 4.415000000000001, + "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_135003.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_135003.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1140, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1140, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5592175057237478, + "image_frame_counts": { + "cam_scene": 1140, + "cam_wrist": 1140 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005351424217224121, + 0.003755927085876465, + 0.004941731691360474, + 0.003976073116064072, + 0.005420207977294922, + 0.0054361820220947266 + ], + "joint_lag_p95_error_rad": [ + 0.0016630332684144378, + 0.0016298203263431787, + 0.001820284640416503, + 0.0010099069913849235, + 0.0018093370599672198, + 0.0022046680096536875 + ], + "joint_lag_rms_error_rad": [ + 0.0007796536964964738, + 0.0007161962875468636, + 0.0008759113989892405, + 0.0005377541024873871, + 0.0008863733717124286, + 0.000990555642832708 + ], + "joint_lag_samples": [ + 1140, + 1140, + 1140, + 1140, + 1140, + 1140 + ], + "joint_lag_worst_time_s": [ + 22.406, + 4.456000000000001, + 23.693, + 22.138, + 4.415000000000001, + 4.415000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 6, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006548695033416152, + "leadthrough_capture_egm_poll_duration_median_s": 0.003969710902310908, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004410196258686483, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005214666225947436, + "leadthrough_capture_egm_poll_duration_warn_count": 3621, + "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": 0.006597318919375539, + "leadthrough_capture_host_loop_dt_median_s": 0.003997085499577224, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044447214982938025, + "leadthrough_capture_host_loop_dt_p99_s": 0.005266327366698531, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006587711977772415, + "leadthrough_capture_host_receive_dt_median_s": 0.003999721957370639, + "leadthrough_capture_host_receive_dt_p95_s": 0.0044028434669598935, + "leadthrough_capture_host_receive_dt_p99_s": 0.00523534239968285, + "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": 0.026382058975286782, + "leadthrough_capture_loop_late_median_s": 0.019335681339725852, + "leadthrough_capture_loop_late_p95_s": 0.01978736190358177, + "leadthrough_capture_loop_late_p99_s": 0.020659918247256426, + "leadthrough_capture_loop_late_warn_count": 8495, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006579119944944978, + "leadthrough_capture_read_duration_median_s": 0.003985255025327206, + "leadthrough_capture_read_duration_p95_s": 0.004431513405870644, + "leadthrough_capture_read_duration_p99_s": 0.00523863612907007, + "leadthrough_capture_read_duration_warn_count": 3925, + "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": 0.005000000000000906, + "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": [ + 0.002932140603661537, + 0.002729952335357666, + 0.004746556282043457, + 0.0015897075645625591, + 0.0028139352798461914, + 0.006072402000427246 + ], + "leadthrough_delta_max_abs_rad": 0.006072402000427246, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015712329186499119, + 0.0020131468772888184, + 0.0032199732959270477, + 0.00045465194853022695, + 0.001658901572227478, + 0.004265923053026199 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006231050356291234, + 0.0008756358874961734, + 0.0013340151635929942, + 0.00021483110322151333, + 0.0006433067610487342, + 0.0014326759846881032 + ], + "leadthrough_delta_samples": 6096, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006072402000427246, + "leadthrough_delta_worst_from_rad": -0.4657849073410034, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8600000000000012, + "leadthrough_delta_worst_to_rad": -0.47185730934143066, + "leadthrough_duration_s": 24.381000000000004, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6095, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.32399999999999807, + "leadthrough_final_stillness_removed_samples": 81, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6096, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8495, + "leadthrough_initial_stillness_first_motion_index": 2318, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 9.267, + "leadthrough_initial_stillness_removed_samples": 2317, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 2317, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.002932140603661537, + 0.002729952335357666, + 0.004746556282043457, + 0.0015897075645625591, + 0.0028139352798461914, + 0.006072402000427246 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006072402000427246, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9743177021542816, + 0.9086728096007957, + 1.5259881814320304, + 0.529902521520833, + 0.9158054987589171, + 1.9200642903645107 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6930557489395142, + "leadthrough_velocity_rms_rad_s": 0.2428313798854084, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0054361820220947266, + "measured_wall_accel_p95_abs_rad_s2": 0.5443142056465149, + "measured_wall_accel_peak_abs_rad_s2": 3.716848850250244, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.6448220909806, + "measured_wall_accel_rms_rad_s2": 0.25974114959339767, + "measured_wall_jerk_p95_abs_rad_s3": 8.805096626281738, + "measured_wall_jerk_peak_abs_rad_s3": 51.995784759521484, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 43.945000944891945, + "measured_wall_jerk_rms_rad_s3": 4.190767841465694, + "measured_wall_smoothness_samples": 1140, + "measured_wall_velocity_peak_abs_rad_s": 0.8776140809059143, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 41.512263112934306, + "measured_wall_velocity_rms_rad_s": 0.11682141026208102, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0054361820220947266, + "moving_aligned_p95_error_rad": 0.002016223967075348, + "moving_aligned_rms_error_rad": 0.0009374955493330125, + "moving_aligned_samples": 831, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 4.415000000000001, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005351424217224121, + 0.003755927085876465, + 0.004941731691360474, + 0.003976073116064072, + 0.005420207977294922, + 0.005280539393424988 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002227245131507516, + 0.0016953535377979279, + 0.0020010375883430243, + 0.0028952842112630606, + 0.002282649278640747, + 0.00271203787997365 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009563651113357925, + 0.0008085732805241268, + 0.0010777212506449813, + 0.0011237491109344893, + 0.001057281864457452, + 0.001465769836079157 + ], + "moving_joint_lag_samples": [ + 658, + 788, + 718, + 234, + 615, + 450 + ], + "moving_joint_lag_worst_time_s": [ + 22.406, + 4.456000000000001, + 23.693, + 22.138, + 4.415000000000001, + 22.421 + ], + "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": 2.3087735176086426, + "playback_velocity_rms_rad_s": 0.4219268789440645, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.762, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.381000000000004, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2076, + 5154 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4334847858640293, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08570554107427597, + "rapid_planner_max_dt_s": 2.3800000000000026, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007565736770629883, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.0054361820220947266, + "rapid_planner_path_p95_error_rad": 0.0028539582155644888, + "rapid_planner_path_rms_error_rad": 0.001386524144992765, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 33, + 65, + 81, + 97, + 108, + 119, + 130, + 141, + 154, + 167, + 180, + 193, + 204, + 216, + 228, + 240, + 252, + 264, + 276, + 287, + 302, + 317, + 334, + 350, + 367, + 384, + 397, + 409, + 425, + 441, + 472, + 503, + 550, + 595, + 651, + 709, + 756, + 802, + 839, + 870, + 900, + 938, + 977, + 1016, + 1056, + 1136, + 1193, + 1546, + 1650, + 2076, + 2637, + 2719, + 2789, + 2828, + 2854, + 2879, + 2896, + 2910, + 2924, + 2942, + 2959, + 2980, + 3000, + 3020, + 3040, + 3052, + 3064, + 3074, + 3085, + 3096, + 3106, + 3123, + 3140, + 3156, + 3173, + 3191, + 3209, + 3227, + 3245, + 3274, + 3302, + 3326, + 3351, + 3370, + 3393, + 3412, + 3422, + 3431, + 3446, + 3460, + 3474, + 3488, + 3500, + 3512, + 3524, + 3536, + 3559, + 3583, + 3628, + 3700, + 3773, + 3803, + 3865, + 3940, + 4009, + 4604, + 4785, + 4859, + 5154, + 5397, + 5445, + 5469, + 5493, + 5517, + 5552, + 5570, + 5588, + 5618, + 5640, + 5662, + 5679, + 5692, + 5708, + 5724, + 5743, + 5766, + 5806, + 5896, + 5958, + 5993, + 6096 + ], + "rapid_planner_selected_max_joint_step_deg": 4.910565784441137, + "rapid_planner_selected_samples": 132, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6097, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 132, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0054361820220947266, + "raw_replay_rms_error_rad": 0.0008107666637208685, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9799469166814052, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9828202521756232, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9890551299715435, + "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": 0.9841802973412234, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9907950136456686, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9947364617689342, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000609666109085083, + 0.0011145472526550293, + 0.001656651496887207, + 0.001972779631614685, + 0.003525376319885254, + 0.005965232849121094 + ], + "replay_smoothing_max_deviation_normalized": 0.6835653374300239, + "replay_smoothing_max_deviation_rad": 0.005965232849121094, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.00231511564925313, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.306905746459961, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.347103118896484, + "replay_smoothing_raw_accel_rms_rad_s2": 4.561826187143633, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2118.646484375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15154.4052734375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1166.7862968190657, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7144134044647217, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24389568574865958, + "replay_smoothing_rms_deviation_rad": 0.0009955611603153578, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.12027359008789, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.37907409667969, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.511897592432937, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2085.130126953125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15014.9091796875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1160.6448725382747, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6930557489395142, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2428313798854084, + "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": 0.987542295534095, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956362251345932, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.6080000000000005, + "replay_smoothing_wrist_max_deviation_rad": 0.005965232849121094, + "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": 0.0054361820220947266, + "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": 0.05191028118133545, + "stage_planned_to_measured_rms_error_rad": 0.006921891340121893, + "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": 1140, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.809579610824585, + "target_wall_accel_peak_abs_rad_s2": 3.036195993423462, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 25.233389048022218, + "target_wall_accel_rms_rad_s2": 0.36976814913848477, + "target_wall_jerk_p95_abs_rad_s3": 17.92462730407715, + "target_wall_jerk_peak_abs_rad_s3": 68.84915161132812, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 25.100038946024142, + "target_wall_jerk_rms_rad_s3": 7.990170937428608, + "target_wall_smoothness_samples": 1140, + "target_wall_velocity_peak_abs_rad_s": 0.896189272403717, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 25.100038946024142, + "target_wall_velocity_rms_rad_s": 0.11757004161365378, + "tcp_pose_count": 1140, + "timestamp_count": 1140, + "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": 1.7800000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.544000000000002, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.7800000000000034, + "window_lag_worst_end_s": 8.5, + "window_lag_worst_max_error_rad": 0.01120007038116455, + "window_lag_worst_rms_error_rad": 0.00540565327128704, + "window_lag_worst_start_s": 7.5, + "zero_lag_max_error_rad": 0.0054361820220947266, + "zero_lag_p95_error_rad": 0.001779239042662084, + "zero_lag_rms_error_rad": 0.0008107666637208685, + "zero_lag_samples": 1140, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 4.415000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.npz new file mode 100644 index 0000000000000000000000000000000000000000..647b96d66af9dad587c25301ca12891426173c80 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_135003.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:027ec18728bbbc62bd8d91fc6c6836ee0a97808e780fbd34a0c3e8892112c969 +size 118277 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.json new file mode 100644 index 0000000000000000000000000000000000000000..b46631f44bf01511bf349a0372151e9daba7c157 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.json @@ -0,0 +1,688 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:32:25", + "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_163224.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1200, + "actual_playback_duration_s": 40.01551502000075, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004965782165527344, + "aligned_p95_error_rad": 0.0017362401122227311, + "aligned_rms_error_rad": 0.0007752447468175523, + "aligned_samples": 1200, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 23.017, + "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_163224.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_163224.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1200, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1200, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6818188130963203, + "image_frame_counts": { + "cam_scene": 1200, + "cam_wrist": 1200 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0038801729679107666, + 0.004244636744260788, + 0.003078162670135498, + 0.004471838474273682, + 0.004965782165527344, + 0.004821229726076126 + ], + "joint_lag_p95_error_rad": [ + 0.001728492439724505, + 0.001645721960812807, + 0.0014996289974078536, + 0.0010497147450223565, + 0.0020832179579883814, + 0.0021755590569227934 + ], + "joint_lag_rms_error_rad": [ + 0.0007280039560885744, + 0.0007489226276964022, + 0.000681900429932102, + 0.0005773465012393269, + 0.000932083710998213, + 0.0009208987019807813 + ], + "joint_lag_samples": [ + 1200, + 1200, + 1200, + 1200, + 1200, + 1200 + ], + "joint_lag_worst_time_s": [ + 14.951, + 23.017, + 11.887, + 23.126, + 23.017, + 23.01 + ], + "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": 24, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006290689925663173, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972350503318012, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004309784929500892, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004862822825089094, + "leadthrough_capture_egm_poll_duration_warn_count": 3643, + "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": 0.006321313907392323, + "leadthrough_capture_host_loop_dt_median_s": 0.003999006003141403, + "leadthrough_capture_host_loop_dt_p95_s": 0.004344160621985793, + "leadthrough_capture_host_loop_dt_p99_s": 0.004907824764959514, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006277249893173575, + "leadthrough_capture_host_receive_dt_median_s": 0.003998824977315962, + "leadthrough_capture_host_receive_dt_p95_s": 0.004321759007871151, + "leadthrough_capture_host_receive_dt_p99_s": 0.004852582165040076, + "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": 0.0173605129821226, + "leadthrough_capture_loop_late_median_s": 0.012892565748188645, + "leadthrough_capture_loop_late_p95_s": 0.013266434462275356, + "leadthrough_capture_loop_late_p99_s": 0.013871893098112195, + "leadthrough_capture_loop_late_warn_count": 8010, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006306669907644391, + "leadthrough_capture_read_duration_median_s": 0.003988176002167165, + "leadthrough_capture_read_duration_p95_s": 0.004328986624022945, + "leadthrough_capture_read_duration_p99_s": 0.004891776469303295, + "leadthrough_capture_read_duration_warn_count": 3844, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 11, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0035844817757606506, + 0.0022710561752319336, + 0.00396120548248291, + 0.0018785260617733002, + 0.0029577016830444336, + 0.007731623947620392 + ], + "leadthrough_delta_max_abs_rad": 0.007731623947620392, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001180130522698164, + 0.0019410103559494019, + 0.0032238371204584837, + 0.00022063081269152462, + 0.0019554616883397102, + 0.0032850182615220547 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.000628691865131259, + 0.0008647075737826526, + 0.0013362257741391659, + 0.00024567992659285665, + 0.0007718096603639424, + 0.0013650800101459026 + ], + "leadthrough_delta_samples": 5949, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007731623947620392, + "leadthrough_delta_worst_from_rad": -0.09731730073690414, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.44399999999999995, + "leadthrough_delta_worst_to_rad": -0.10504892468452454, + "leadthrough_duration_s": 23.793, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5948, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.7290000000000028, + "leadthrough_final_stillness_removed_samples": 182, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5949, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8010, + "leadthrough_initial_stillness_first_motion_index": 1879, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.511, + "leadthrough_initial_stillness_removed_samples": 1878, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1878, + "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": [ + 0.0035844817757606506, + 0.0022710561752319336, + 0.00396120548248291, + 0.0018785260617733002, + 0.0029577016830444336, + 0.007731623947620392 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007731623947620392, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1921639864642963, + 0.6929536660512026, + 1.146227121353106, + 0.6227803726990782, + 0.9835163752237583, + 2.152765790621358 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9193154573440552, + "leadthrough_velocity_rms_rad_s": 0.24012049604795085, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004965782165527344, + "measured_wall_accel_p95_abs_rad_s2": 0.5246475338935852, + "measured_wall_accel_peak_abs_rad_s2": 2.621640682220459, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 43.787270952016115, + "measured_wall_accel_rms_rad_s2": 0.25383001232904934, + "measured_wall_jerk_p95_abs_rad_s3": 8.128520965576172, + "measured_wall_jerk_peak_abs_rad_s3": 48.35221481323242, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 45.89199033996556, + "measured_wall_jerk_rms_rad_s3": 4.152059748889363, + "measured_wall_smoothness_samples": 1200, + "measured_wall_velocity_peak_abs_rad_s": 0.6543900966644287, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 43.7212958940072, + "measured_wall_velocity_rms_rad_s": 0.11430580237125831, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004965782165527344, + "moving_aligned_p95_error_rad": 0.00200521107763052, + "moving_aligned_rms_error_rad": 0.0008896271930268168, + "moving_aligned_samples": 884, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 23.017, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0038801729679107666, + 0.004244636744260788, + 0.003078162670135498, + 0.004351869225502014, + 0.004965782165527344, + 0.004821229726076126 + ], + "moving_joint_lag_p95_error_rad": [ + 0.00211264006793499, + 0.001960544381290674, + 0.001628446509130299, + 0.0032783490605652332, + 0.0024726868141442537, + 0.0030506844632327557 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008724421180239862, + 0.0008875888530215691, + 0.0008322301639826858, + 0.001385241013127062, + 0.0011210229294250007, + 0.001419170153315238 + ], + "moving_joint_lag_samples": [ + 725, + 784, + 763, + 152, + 710, + 430 + ], + "moving_joint_lag_worst_time_s": [ + 14.951, + 23.017, + 11.887, + 23.117, + 23.017, + 23.01 + ], + "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": 2.5304431915283203, + "playback_velocity_rms_rad_s": 0.4110503333645876, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.586, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.793, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1466, + 5210 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.3609720825405889, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08613905310630798, + "rapid_planner_max_dt_s": 2.3520000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006300151348114014, + "rapid_planner_median_dt_s": 0.10000000000000142, + "rapid_planner_path_max_error_rad": 0.004965782165527344, + "rapid_planner_path_p95_error_rad": 0.002818499505519866, + "rapid_planner_path_rms_error_rad": 0.0013038009536189144, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 30, + 55, + 67, + 78, + 87, + 96, + 104, + 113, + 122, + 130, + 144, + 159, + 174, + 189, + 202, + 209, + 216, + 229, + 242, + 250, + 259, + 276, + 297, + 316, + 332, + 347, + 362, + 378, + 400, + 431, + 462, + 494, + 543, + 592, + 627, + 662, + 688, + 713, + 746, + 778, + 804, + 829, + 854, + 880, + 921, + 962, + 1001, + 1041, + 1124, + 1329, + 1445, + 1466, + 2026, + 2117, + 2204, + 2274, + 2337, + 2574, + 2612, + 2639, + 2671, + 2691, + 2711, + 2729, + 2747, + 2775, + 2808, + 2842, + 2867, + 2884, + 2900, + 2914, + 2928, + 2945, + 2962, + 2990, + 3012, + 3040, + 3068, + 3089, + 3110, + 3131, + 3152, + 3184, + 3217, + 3242, + 3266, + 3330, + 3346, + 3360, + 3378, + 3396, + 3414, + 3432, + 3460, + 3488, + 3515, + 3542, + 3568, + 3595, + 3615, + 3638, + 3702, + 3770, + 3854, + 3938, + 4073, + 4131, + 4719, + 4828, + 4956, + 5210, + 5470, + 5502, + 5531, + 5558, + 5584, + 5602, + 5622, + 5638, + 5655, + 5673, + 5691, + 5704, + 5716, + 5740, + 5768, + 5799, + 5833, + 5869, + 5904, + 5949 + ], + "rapid_planner_selected_max_joint_step_deg": 4.935404194244711, + "rapid_planner_selected_samples": 133, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5950, + "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": 0.004965782165527344, + "raw_replay_rms_error_rad": 0.0007752447468175523, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9758440873602953, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9830876924120121, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9800711802476669, + "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": 0.9949884596767324, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9925996580032643, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9919881005485756, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0012847185134887695, + 0.0007916688919067383, + 0.0010828375816345215, + 0.0026762736961245537, + 0.0031200647354125977, + 0.005832016468048096 + ], + "replay_smoothing_max_deviation_normalized": 0.6682998645167935, + "replay_smoothing_max_deviation_rad": 0.005832016468048096, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001977657899260521, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.534043312072754, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.43196105957031, + "replay_smoothing_raw_accel_rms_rad_s2": 3.1631617185901453, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1057.666259765625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14158.578125, + "replay_smoothing_raw_jerk_rms_rad_s3": 801.9671055766014, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9334765672683716, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2410847678446536, + "replay_smoothing_rms_deviation_rad": 0.0009066671407950987, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.400363445281982, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.54521560668945, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.100123638852882, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1052.36572265625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14053.7998046875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 795.5418257633718, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9193154573440552, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24012049604795085, + "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": 0.9926758305923907, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960002790498814, + "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": 0.3280000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.005832016468048096, + "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": 0.004965782165527344, + "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": 0.040565311908721924, + "stage_planned_to_measured_rms_error_rad": 0.006778949022142143, + "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": 1200, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7814498543739319, + "target_wall_accel_peak_abs_rad_s2": 3.14866304397583, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 19.300056286971085, + "target_wall_accel_rms_rad_s2": 0.36216500335429097, + "target_wall_jerk_p95_abs_rad_s3": 17.917987823486328, + "target_wall_jerk_peak_abs_rad_s3": 73.97000122070312, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 19.26672244304791, + "target_wall_jerk_rms_rad_s3": 8.082808730095163, + "target_wall_smoothness_samples": 1200, + "target_wall_velocity_peak_abs_rad_s": 0.6826287508010864, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 27.23372165102046, + "target_wall_velocity_rms_rad_s": 0.11494727526751536, + "tcp_pose_count": 1200, + "timestamp_count": 1200, + "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": -1.0599999999999992, + "window_lag_best_lag_p95_abs_s": 0.4879999999999999, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.0800000000000027, + "window_lag_worst_end_s": 21.5, + "window_lag_worst_max_error_rad": 0.01776707172393799, + "window_lag_worst_rms_error_rad": 0.0030609249663898198, + "window_lag_worst_start_s": 20.5, + "zero_lag_max_error_rad": 0.004965782165527344, + "zero_lag_p95_error_rad": 0.0017362401122227311, + "zero_lag_rms_error_rad": 0.0007752447468175523, + "zero_lag_samples": 1200, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 23.017 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.npz new file mode 100644 index 0000000000000000000000000000000000000000..e05874cab2d6bb4b9aaf74fcbd64c868d49ac274 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163224.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38d44375eb7d0e4ea8eac2fc20882e65489c85799075f50363a6837b981e6690 +size 125069 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.json new file mode 100644 index 0000000000000000000000000000000000000000..f3591f8e867b66dbdee76dd43072a50d97979a7d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.json @@ -0,0 +1,677 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:34:07", + "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_163406.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1151, + "actual_playback_duration_s": 38.38271393801551, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005372405052185059, + "aligned_p95_error_rad": 0.002161093056201935, + "aligned_rms_error_rad": 0.0009281961511681191, + "aligned_samples": 1151, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 4.228, + "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_163406.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_163406.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1151, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1151, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5927759124415102, + "image_frame_counts": { + "cam_scene": 1151, + "cam_wrist": 1151 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005126208066940308, + 0.005372405052185059, + 0.005102217197418213, + 0.005340908654034138, + 0.005011320114135742, + 0.005191311240196228 + ], + "joint_lag_p95_error_rad": [ + 0.0013994723558425903, + 0.002135664224624634, + 0.002125680446624756, + 0.001963313901796937, + 0.002715200185775757, + 0.0024480819702148438 + ], + "joint_lag_rms_error_rad": [ + 0.0006669531207610184, + 0.0009798269552457337, + 0.0009458977553929147, + 0.0007921485327857811, + 0.0010690540590923563, + 0.0010484764183456916 + ], + "joint_lag_samples": [ + 1151, + 1151, + 1151, + 1151, + 1151, + 1151 + ], + "joint_lag_worst_time_s": [ + 17.027, + 4.228, + 4.228, + 4.228, + 22.102, + 22.114 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006212939042598009, + "leadthrough_capture_egm_poll_duration_median_s": 0.003983102506026626, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004286506155040115, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005245423689484596, + "leadthrough_capture_egm_poll_duration_warn_count": 3327, + "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": 0.0062544820830225945, + "leadthrough_capture_host_loop_dt_median_s": 0.004008186981081963, + "leadthrough_capture_host_loop_dt_p95_s": 0.00432311900658533, + "leadthrough_capture_host_loop_dt_p99_s": 0.005288434319663798, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006283715018071234, + "leadthrough_capture_host_receive_dt_median_s": 0.004011746030300856, + "leadthrough_capture_host_receive_dt_p95_s": 0.004287584044504911, + "leadthrough_capture_host_receive_dt_p99_s": 0.0052612941828556374, + "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": 0.016143209068104625, + "leadthrough_capture_loop_late_median_s": 0.01148617354920134, + "leadthrough_capture_loop_late_p95_s": 0.011878936633002012, + "leadthrough_capture_loop_late_p99_s": 0.012967978700762614, + "leadthrough_capture_loop_late_warn_count": 7572, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006239520967938006, + "leadthrough_capture_read_duration_median_s": 0.003997664956841618, + "leadthrough_capture_read_duration_p95_s": 0.004306794831063598, + "leadthrough_capture_read_duration_p99_s": 0.005271570023614913, + "leadthrough_capture_read_duration_warn_count": 3717, + "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": 20, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0032469267025589943, + 0.0031774193048477173, + 0.0037087202072143555, + 0.0037223026156425476, + 0.0036731958389282227, + 0.005045957863330841 + ], + "leadthrough_delta_max_abs_rad": 0.005045957863330841, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0010113923344761133, + 0.0020440099760890007, + 0.002621106570586562, + 0.000368159671779722, + 0.0015960929449647665, + 0.0033954952377825975 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005703719216398895, + 0.0009534473647363484, + 0.001216560835018754, + 0.0003615854075178504, + 0.0007097083143889904, + 0.0011979334522038698 + ], + "leadthrough_delta_samples": 6025, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005045957863330841, + "leadthrough_delta_worst_from_rad": -0.07712028920650482, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 22.294, + "leadthrough_delta_worst_to_rad": -0.07207433134317398, + "leadthrough_duration_s": 24.098, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6003, + "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": 6004, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7572, + "leadthrough_initial_stillness_first_motion_index": 1547, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.183, + "leadthrough_initial_stillness_removed_samples": 1546, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1546, + "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": [ + 0.0032469267025589943, + 0.0031774193048477173, + 0.0037087202072143555, + 0.0037223026156425476, + 0.0036731958389282227, + 0.005045957863330841 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005045957863330841, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8117316756401984, + 0.9143948554992329, + 1.1948247750599725, + 0.9305756539111526, + 0.9182989597325646, + 1.5010237693786053 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.2860140800476074, + "leadthrough_velocity_rms_rad_s": 0.22709226648781494, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005372405052185059, + "measured_wall_accel_p95_abs_rad_s2": 0.48247969150543213, + "measured_wall_accel_peak_abs_rad_s2": 2.232980728149414, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 42.29884255898651, + "measured_wall_accel_rms_rad_s2": 0.2275209678811317, + "measured_wall_jerk_p95_abs_rad_s3": 8.101624488830566, + "measured_wall_jerk_peak_abs_rad_s3": 54.480281829833984, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 30.467551489011385, + "measured_wall_jerk_rms_rad_s3": 4.067764283353935, + "measured_wall_smoothness_samples": 1151, + "measured_wall_velocity_peak_abs_rad_s": 0.577973484992981, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.698937639012, + "measured_wall_velocity_rms_rad_s": 0.10634857481823015, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005372405052185059, + "moving_aligned_p95_error_rad": 0.0025068027898669243, + "moving_aligned_rms_error_rad": 0.001068232014114692, + "moving_aligned_samples": 850, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 4.228, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003953486680984497, + 0.005372405052185059, + 0.005102217197418213, + 0.005340908654034138, + 0.005011320114135742, + 0.005191311240196228 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0015426429454237223, + 0.0025472568813711405, + 0.0025194138288497925, + 0.003134980332106352, + 0.00315779447555542, + 0.0032461159862577915 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007255004368527124, + 0.0011154785442873906, + 0.0011581024943087097, + 0.001566998765036597, + 0.0013115972324250669, + 0.0016420518624221882 + ], + "moving_joint_lag_samples": [ + 732, + 803, + 731, + 238, + 651, + 422 + ], + "moving_joint_lag_worst_time_s": [ + 16.099, + 4.228, + 4.228, + 4.228, + 22.102, + 22.114 + ], + "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": 1.6371207237243652, + "playback_velocity_rms_rad_s": 0.392527141114446, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.196, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.098, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1822, + 5127 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44921471152256864, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08636689186096191, + "rapid_planner_max_dt_s": 1.8550000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007840275764465332, + "rapid_planner_median_dt_s": 0.09100000000000108, + "rapid_planner_path_max_error_rad": 0.005372405052185059, + "rapid_planner_path_p95_error_rad": 0.0034413039684295654, + "rapid_planner_path_rms_error_rad": 0.0015234553411297368, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 59, + 78, + 95, + 118, + 130, + 142, + 154, + 165, + 195, + 225, + 240, + 254, + 268, + 282, + 296, + 310, + 324, + 339, + 356, + 372, + 405, + 435, + 460, + 486, + 511, + 540, + 568, + 589, + 623, + 640, + 657, + 685, + 715, + 773, + 811, + 845, + 885, + 925, + 1018, + 1117, + 1238, + 1392, + 1450, + 1573, + 1655, + 1822, + 2087, + 2163, + 2406, + 2531, + 2567, + 2603, + 2624, + 2646, + 2668, + 2688, + 2708, + 2733, + 2753, + 2773, + 2792, + 2812, + 2830, + 2847, + 2868, + 2890, + 2912, + 2933, + 2956, + 2980, + 3003, + 3026, + 3058, + 3092, + 3113, + 3134, + 3148, + 3163, + 3178, + 3192, + 3207, + 3222, + 3237, + 3252, + 3285, + 3320, + 3372, + 3438, + 3478, + 3520, + 3561, + 3630, + 3688, + 3762, + 3830, + 3897, + 3976, + 4440, + 4874, + 5127, + 5399, + 5420, + 5440, + 5459, + 5478, + 5497, + 5516, + 5538, + 5560, + 5570, + 5581, + 5601, + 5616, + 5632, + 5655, + 5675, + 5694, + 5713, + 5749, + 5784, + 6025 + ], + "rapid_planner_selected_max_joint_step_deg": 4.948458393295898, + "rapid_planner_selected_samples": 122, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6026, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 122, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005372405052185059, + "raw_replay_rms_error_rad": 0.0009281961511681191, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9841133819826181, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9787326025801811, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9856074239945944, + "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": 0.9959334836026423, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9386533514258177, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9922387240067234, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005726218223571777, + 0.0006380677223205566, + 0.0010491907596588135, + 0.003964930772781372, + 0.0019612908363342285, + 0.006139159202575684 + ], + "replay_smoothing_max_deviation_normalized": 0.70349582958251, + "replay_smoothing_max_deviation_rad": 0.006139159202575684, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020237378776073456, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.157482147216797, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.45699691772461, + "replay_smoothing_raw_accel_rms_rad_s2": 3.931263890364163, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1587.102783203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12082.01953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1009.617620945856, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3416765928268433, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22808416562214595, + "replay_smoothing_rms_deviation_rad": 0.0009300163718257171, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.027887344360352, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.532779693603516, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8746828760247904, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1580.6488037109375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11340.828125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1001.7816999420198, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.2860140800476074, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22709226648781494, + "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": 0.9585127197740271, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956511705596686, + "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": 2.2119999999999997, + "replay_smoothing_wrist_max_deviation_rad": 0.006139159202575684, + "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": 0.005372405052185059, + "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": 0.033304691314697266, + "stage_planned_to_measured_rms_error_rad": 0.0063026275572356195, + "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": 1151, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.791681170463562, + "target_wall_accel_peak_abs_rad_s2": 3.4247541427612305, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 8.666721933986992, + "target_wall_accel_rms_rad_s2": 0.38395671143096916, + "target_wall_jerk_p95_abs_rad_s3": 19.75221824645996, + "target_wall_jerk_peak_abs_rad_s3": 128.08042907714844, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 8.633390176924877, + "target_wall_jerk_rms_rad_s3": 9.283255415641412, + "target_wall_smoothness_samples": 1151, + "target_wall_velocity_peak_abs_rad_s": 0.6216961145401001, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.933387797907926, + "target_wall_velocity_rms_rad_s": 0.10752945256549695, + "tcp_pose_count": 1151, + "timestamp_count": 1151, + "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": 1.360000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0499999999999992, + "window_lag_best_lag_p95_abs_s": 1.2180000000000029, + "window_lag_count": 32, + "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": 0.005372405052185059, + "window_lag_worst_rms_error_rad": 0.002218139975593285, + "window_lag_worst_start_s": 4.0, + "zero_lag_max_error_rad": 0.005372405052185059, + "zero_lag_p95_error_rad": 0.002161093056201935, + "zero_lag_rms_error_rad": 0.0009281961511681191, + "zero_lag_samples": 1151, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 4.228 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a98f672a25c493c2deae32aec22f31cc5eba466 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163406.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e8ddf80345a6512459eb9e4286de20c57ceb2340b664426a807b6daa5d4f528 +size 122836 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.json new file mode 100644 index 0000000000000000000000000000000000000000..e96351a1b73344cb9889d18407525ebb828dfb01 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.json @@ -0,0 +1,681 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:36:03", + "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_163602.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1185, + "actual_playback_duration_s": 39.51635917299427, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.007100779563188553, + "aligned_p95_error_rad": 0.002319479826837778, + "aligned_rms_error_rad": 0.001018940089989314, + "aligned_samples": 1185, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 13.81, + "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_163602.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_163602.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1185, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1185, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6675680116890017, + "image_frame_counts": { + "cam_scene": 1185, + "cam_wrist": 1185 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0060503482818603516, + 0.006579264998435974, + 0.0057648420333862305, + 0.007100779563188553, + 0.005634784698486328, + 0.005970209836959839 + ], + "joint_lag_p95_error_rad": [ + 0.001833361224271357, + 0.002508054953068495, + 0.0020677046850323677, + 0.0014603770105168223, + 0.0020720716565847397, + 0.0029493654146790504 + ], + "joint_lag_rms_error_rad": [ + 0.0008736347500003234, + 0.001067063264187902, + 0.0010227397847615636, + 0.0007590644462328149, + 0.0009900855901717046, + 0.0013134408167110566 + ], + "joint_lag_samples": [ + 1185, + 1185, + 1185, + 1185, + 1185, + 1185 + ], + "joint_lag_worst_time_s": [ + 4.1240000000000006, + 13.834000000000001, + 4.1240000000000006, + 13.81, + 21.31, + 21.302 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 19, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006022449000738561, + "leadthrough_capture_egm_poll_duration_median_s": 0.00398125551873818, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004257075587520375, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004697449426166713, + "leadthrough_capture_egm_poll_duration_warn_count": 2943, + "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": 0.006079182028770447, + "leadthrough_capture_host_loop_dt_median_s": 0.004006463917903602, + "leadthrough_capture_host_loop_dt_p95_s": 0.0042906721821054815, + "leadthrough_capture_host_loop_dt_p99_s": 0.004745280705392361, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00596655800472945, + "leadthrough_capture_host_receive_dt_median_s": 0.0040091139962896705, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042675158707425, + "leadthrough_capture_host_receive_dt_p99_s": 0.004704633853398264, + "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": 0.01638523500878364, + "leadthrough_capture_loop_late_median_s": 0.012157805322203785, + "leadthrough_capture_loop_late_p95_s": 0.012459834234323352, + "leadthrough_capture_loop_late_p99_s": 0.013024378279224038, + "leadthrough_capture_loop_late_warn_count": 6818, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0060588649939745665, + "leadthrough_capture_read_duration_median_s": 0.0039950505015440285, + "leadthrough_capture_read_duration_p95_s": 0.004277457704301923, + "leadthrough_capture_read_duration_p99_s": 0.004732884805416688, + "leadthrough_capture_read_duration_warn_count": 3286, + "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": [ + 0.0038257641717791557, + 0.003296077251434326, + 0.004972696304321289, + 0.0020439093932509422, + 0.0028936266899108887, + 0.007475763559341431 + ], + "leadthrough_delta_max_abs_rad": 0.007475763559341431, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0010394304990768433, + 0.0021227120887488127, + 0.003398647764697671, + 0.0005513991345651448, + 0.0018012284999713302, + 0.004938947036862373 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006359327235259116, + 0.000978359137661755, + 0.0013510908465832472, + 0.0002543667796999216, + 0.0007068514823913574, + 0.0015682624652981758 + ], + "leadthrough_delta_samples": 5925, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007475763559341431, + "leadthrough_delta_worst_from_rad": -0.2546018660068512, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6599999999999997, + "leadthrough_delta_worst_to_rad": -0.2620776295661926, + "leadthrough_duration_s": 23.697, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5906, + "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": 5907, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6818, + "leadthrough_initial_stillness_first_motion_index": 893, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.568, + "leadthrough_initial_stillness_removed_samples": 892, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 892, + "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": [ + 0.0038257641717791557, + 0.003296077251434326, + 0.004972696304321289, + 0.0020439093932509422, + 0.0028936266899108887, + 0.007475763559341431 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007475763559341431, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2697956214347994, + 1.0231882333755105, + 1.2431740760804593, + 0.6791061411301038, + 0.9645422299702596, + 1.9907802343367775 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8520430326461792, + "leadthrough_velocity_rms_rad_s": 0.2566609340235676, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.007100779563188553, + "measured_wall_accel_p95_abs_rad_s2": 0.5302045941352844, + "measured_wall_accel_peak_abs_rad_s2": 2.7309844493865967, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 25.23215645889286, + "measured_wall_accel_rms_rad_s2": 0.24553276856496958, + "measured_wall_jerk_p95_abs_rad_s3": 8.591497421264648, + "measured_wall_jerk_peak_abs_rad_s3": 47.709747314453125, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 44.40082609991077, + "measured_wall_jerk_rms_rad_s3": 4.060127318916666, + "measured_wall_smoothness_samples": 1185, + "measured_wall_velocity_peak_abs_rad_s": 0.535128116607666, + "measured_wall_velocity_peak_joint": 2, + "measured_wall_velocity_peak_time_s": 33.39914646092802, + "measured_wall_velocity_rms_rad_s": 0.11010087134840965, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.007100779563188553, + "moving_aligned_p95_error_rad": 0.002655147109180689, + "moving_aligned_rms_error_rad": 0.0011751837642890522, + "moving_aligned_samples": 888, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 13.81, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0060503482818603516, + 0.006579264998435974, + 0.0057648420333862305, + 0.007100779563188553, + 0.005634784698486328, + 0.005970209836959839 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002231587888672948, + 0.0028614273760467768, + 0.0026493784971535206, + 0.0032115732319653034, + 0.00281338719651103, + 0.003902621101588011 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010316373720256795, + 0.0012253082955403787, + 0.0012611770605301007, + 0.0013962107576411217, + 0.0013225460712089424, + 0.0019586800839855685 + ], + "moving_joint_lag_samples": [ + 742, + 852, + 725, + 242, + 637, + 489 + ], + "moving_joint_lag_worst_time_s": [ + 4.1240000000000006, + 13.834000000000001, + 4.1240000000000006, + 13.81, + 21.31, + 21.302 + ], + "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": 2.837491512298584, + "playback_velocity_rms_rad_s": 0.46522151545199814, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.394, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.697, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1606, + 4947 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4458943858122962, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0862162709236145, + "rapid_planner_max_dt_s": 2.783999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0077823251485824585, + "rapid_planner_median_dt_s": 0.08099999999999952, + "rapid_planner_path_max_error_rad": 0.007100779563188553, + "rapid_planner_path_p95_error_rad": 0.003679609298706054, + "rapid_planner_path_rms_error_rad": 0.0017089684966533683, + "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, + 80, + 99, + 116, + 129, + 142, + 154, + 165, + 176, + 188, + 198, + 208, + 220, + 232, + 244, + 257, + 270, + 282, + 294, + 306, + 314, + 323, + 340, + 352, + 364, + 378, + 392, + 406, + 421, + 440, + 458, + 476, + 495, + 520, + 544, + 587, + 622, + 657, + 699, + 741, + 793, + 849, + 898, + 954, + 1155, + 1210, + 1606, + 2123, + 2175, + 2257, + 2355, + 2377, + 2399, + 2420, + 2430, + 2440, + 2450, + 2460, + 2480, + 2501, + 2553, + 2575, + 2592, + 2610, + 2636, + 2662, + 2688, + 2701, + 2714, + 2740, + 2775, + 2816, + 2856, + 2884, + 2913, + 2944, + 2959, + 2974, + 2992, + 3010, + 3024, + 3039, + 3054, + 3068, + 3085, + 3097, + 3122, + 3186, + 3222, + 3268, + 3309, + 3350, + 3370, + 3389, + 3433, + 3498, + 3569, + 3639, + 3692, + 3766, + 3823, + 4039, + 4251, + 4947, + 5177, + 5242, + 5280, + 5309, + 5338, + 5351, + 5365, + 5382, + 5394, + 5416, + 5436, + 5448, + 5463, + 5478, + 5497, + 5517, + 5541, + 5559, + 5580, + 5698, + 5925 + ], + "rapid_planner_selected_max_joint_step_deg": 4.939828449279587, + "rapid_planner_selected_samples": 126, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5926, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 126, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.007100779563188553, + "raw_replay_rms_error_rad": 0.001018940089989314, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9822031985003167, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.913675931965201, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9724995792672465, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.8270838260650635, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8270838260650635 + ], + "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": 0.9983095399158227, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9275366091322914, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9839944237261136, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005656629800796509, + 0.0038716793060302734, + 0.005677402019500732, + 0.002675257623195648, + 0.0027397871017456055, + 0.008726648986339569 + ], + "replay_smoothing_max_deviation_normalized": 1.0000003201651197, + "replay_smoothing_max_deviation_rad": 0.008726648986339569, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021373480558395386, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.189424514770508, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.4569206237793, + "replay_smoothing_raw_accel_rms_rad_s2": 3.9363056461859607, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1479.5372314453125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15456.8486328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 986.8183181855245, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8676668405532837, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2582393576624055, + "replay_smoothing_rms_deviation_rad": 0.0011554277122709708, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.06147575378418, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.238033294677734, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8280555847831335, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1477.0361328125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14336.79296875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 971.0237223253378, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8520430326461792, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2566609340235676, + "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": 0.991634585158413, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.993887749516085, + "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": 21.549999999999997, + "replay_smoothing_wrist_max_deviation_rad": 0.008726648986339569, + "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": 0.007100779563188553, + "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": 0.03132510185241699, + "stage_planned_to_measured_rms_error_rad": 0.006531423417063878, + "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": 1185, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8559731841087341, + "target_wall_accel_peak_abs_rad_s2": 3.8731141090393066, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 9.201027974952012, + "target_wall_accel_rms_rad_s2": 0.38957729854225054, + "target_wall_jerk_p95_abs_rad_s3": 20.56014060974121, + "target_wall_jerk_peak_abs_rad_s3": 99.32270812988281, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 9.16672194597777, + "target_wall_jerk_rms_rad_s3": 9.021002073445782, + "target_wall_smoothness_samples": 1185, + "target_wall_velocity_peak_abs_rad_s": 0.5645158290863037, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 17.00007203395944, + "target_wall_velocity_rms_rad_s": 0.11121484081109162, + "tcp_pose_count": 1185, + "timestamp_count": 1185, + "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": 1.5500000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0399999999999991, + "window_lag_best_lag_p95_abs_s": 1.2765000000000002, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0399999999999991, + "window_lag_worst_end_s": 20.5, + "window_lag_worst_max_error_rad": 0.12434330582618713, + "window_lag_worst_rms_error_rad": 0.007160816048937131, + "window_lag_worst_start_s": 19.5, + "zero_lag_max_error_rad": 0.007100779563188553, + "zero_lag_p95_error_rad": 0.002319479826837778, + "zero_lag_rms_error_rad": 0.001018940089989314, + "zero_lag_samples": 1185, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 13.81 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f48a04971fb95f9e1968d5699bc7e9e5aa97e0c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163602.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:580965cda343f3d4b2d9f7d5b0037179c606c6336694d71f4b63dcf5b3dc0fc8 +size 125662 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.json new file mode 100644 index 0000000000000000000000000000000000000000..52953f16ea5c2952840172f60c1c66f8f05ff7a1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.json @@ -0,0 +1,680 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:37:55", + "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_163754.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1130, + "actual_playback_duration_s": 37.68211088399403, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.4599113464355469, + "aligned_p95_error_rad": 0.0017518213717266917, + "aligned_rms_error_rad": 0.009302953803268331, + "aligned_samples": 1130, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 0.10499999999999998, + "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_163754.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_163754.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1130, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1130, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.364453448383026, + "image_frame_counts": { + "cam_scene": 1130, + "cam_wrist": 1130 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.014818757772445679, + 0.45990434288978577, + 0.3572196364402771, + 0.13656628131866455, + 0.4599113464355469, + 0.11339353024959564 + ], + "joint_lag_p95_error_rad": [ + 0.001561653334647417, + 0.0019428348168730736, + 0.002047016052529216, + 0.0010865529766306281, + 0.0018140337197110057, + 0.0020359274931252003 + ], + "joint_lag_rms_error_rad": [ + 0.0007648368875867034, + 0.01371231152854124, + 0.010670929796156315, + 0.004090805395171832, + 0.0137111546950167, + 0.0034724687626741424 + ], + "joint_lag_samples": [ + 1130, + 1130, + 1130, + 1130, + 1130, + 1130 + ], + "joint_lag_worst_time_s": [ + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007268129964359105, + "leadthrough_capture_egm_poll_duration_median_s": 0.003960958565585315, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004284404480131343, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004722564772237092, + "leadthrough_capture_egm_poll_duration_warn_count": 3099, + "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": 0.007334569934755564, + "leadthrough_capture_host_loop_dt_median_s": 0.003985241986811161, + "leadthrough_capture_host_loop_dt_p95_s": 0.004317948222160339, + "leadthrough_capture_host_loop_dt_p99_s": 0.004757354841567579, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006366200977936387, + "leadthrough_capture_host_receive_dt_median_s": 0.003986960044130683, + "leadthrough_capture_host_receive_dt_p95_s": 0.004296912881545723, + "leadthrough_capture_host_receive_dt_p99_s": 0.004717495082877577, + "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": 0.017083897022530437, + "leadthrough_capture_loop_late_median_s": 0.010943068598862737, + "leadthrough_capture_loop_late_p95_s": 0.01124125174828805, + "leadthrough_capture_loop_late_p99_s": 0.011757324013160542, + "leadthrough_capture_loop_late_warn_count": 7776, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007311797002330422, + "leadthrough_capture_read_duration_median_s": 0.00397444749251008, + "leadthrough_capture_read_duration_p95_s": 0.004303100780816749, + "leadthrough_capture_read_duration_p99_s": 0.004743572528241202, + "leadthrough_capture_read_duration_warn_count": 3331, + "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": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002893395721912384, + 0.003109872341156006, + 0.004399806261062622, + 0.0020756665617227554, + 0.00275576114654541, + 0.005778193473815918 + ], + "leadthrough_delta_max_abs_rad": 0.005778193473815918, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0012326169526204467, + 0.0017564056906849146, + 0.00266448175534606, + 0.00025813939282670617, + 0.001486300490796566, + 0.0038194998633116484 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005425993585959077, + 0.0007826086366549134, + 0.0011061920085921884, + 0.00018892170919571072, + 0.0006014216924086213, + 0.0012443185551092029 + ], + "leadthrough_delta_samples": 6905, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005778193473815918, + "leadthrough_delta_worst_from_rad": -0.17649468779563904, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6600000000000001, + "leadthrough_delta_worst_to_rad": -0.18227288126945496, + "leadthrough_duration_s": 27.617, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6904, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.0599999999999987, + "leadthrough_final_stillness_removed_samples": 265, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6905, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7776, + "leadthrough_initial_stillness_first_motion_index": 606, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.419, + "leadthrough_initial_stillness_removed_samples": 605, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 605, + "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": [ + 0.002893395721912384, + 0.003109872341156006, + 0.004399806261062622, + 0.0020756665617227554, + 0.00275576114654541, + 0.005778193473815918 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005778193473815918, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7233489304784969, + 0.8949637413024564, + 1.367151737213083, + 0.5189166404309764, + 0.7997751235961611, + 1.9260644912718996 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6846951246261597, + "leadthrough_velocity_rms_rad_s": 0.20927506375482913, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.4599113464355469, + "measured_wall_accel_p95_abs_rad_s2": 0.49681803584098816, + "measured_wall_accel_peak_abs_rad_s2": 225.34201049804688, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.535377925029024, + "measured_wall_accel_rms_rad_s2": 6.875463637617836, + "measured_wall_jerk_p95_abs_rad_s3": 8.554123878479004, + "measured_wall_jerk_peak_abs_rad_s3": 3375.447509765625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.566357024013996, + "measured_wall_jerk_rms_rad_s3": 83.53689631101007, + "measured_wall_smoothness_samples": 1130, + "measured_wall_velocity_peak_abs_rad_s": 14.27804183959961, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.502990536042489, + "measured_wall_velocity_rms_rad_s": 0.337560963346185, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.4599113464355469, + "moving_aligned_p95_error_rad": 0.0019790958613157272, + "moving_aligned_rms_error_rad": 0.010926258353021022, + "moving_aligned_samples": 819, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 0.10499999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.014818757772445679, + 0.45990434288978577, + 0.3572196364402771, + 0.13656628131866455, + 0.006124138832092285, + 0.004326462745666504 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017225920455530286, + 0.002183976350352168, + 0.0023837273474782705, + 0.0026240169536322355, + 0.002041250467300415, + 0.002605035901069641 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009350639299248943, + 0.01640818069703074, + 0.014483981785200165, + 0.01059200989836962, + 0.001071223172417496, + 0.001378518612213636 + ], + "moving_joint_lag_samples": [ + 695, + 789, + 612, + 168, + 651, + 346 + ], + "moving_joint_lag_worst_time_s": [ + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998, + 0.10499999999999998, + 10.208, + 12.307 + ], + "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": 100.19949340820312, + "playback_velocity_rms_rad_s": 3.2796016962888275, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 85.23400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 27.617, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1777, + 5330 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44481606969708043, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08519953489303589, + "rapid_planner_max_dt_s": 2.8230000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007763504981994629, + "rapid_planner_median_dt_s": 0.08000000000000007, + "rapid_planner_path_max_error_rad": 0.4599113464355469, + "rapid_planner_path_p95_error_rad": 0.0027049668133258802, + "rapid_planner_path_rms_error_rad": 0.013749553642824432, + "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, + 80, + 98, + 115, + 128, + 140, + 149, + 158, + 166, + 175, + 184, + 192, + 201, + 210, + 223, + 236, + 248, + 261, + 274, + 286, + 299, + 312, + 326, + 339, + 354, + 369, + 387, + 402, + 426, + 450, + 484, + 517, + 550, + 584, + 611, + 672, + 734, + 798, + 842, + 874, + 906, + 951, + 1022, + 1092, + 1269, + 1431, + 1777, + 2390, + 2473, + 2600, + 2624, + 2648, + 2665, + 2684, + 2702, + 2721, + 2738, + 2755, + 2770, + 2786, + 2802, + 2817, + 2833, + 2849, + 2868, + 2888, + 2908, + 2928, + 2952, + 2976, + 2998, + 3019, + 3057, + 3096, + 3118, + 3140, + 3154, + 3168, + 3183, + 3198, + 3209, + 3220, + 3230, + 3241, + 3254, + 3268, + 3293, + 3323, + 3388, + 3474, + 3614, + 3657, + 3747, + 3795, + 3831, + 3895, + 3945, + 4128, + 4236, + 4861, + 4954, + 5330, + 5654, + 5684, + 5708, + 5731, + 5759, + 5778, + 5796, + 5810, + 5823, + 5839, + 5855, + 5872, + 5889, + 5916, + 5933, + 5950, + 5964, + 5980, + 6005, + 6032, + 6199, + 6905 + ], + "rapid_planner_selected_max_joint_step_deg": 4.8815737658485485, + "rapid_planner_selected_samples": 125, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6906, + "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": 0.4599113464355469, + "raw_replay_rms_error_rad": 0.009302953803268331, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9259630579497246, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9699353637362546, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9864696210730395, + "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": 0.9425891437043811, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9715018241648914, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9936181539222091, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000379413366317749, + 0.0011137723922729492, + 0.0017899274826049805, + 0.0027962028980255127, + 0.0031968355178833008, + 0.0052280426025390625 + ], + "replay_smoothing_max_deviation_normalized": 0.5990895571209258, + "replay_smoothing_max_deviation_rad": 0.0052280426025390625, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016092807054519653, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.0370402336120605, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.849002838134766, + "replay_smoothing_raw_accel_rms_rad_s2": 3.400386983702265, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 642.9273681640625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15367.69140625, + "replay_smoothing_raw_jerk_rms_rad_s3": 873.2874371904392, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.719250202178955, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20996051224313644, + "replay_smoothing_rms_deviation_rad": 0.0007123701118305909, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.738150119781494, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.13985824584961, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.354378459314469, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 606.016357421875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14929.740234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 867.7142511846213, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6846951246261597, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20927506375482913, + "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": 0.9799010769293494, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967353457038933, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.6, + "replay_smoothing_wrist_max_deviation_rad": 0.0052280426025390625, + "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": 0.4599113464355469, + "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": 0.4623907506465912, + "stage_planned_to_measured_rms_error_rad": 0.01125668970961789, + "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": 1130, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.4599", + "target_wall_accel_p95_abs_rad_s2": 0.7810883522033691, + "target_wall_accel_peak_abs_rad_s2": 4.244488716125488, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.03338783991057426, + "target_wall_accel_rms_rad_s2": 0.3607947214843773, + "target_wall_jerk_p95_abs_rad_s3": 17.397132873535156, + "target_wall_jerk_peak_abs_rad_s3": 82.62818145751953, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 16.367901086923666, + "target_wall_jerk_rms_rad_s3": 8.097195561164343, + "target_wall_smoothness_samples": 1130, + "target_wall_velocity_peak_abs_rad_s": 0.6400907039642334, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.466722459997982, + "target_wall_velocity_rms_rad_s": 0.10692931567854437, + "tcp_pose_count": 1130, + "timestamp_count": 1130, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4599", + "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": -1.1999999999999993, + "window_lag_best_lag_p95_abs_s": 1.4500000000000028, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.4599113464355469, + "window_lag_worst_rms_error_rad": 0.03506334174883843, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.4599113464355469, + "zero_lag_p95_error_rad": 0.0017518213717266917, + "zero_lag_rms_error_rad": 0.009302953803268331, + "zero_lag_samples": 1130, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 0.10499999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.npz new file mode 100644 index 0000000000000000000000000000000000000000..182c9d8d1e1e73fdd879b3566d1907342f4bd156 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_163754.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bedf4152f1e461e3e9ecc0f5e1aaf3a911570aecd4d6d06a6abbc524f12c87c9 +size 116287 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.json new file mode 100644 index 0000000000000000000000000000000000000000..3be7da2925695d3f911622a8fe41063ed710ac64 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.json @@ -0,0 +1,677 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:42:42", + "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_164241.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1109, + "actual_playback_duration_s": 36.981778385001235, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006324350833892822, + "aligned_p95_error_rad": 0.0016080181812867522, + "aligned_rms_error_rad": 0.0007721889979182154, + "aligned_samples": 1109, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 2.9590000000000014, + "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_164241.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_164241.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1109, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1109, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5728226251435897, + "image_frame_counts": { + "cam_scene": 1109, + "cam_wrist": 1109 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004989355802536011, + 0.006126999855041504, + 0.006324350833892822, + 0.002620004117488861, + 0.004841923713684082, + 0.006320834159851074 + ], + "joint_lag_p95_error_rad": [ + 0.001393645885400474, + 0.0016662059351801872, + 0.0017331831622868776, + 0.000883203640114516, + 0.001509880879893899, + 0.002122592879459262 + ], + "joint_lag_rms_error_rad": [ + 0.0007199029201736001, + 0.0008569423280903192, + 0.0008616525038420865, + 0.0004003364846438753, + 0.000708715877846986, + 0.0009591935097056885 + ], + "joint_lag_samples": [ + 1109, + 1109, + 1109, + 1109, + 1109, + 1109 + ], + "joint_lag_worst_time_s": [ + 2.994999999999999, + 2.9590000000000014, + 2.9590000000000014, + 21.761000000000003, + 13.209999999999999, + 2.9590000000000014 + ], + "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": 30, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006214082008227706, + "leadthrough_capture_egm_poll_duration_median_s": 0.003981560992542654, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004258488112827763, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00462733642896637, + "leadthrough_capture_egm_poll_duration_warn_count": 4283, + "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": 0.006489034043624997, + "leadthrough_capture_host_loop_dt_median_s": 0.004006508970633149, + "leadthrough_capture_host_loop_dt_p95_s": 0.004289368214085698, + "leadthrough_capture_host_loop_dt_p99_s": 0.004672766965813931, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005861463025212288, + "leadthrough_capture_host_receive_dt_median_s": 0.004008696065284312, + "leadthrough_capture_host_receive_dt_p95_s": 0.004276009043678641, + "leadthrough_capture_host_receive_dt_p99_s": 0.004625551216304296, + "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": 0.016381337074562907, + "leadthrough_capture_loop_late_median_s": 0.012996920268051326, + "leadthrough_capture_loop_late_p95_s": 0.0132891351939179, + "leadthrough_capture_loop_late_p99_s": 0.013792042314307763, + "leadthrough_capture_loop_late_warn_count": 9430, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006454930058680475, + "leadthrough_capture_read_duration_median_s": 0.003995840030256659, + "leadthrough_capture_read_duration_p95_s": 0.004277241218369454, + "leadthrough_capture_read_duration_p99_s": 0.004656393795739849, + "leadthrough_capture_read_duration_warn_count": 4619, + "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": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0017540901899337769, + 0.00286102294921875, + 0.004823207855224609, + 0.0011732541024684906, + 0.003214716911315918, + 0.00641632080078125 + ], + "leadthrough_delta_max_abs_rad": 0.00641632080078125, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014205280458554626, + 0.0017925114370882511, + 0.0029570984188467264, + 0.0005081320414319634, + 0.0014998973347246647, + 0.0044450233690440655 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005344006349332631, + 0.0008329092524945736, + 0.0012404057197272778, + 0.00020490230235736817, + 0.0006242759991437197, + 0.0014080476248636842 + ], + "leadthrough_delta_samples": 5879, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00641632080078125, + "leadthrough_delta_worst_from_rad": -1.087851881980896, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.3350000000000009, + "leadthrough_delta_worst_to_rad": -1.0942682027816772, + "leadthrough_duration_s": 23.513000000000005, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5819, + "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": 5820, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 9430, + "leadthrough_initial_stillness_first_motion_index": 3551, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 14.199, + "leadthrough_initial_stillness_removed_samples": 3550, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 3550, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0017540901899337769, + 0.00286102294921875, + 0.004823207855224609, + 0.0011732541024684906, + 0.003214716911315918, + 0.00641632080078125 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00641632080078125, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.43852254748290825, + 0.9049375851948713, + 1.52401129404698, + 0.3677159547805647, + 1.06819470723466, + 2.1280050277709153 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.84553861618042, + "leadthrough_velocity_rms_rad_s": 0.23058754281555072, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006324350833892822, + "measured_wall_accel_p95_abs_rad_s2": 0.4809364974498749, + "measured_wall_accel_peak_abs_rad_s2": 2.6786868572235107, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.1880132840015, + "measured_wall_accel_rms_rad_s2": 0.23405266525817506, + "measured_wall_jerk_p95_abs_rad_s3": 8.676084518432617, + "measured_wall_jerk_peak_abs_rad_s3": 53.61884689331055, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.25384258106351, + "measured_wall_jerk_rms_rad_s3": 3.9216501835578996, + "measured_wall_smoothness_samples": 1109, + "measured_wall_velocity_peak_abs_rad_s": 0.6128332018852234, + "measured_wall_velocity_peak_joint": 2, + "measured_wall_velocity_peak_time_s": 31.688102215062827, + "measured_wall_velocity_rms_rad_s": 0.11145786226866465, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006324350833892822, + "moving_aligned_p95_error_rad": 0.0018676815088838339, + "moving_aligned_rms_error_rad": 0.0008986548036336192, + "moving_aligned_samples": 802, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 2.9590000000000014, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004989355802536011, + 0.006126999855041504, + 0.006324350833892822, + 0.002620004117488861, + 0.004841923713684082, + 0.006320834159851074 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001594468136318028, + 0.0017779180780053139, + 0.0019409534288570285, + 0.0018518167780712247, + 0.002201056107878685, + 0.0028122898656874895 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008689668402229733, + 0.0009907915998139736, + 0.001076731598073948, + 0.0007731321168484584, + 0.0010616699263386246, + 0.0015593355507944166 + ], + "moving_joint_lag_samples": [ + 649, + 747, + 648, + 260, + 445, + 325 + ], + "moving_joint_lag_worst_time_s": [ + 2.994999999999999, + 2.9590000000000014, + 2.9590000000000014, + 21.761000000000003, + 13.209999999999999, + 2.9590000000000014 + ], + "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": 2.0228140354156494, + "playback_velocity_rms_rad_s": 0.36384319338050797, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.02600000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.513000000000005, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1774, + 4852 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4490507869824883, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08694373071193695, + "rapid_planner_max_dt_s": 2.567999999999998, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007837414741516113, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.006324350833892822, + "rapid_planner_path_p95_error_rad": 0.002384208142757414, + "rapid_planner_path_rms_error_rad": 0.001306455955840502, + "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, + 65, + 84, + 102, + 123, + 134, + 144, + 154, + 165, + 176, + 186, + 200, + 213, + 226, + 240, + 254, + 267, + 280, + 294, + 309, + 316, + 324, + 332, + 340, + 355, + 369, + 383, + 406, + 434, + 462, + 485, + 508, + 526, + 544, + 578, + 613, + 648, + 684, + 787, + 820, + 850, + 881, + 927, + 973, + 1136, + 1242, + 1774, + 2351, + 2449, + 2513, + 2538, + 2562, + 2582, + 2592, + 2602, + 2622, + 2641, + 2654, + 2668, + 2690, + 2714, + 2742, + 2772, + 2802, + 2832, + 2861, + 2886, + 2910, + 2935, + 2960, + 2990, + 3021, + 3046, + 3071, + 3089, + 3107, + 3122, + 3130, + 3138, + 3146, + 3154, + 3170, + 3182, + 3194, + 3206, + 3218, + 3233, + 3248, + 3275, + 3337, + 3391, + 3445, + 3483, + 3521, + 3545, + 3596, + 3672, + 3877, + 4139, + 4210, + 4852, + 5081, + 5133, + 5175, + 5201, + 5235, + 5273, + 5311, + 5350, + 5392, + 5420, + 5454, + 5474, + 5490, + 5508, + 5527, + 5539, + 5552, + 5614, + 5686, + 5879 + ], + "rapid_planner_selected_max_joint_step_deg": 4.981508824915943, + "rapid_planner_selected_samples": 122, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5880, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 122, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006324350833892822, + "raw_replay_rms_error_rad": 0.0007721889979182154, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9946599569339709, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9748643850076882, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9891041618062217, + "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": 0.9987729874911848, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9834641181475486, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9970161206144896, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0003187209367752075, + 0.0008199214935302734, + 0.0015276670455932617, + 0.002568274736404419, + 0.0023463964462280273, + 0.00662371888756752 + ], + "replay_smoothing_max_deviation_normalized": 0.75902227975708, + "replay_smoothing_max_deviation_rad": 0.00662371888756752, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020145708695054054, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.75065279006958, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.85258483886719, + "replay_smoothing_raw_accel_rms_rad_s2": 3.8695135049187694, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 731.0713500976562, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16688.61328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 998.9349934631456, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9019330739974976, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2314815419604066, + "replay_smoothing_rms_deviation_rad": 0.0008747501029419017, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.725284099578857, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 60.297882080078125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.827351911880535, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 730.17431640625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16412.65234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 995.954291928686, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.84553861618042, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23058754281555072, + "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": 0.9703488736864188, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996137924703263, + "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": 22.121000000000002, + "replay_smoothing_wrist_max_deviation_rad": 0.00662371888756752, + "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": 0.006324350833892822, + "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": 0.03567248582839966, + "stage_planned_to_measured_rms_error_rad": 0.006614890309474098, + "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": 1109, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7556375861167908, + "target_wall_accel_peak_abs_rad_s2": 3.081840991973877, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 16.666740507935174, + "target_wall_accel_rms_rad_s2": 0.36107074534323935, + "target_wall_jerk_p95_abs_rad_s3": 17.174652099609375, + "target_wall_jerk_peak_abs_rad_s3": 70.96669006347656, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 3.2667237849673256, + "target_wall_jerk_rms_rad_s3": 8.381115543085784, + "target_wall_smoothness_samples": 1109, + "target_wall_velocity_peak_abs_rad_s": 0.687864363193512, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 16.63340663490817, + "target_wall_velocity_rms_rad_s": 0.11229729986791191, + "tcp_pose_count": 1109, + "timestamp_count": 1109, + "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": 1.0500000000000025, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.3099999999999994, + "window_lag_best_lag_p95_abs_s": 1.0999999999999992, + "window_lag_count": 31, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0399999999999991, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.10325044393539429, + "window_lag_worst_rms_error_rad": 0.004898935754833653, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.006324350833892822, + "zero_lag_p95_error_rad": 0.0016080181812867522, + "zero_lag_rms_error_rad": 0.0007721889979182154, + "zero_lag_samples": 1109, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 2.9590000000000014 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.npz new file mode 100644 index 0000000000000000000000000000000000000000..407902f60c234d21c788d3a79d129a39036fdd17 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164241.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0e696ed5664fde133eb7a4af6dc32d838a98858b2a273bd46517c3466ca3ce5 +size 115056 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb304574b2cf1de78dbd859e7471a541de1f4eb --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.json @@ -0,0 +1,687 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:46:06", + "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_164605.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1157, + "actual_playback_duration_s": 38.57789418299217, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005857348442077637, + "aligned_p95_error_rad": 0.002030866453424096, + "aligned_rms_error_rad": 0.0008957722140245407, + "aligned_samples": 1157, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 6.348, + "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_164605.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_164605.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1157, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1157, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3413265944505464, + "image_frame_counts": { + "cam_scene": 1157, + "cam_wrist": 1157 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005278751254081726, + 0.004508063197135925, + 0.005857348442077637, + 0.0029593631625175476, + 0.004763126373291016, + 0.005580544471740723 + ], + "joint_lag_p95_error_rad": [ + 0.0016640496905893087, + 0.0022022619377821684, + 0.002304565394297242, + 0.0011177174746990204, + 0.00241346238180995, + 0.0022500469349324703 + ], + "joint_lag_rms_error_rad": [ + 0.0008084293547708848, + 0.0009310009985934093, + 0.0010166457826418726, + 0.0004585371319379952, + 0.001013030248672119, + 0.0010119639529248296 + ], + "joint_lag_samples": [ + 1157, + 1157, + 1157, + 1157, + 1157, + 1157 + ], + "joint_lag_worst_time_s": [ + 26.945, + 20.314, + 6.348, + 22.966, + 6.348, + 6.348 + ], + "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": 37, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007051415974274278, + "leadthrough_capture_egm_poll_duration_median_s": 0.00396126601845026, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00429256814531982, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005001092895399781, + "leadthrough_capture_egm_poll_duration_warn_count": 3307, + "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": 0.007729424047283828, + "leadthrough_capture_host_loop_dt_median_s": 0.003985626040957868, + "leadthrough_capture_host_loop_dt_p95_s": 0.004323876986745745, + "leadthrough_capture_host_loop_dt_p99_s": 0.005041333672124895, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007014681003056467, + "leadthrough_capture_host_receive_dt_median_s": 0.003987445961683989, + "leadthrough_capture_host_receive_dt_p95_s": 0.004300606029573828, + "leadthrough_capture_host_receive_dt_p99_s": 0.005000248283613474, + "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": 0.015579298953525722, + "leadthrough_capture_loop_late_median_s": 0.00908347254153341, + "leadthrough_capture_loop_late_p95_s": 0.009383047284791246, + "leadthrough_capture_loop_late_p99_s": 0.01017676498158835, + "leadthrough_capture_loop_late_warn_count": 8292, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007690989063121378, + "leadthrough_capture_read_duration_median_s": 0.003974564024247229, + "leadthrough_capture_read_duration_p95_s": 0.00431081741116941, + "leadthrough_capture_read_duration_p99_s": 0.005027755094924942, + "leadthrough_capture_read_duration_warn_count": 3556, + "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": [ + 0.003023620694875717, + 0.002334117889404297, + 0.003810584545135498, + 0.001658618450164795, + 0.0029642581939697266, + 0.005599617958068848 + ], + "leadthrough_delta_max_abs_rad": 0.005599617958068848, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0011293143033981323, + 0.001847773790359497, + 0.0023455172777175903, + 0.00025286711752414703, + 0.001370072364807129, + 0.003663277719169855 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005262140184640884, + 0.0007502506487071514, + 0.001025020726956427, + 0.00017692528490442783, + 0.0005896767834201455, + 0.0012379816034808755 + ], + "leadthrough_delta_samples": 7191, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005599617958068848, + "leadthrough_delta_worst_from_rad": -0.6286996603012085, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 16.738, + "leadthrough_delta_worst_to_rad": -0.6231000423431396, + "leadthrough_duration_s": 28.761000000000003, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7190, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.3199999999999932, + "leadthrough_final_stillness_removed_samples": 80, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7191, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8292, + "leadthrough_initial_stillness_first_motion_index": 1021, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.079, + "leadthrough_initial_stillness_removed_samples": 1020, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1020, + "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": [ + 0.003023620694875717, + 0.002334117889404297, + 0.003810584545135498, + 0.001658618450164795, + 0.0029642581939697266, + 0.005599617958068848 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005599617958068848, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9968206286429981, + 0.705872972806268, + 0.9526461362844025, + 0.5466801424821011, + 0.8756319681803053, + 1.8665393193562119 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6534016132354736, + "leadthrough_velocity_rms_rad_s": 0.20347897512231683, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005857348442077637, + "measured_wall_accel_p95_abs_rad_s2": 0.588064968585968, + "measured_wall_accel_peak_abs_rad_s2": 3.290297269821167, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 40.98116539604962, + "measured_wall_accel_rms_rad_s2": 0.2772902508601062, + "measured_wall_jerk_p95_abs_rad_s3": 10.075037956237793, + "measured_wall_jerk_peak_abs_rad_s3": 58.81108093261719, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 44.282320957048796, + "measured_wall_jerk_rms_rad_s3": 4.737486634693804, + "measured_wall_smoothness_samples": 1157, + "measured_wall_velocity_peak_abs_rad_s": 0.9693831205368042, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 40.854416828020476, + "measured_wall_velocity_rms_rad_s": 0.11468659369824778, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005857348442077637, + "moving_aligned_p95_error_rad": 0.002360621467232704, + "moving_aligned_rms_error_rad": 0.0010386367944851778, + "moving_aligned_samples": 841, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 6.348, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005278751254081726, + 0.004508063197135925, + 0.005857348442077637, + 0.0028593060560524464, + 0.004763126373291016, + 0.005580544471740723 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002159446245059371, + 0.002486663870513439, + 0.0027594396378844976, + 0.0022435460705310106, + 0.002856642007827759, + 0.0034518707543611526 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009924597893146308, + 0.0010893211430979123, + 0.0012304928650432145, + 0.001100105304556776, + 0.001270385524533929, + 0.0016122400450298948 + ], + "moving_joint_lag_samples": [ + 679, + 788, + 727, + 142, + 526, + 377 + ], + "moving_joint_lag_worst_time_s": [ + 26.945, + 20.314, + 6.348, + 17.451, + 6.348, + 6.348 + ], + "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": 1.6529200077056885, + "playback_velocity_rms_rad_s": 0.34004820206861314, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 87.522, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.761000000000003, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2618, + 6307 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4409023713026631, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08572614192962646, + "rapid_planner_max_dt_s": 2.34, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007695198059082031, + "rapid_planner_median_dt_s": 0.10000000000000053, + "rapid_planner_path_max_error_rad": 0.005857348442077637, + "rapid_planner_path_p95_error_rad": 0.003343459963798523, + "rapid_planner_path_rms_error_rad": 0.0015010973367085042, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 56, + 97, + 123, + 146, + 171, + 192, + 212, + 223, + 234, + 245, + 256, + 267, + 278, + 290, + 301, + 315, + 329, + 340, + 352, + 371, + 390, + 416, + 443, + 466, + 488, + 510, + 532, + 560, + 582, + 604, + 640, + 671, + 708, + 739, + 788, + 812, + 836, + 859, + 888, + 917, + 972, + 1026, + 1097, + 1145, + 1209, + 1348, + 1491, + 1550, + 1618, + 1705, + 1851, + 2011, + 2351, + 2618, + 3203, + 3378, + 3434, + 3494, + 3524, + 3551, + 3572, + 3594, + 3616, + 3638, + 3655, + 3672, + 3690, + 3707, + 3726, + 3747, + 3768, + 3792, + 3808, + 3824, + 3856, + 3883, + 3910, + 3936, + 3963, + 3991, + 4019, + 4063, + 4083, + 4105, + 4118, + 4132, + 4145, + 4158, + 4173, + 4188, + 4202, + 4217, + 4234, + 4248, + 4260, + 4277, + 4339, + 4384, + 4447, + 4480, + 4516, + 4575, + 4666, + 4757, + 4913, + 5205, + 5448, + 5644, + 6049, + 6173, + 6307, + 6542, + 6583, + 6607, + 6631, + 6651, + 6672, + 6693, + 6708, + 6724, + 6750, + 6769, + 6788, + 6810, + 6831, + 6875, + 6910, + 6945, + 6987, + 7069, + 7191 + ], + "rapid_planner_selected_max_joint_step_deg": 4.911746126507079, + "rapid_planner_selected_samples": 132, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7192, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 132, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005857348442077637, + "raw_replay_rms_error_rad": 0.0008957722140245407, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9798916107426614, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.986940009384784, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9889467035893663, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0002243391006223, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9891268041203787, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9942636404719772, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004539117217063904, + 0.0006642937660217285, + 0.0009502172470092773, + 0.0023091912735253572, + 0.0027282238006591797, + 0.006354350596666336 + ], + "replay_smoothing_max_deviation_normalized": 0.7281549471113903, + "replay_smoothing_max_deviation_rad": 0.006354350596666336, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017134719528257847, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.645498752593994, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.62235641479492, + "replay_smoothing_raw_accel_rms_rad_s2": 3.9500119393669695, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1385.3626708984375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14802.4736328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1014.1802149505052, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6660420894622803, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20421306496334077, + "replay_smoothing_rms_deviation_rad": 0.0007912919678057903, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.511868476867676, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 53.90898895263672, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9063512865756045, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1385.6734619140625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14641.5234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1008.3625126113417, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6534016132354736, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20347897512231683, + "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": 0.9924128710152297, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964052748478374, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 26.977999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.006354350596666336, + "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": 0.005857348442077637, + "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": 0.05691683292388916, + "stage_planned_to_measured_rms_error_rad": 0.006799988029198259, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 1157, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8641321659088135, + "target_wall_accel_peak_abs_rad_s2": 6.226574897766113, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 24.500055267009884, + "target_wall_accel_rms_rad_s2": 0.4156635711193828, + "target_wall_jerk_p95_abs_rad_s3": 18.8402099609375, + "target_wall_jerk_peak_abs_rad_s3": 170.1442413330078, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 24.47512604901567, + "target_wall_jerk_rms_rad_s3": 9.423827922696915, + "target_wall_smoothness_samples": 1157, + "target_wall_velocity_peak_abs_rad_s": 0.9940950274467468, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.400055840960704, + "target_wall_velocity_rms_rad_s": 0.11583933445116475, + "tcp_pose_count": 1157, + "timestamp_count": 1157, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.5600000000000023, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 0.23000000000000106, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 6.0, + "window_lag_worst_max_error_rad": 0.004648417234420776, + "window_lag_worst_rms_error_rad": 0.0020702010039605184, + "window_lag_worst_start_s": 5.0, + "zero_lag_max_error_rad": 0.005857348442077637, + "zero_lag_p95_error_rad": 0.002030866453424096, + "zero_lag_rms_error_rad": 0.0008957722140245407, + "zero_lag_samples": 1157, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 6.348 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.npz new file mode 100644 index 0000000000000000000000000000000000000000..82e5a3b697acd58194753b9ab42382d482ff382c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164605.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcb23cafc5790cea9780e6699497a8ef376f944a38829cf0a559b0a8ecb1a28d +size 120050 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.json new file mode 100644 index 0000000000000000000000000000000000000000..6395e387da4f3f28e768f7efaf9774bbb98e88e8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.json @@ -0,0 +1,685 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:48:41", + "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_164840.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": 39.27789483300876, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.00522005558013916, + "aligned_p95_error_rad": 0.0019662966951727867, + "aligned_rms_error_rad": 0.0008634153614370482, + "aligned_samples": 1178, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 11.766, + "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_164840.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_164840.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": 1.4747829697371218, + "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": [ + 0.004118859767913818, + 0.0052078962326049805, + 0.005171656608581543, + 0.0037065520882606506, + 0.00522005558013916, + 0.00495600700378418 + ], + "joint_lag_p95_error_rad": [ + 0.001970284152776003, + 0.0019654780626296997, + 0.0019528376869857311, + 0.0010287095792591572, + 0.0019403218757361174, + 0.0024852463975548744 + ], + "joint_lag_rms_error_rad": [ + 0.0008058851090239686, + 0.0009007647089434452, + 0.0009516416592833408, + 0.00045310042553830865, + 0.0009169761284168758, + 0.0010297191777253252 + ], + "joint_lag_samples": [ + 1178, + 1178, + 1178, + 1178, + 1178, + 1178 + ], + "joint_lag_worst_time_s": [ + 4.199, + 11.766, + 4.176, + 25.736999999999995, + 11.766, + 4.176 + ], + "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": 0.006421211990527809, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972315927967429, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00435016582487151, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005060691500548272, + "leadthrough_capture_egm_poll_duration_warn_count": 4301, + "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": 0.006455552997067571, + "leadthrough_capture_host_loop_dt_median_s": 0.003998674510512501, + "leadthrough_capture_host_loop_dt_p95_s": 0.004385556990746406, + "leadthrough_capture_host_loop_dt_p99_s": 0.005094465449219569, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006464077974669635, + "leadthrough_capture_host_receive_dt_median_s": 0.0039959639543667436, + "leadthrough_capture_host_receive_dt_p95_s": 0.004355434433091432, + "leadthrough_capture_host_receive_dt_p99_s": 0.0050236163707450005, + "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": 0.015805948060005903, + "leadthrough_capture_loop_late_median_s": 0.009122584480792284, + "leadthrough_capture_loop_late_p95_s": 0.009519531822297722, + "leadthrough_capture_loop_late_p99_s": 0.01023820050759241, + "leadthrough_capture_loop_late_warn_count": 9503, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0064403509022668, + "leadthrough_capture_read_duration_median_s": 0.003987399046309292, + "leadthrough_capture_read_duration_p95_s": 0.004373353696428239, + "leadthrough_capture_read_duration_p99_s": 0.005076742770615965, + "leadthrough_capture_read_duration_warn_count": 4551, + "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": 23, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003377155400812626, + 0.0030048489570617676, + 0.00392642617225647, + 0.0025352612137794495, + 0.0030649900436401367, + 0.006866365671157837 + ], + "leadthrough_delta_max_abs_rad": 0.006866365671157837, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009675257024355233, + 0.0018347814911976457, + 0.003033991903066635, + 0.00014321133494377136, + 0.001614570850506425, + 0.0034886659123003483 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005367285339161754, + 0.0008448376320302486, + 0.0011811982840299606, + 0.00023169834457803518, + 0.0006273443577811122, + 0.001260426826775074 + ], + "leadthrough_delta_samples": 6659, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006866365671157837, + "leadthrough_delta_worst_from_rad": -0.4694778323173523, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7880000000000003, + "leadthrough_delta_worst_to_rad": -0.47634419798851013, + "leadthrough_duration_s": 26.632999999999996, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6658, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.0760000000000005, + "leadthrough_final_stillness_removed_samples": 269, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6659, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9503, + "leadthrough_initial_stillness_first_motion_index": 2575, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 10.295, + "leadthrough_initial_stillness_removed_samples": 2574, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 2574, + "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": [ + 0.003377155400812626, + 0.0030048489570617676, + 0.00392642617225647, + 0.0025352612137794495, + 0.0030649900436401367, + 0.006866365671157837 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006866365671157837, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8442888502036244, + 0.7704496383675824, + 1.284440358479769, + 0.6338153034452136, + 0.7662475109101186, + 1.7165914177896482 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6894452571868896, + "leadthrough_velocity_rms_rad_s": 0.2160726873535801, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.00522005558013916, + "measured_wall_accel_p95_abs_rad_s2": 0.5406712889671326, + "measured_wall_accel_peak_abs_rad_s2": 2.734696626663208, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 25.449837917927653, + "measured_wall_accel_rms_rad_s2": 0.24420134205249133, + "measured_wall_jerk_p95_abs_rad_s3": 8.660938262939453, + "measured_wall_jerk_peak_abs_rad_s3": 64.57844543457031, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 25.515491358935833, + "measured_wall_jerk_rms_rad_s3": 4.2706056611491965, + "measured_wall_smoothness_samples": 1178, + "measured_wall_velocity_peak_abs_rad_s": 0.6587230563163757, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 40.74899752892088, + "measured_wall_velocity_rms_rad_s": 0.10978364217973367, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.00522005558013916, + "moving_aligned_p95_error_rad": 0.0022538690827786922, + "moving_aligned_rms_error_rad": 0.0009914303243528295, + "moving_aligned_samples": 883, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 11.766, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004118859767913818, + 0.0052078962326049805, + 0.005171656608581543, + 0.0037065520882606506, + 0.00522005558013916, + 0.00495600700378418 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002286791568621993, + 0.002226176206022501, + 0.002233582315966487, + 0.0023350026458501816, + 0.002107292180880904, + 0.002951390342786908 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009793217631166172, + 0.0010165717721644287, + 0.001103975711575645, + 0.0011504612557242347, + 0.0010858718736139652, + 0.0015601166563986581 + ], + "moving_joint_lag_samples": [ + 733, + 847, + 774, + 146, + 634, + 435 + ], + "moving_joint_lag_worst_time_s": [ + 4.199, + 11.766, + 4.176, + 25.736999999999995, + 11.766, + 4.176 + ], + "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": 1.9293837547302246, + "playback_velocity_rms_rad_s": 0.3777847052227802, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 83.26599999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.632999999999996, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2248, + 5846 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4111705578455976, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0844120979309082, + "rapid_planner_max_dt_s": 3.0720000000000027, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0071762800216674805, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.00522005558013916, + "rapid_planner_path_p95_error_rad": 0.0030121717602014505, + "rapid_planner_path_rms_error_rad": 0.0014165103924544346, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 37, + 68, + 87, + 105, + 123, + 133, + 143, + 152, + 160, + 169, + 178, + 187, + 196, + 205, + 214, + 228, + 243, + 257, + 271, + 285, + 299, + 319, + 339, + 363, + 375, + 387, + 400, + 413, + 434, + 455, + 478, + 502, + 526, + 563, + 605, + 652, + 746, + 805, + 850, + 884, + 918, + 952, + 986, + 1021, + 1103, + 1167, + 1310, + 1397, + 1470, + 1833, + 1941, + 2248, + 2822, + 3022, + 3082, + 3113, + 3140, + 3166, + 3198, + 3230, + 3252, + 3274, + 3296, + 3317, + 3336, + 3354, + 3373, + 3392, + 3410, + 3429, + 3450, + 3471, + 3496, + 3521, + 3558, + 3596, + 3642, + 3690, + 3737, + 3779, + 3821, + 3857, + 3874, + 3892, + 3910, + 3928, + 3945, + 3962, + 3978, + 3995, + 4014, + 4034, + 4059, + 4081, + 4128, + 4166, + 4189, + 4239, + 4315, + 4395, + 4467, + 4528, + 4600, + 4689, + 4764, + 4812, + 5078, + 5846, + 6187, + 6223, + 6251, + 6283, + 6312, + 6329, + 6347, + 6367, + 6387, + 6403, + 6422, + 6447, + 6464, + 6478, + 6494, + 6510, + 6529, + 6560, + 6596, + 6626, + 6659 + ], + "rapid_planner_selected_max_joint_step_deg": 4.836456951286029, + "rapid_planner_selected_samples": 130, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6660, + "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": 0.00522005558013916, + "raw_replay_rms_error_rad": 0.0008634153614370482, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9667101576303535, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9645568175107381, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9791784951600585, + "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": 0.9873780048284979, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9371835830430537, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9931862299683871, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008102133870124817, + 0.00041985511779785156, + 0.0008622407913208008, + 0.003352101892232895, + 0.0031865835189819336, + 0.0056551918387413025 + ], + "replay_smoothing_max_deviation_normalized": 0.6480372544133428, + "replay_smoothing_max_deviation_rad": 0.0056551918387413025, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017357185715809464, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.952827453613281, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 38.69277572631836, + "replay_smoothing_raw_accel_rms_rad_s2": 2.61526635452216, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 883.2499389648438, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10781.4638671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 653.8413585573081, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7163641452789307, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2169510200466728, + "replay_smoothing_rms_deviation_rad": 0.000859183041337465, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.7879486083984375, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.321380615234375, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.560812573463741, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 872.1015625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10104.2109375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 649.3862339029413, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6894452571868896, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2160726873535801, + "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": 0.9843163304441632, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959514700926332, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 26.049, + "replay_smoothing_wrist_max_deviation_rad": 0.0056551918387413025, + "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": 0.00522005558013916, + "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": 0.0380706787109375, + "stage_planned_to_measured_rms_error_rad": 0.00651176758884139, + "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": 0.8197241425514221, + "target_wall_accel_peak_abs_rad_s2": 3.6214091777801514, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 9.833389514009468, + "target_wall_accel_rms_rad_s2": 0.3776006558640493, + "target_wall_jerk_p95_abs_rad_s3": 19.477527618408203, + "target_wall_jerk_peak_abs_rad_s3": 78.2477798461914, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 9.800054532010108, + "target_wall_jerk_rms_rad_s3": 8.68928095472042, + "target_wall_smoothness_samples": 1178, + "target_wall_velocity_peak_abs_rad_s": 0.7051715850830078, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 25.033409898984246, + "target_wall_velocity_rms_rad_s": 0.11079938442160589, + "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": 1.320000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.3799999999999994, + "window_lag_best_lag_p95_abs_s": 1.3320000000000018, + "window_lag_count": 35, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.2400000000000029, + "window_lag_worst_end_s": 12.0, + "window_lag_worst_max_error_rad": 0.004574179649353027, + "window_lag_worst_rms_error_rad": 0.0018238373661992292, + "window_lag_worst_start_s": 11.0, + "zero_lag_max_error_rad": 0.00522005558013916, + "zero_lag_p95_error_rad": 0.0019662966951727867, + "zero_lag_rms_error_rad": 0.0008634153614370482, + "zero_lag_samples": 1178, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 11.766 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.npz new file mode 100644 index 0000000000000000000000000000000000000000..733ddf093628a7a1ddc80151062a7d0ad3e50809 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_164840.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b7f913aaa2eeda43d7b6082c89a10a910cd7c0d66c096b51985c761c46f46a8 +size 124460 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.json new file mode 100644 index 0000000000000000000000000000000000000000..515bdec4ac97351a90dc67a036dc6b074fb92c19 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.json @@ -0,0 +1,675 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:50:39", + "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_165038.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1123, + "actual_playback_duration_s": 37.444102396955714, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005998626351356506, + "aligned_p95_error_rad": 0.001987222582101822, + "aligned_rms_error_rad": 0.0008639892731944873, + "aligned_samples": 1123, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 16.674, + "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_165038.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_165038.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1123, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1123, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4067739563795962, + "image_frame_counts": { + "cam_scene": 1123, + "cam_wrist": 1123 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0043897926807403564, + 0.005998626351356506, + 0.005125582218170166, + 0.00421872129663825, + 0.005982160568237305, + 0.005968689918518066 + ], + "joint_lag_p95_error_rad": [ + 0.0020136300008744, + 0.0019772674422711134, + 0.0020527185406535864, + 0.0012265141122043133, + 0.0019442976918071508, + 0.0022823098115622997 + ], + "joint_lag_rms_error_rad": [ + 0.0008222695086761322, + 0.0008990571447232758, + 0.0009686156841709479, + 0.0005318386125988506, + 0.0008384916817313857, + 0.001034551563233377 + ], + "joint_lag_samples": [ + 1123, + 1123, + 1123, + 1123, + 1123, + 1123 + ], + "joint_lag_worst_time_s": [ + 5.216, + 16.674, + 3.772000000000001, + 4.971000000000001, + 16.674, + 3.772000000000001 + ], + "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": 21, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006447004969231784, + "leadthrough_capture_egm_poll_duration_median_s": 0.003997178981080651, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004226690583163872, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004740752538200468, + "leadthrough_capture_egm_poll_duration_warn_count": 3901, + "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": 0.006539487978443503, + "leadthrough_capture_host_loop_dt_median_s": 0.0040234290063381195, + "leadthrough_capture_host_loop_dt_p95_s": 0.004256676998920739, + "leadthrough_capture_host_loop_dt_p99_s": 0.004786226362921301, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0064129040110856295, + "leadthrough_capture_host_receive_dt_median_s": 0.004020224092528224, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042396200587973, + "leadthrough_capture_host_receive_dt_p99_s": 0.004726130422204737, + "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": 0.016287114936858416, + "leadthrough_capture_loop_late_median_s": 0.009421175171155483, + "leadthrough_capture_loop_late_p95_s": 0.009660557459574193, + "leadthrough_capture_loop_late_p99_s": 0.010211194673320278, + "leadthrough_capture_loop_late_warn_count": 7922, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006516402005217969, + "leadthrough_capture_read_duration_median_s": 0.004011879034806043, + "leadthrough_capture_read_duration_p95_s": 0.004244032368296758, + "leadthrough_capture_read_duration_p99_s": 0.004764054699335247, + "leadthrough_capture_read_duration_warn_count": 4196, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0018871165812015533, + 0.002843499183654785, + 0.0044457316398620605, + 0.0011037476360797882, + 0.002774357795715332, + 0.005730271339416504 + ], + "leadthrough_delta_max_abs_rad": 0.005730271339416504, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0012186802923679352, + 0.0016060351626947522, + 0.002877922262996435, + 0.0003409511409699917, + 0.0013702323194593191, + 0.003954675514250994 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005139415734447539, + 0.0007246313616633415, + 0.0011339462362229824, + 0.00015073647955432534, + 0.0005611868109554052, + 0.0013318221317604184 + ], + "leadthrough_delta_samples": 6655, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005730271339416504, + "leadthrough_delta_worst_from_rad": -0.9357660412788391, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.3559999999999999, + "leadthrough_delta_worst_to_rad": -0.9414963126182556, + "leadthrough_duration_s": 26.617, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6599, + "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": 6600, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7922, + "leadthrough_initial_stillness_first_motion_index": 1267, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.063, + "leadthrough_initial_stillness_removed_samples": 1266, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1266, + "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": [ + 0.0018871165812015533, + 0.002843499183654785, + 0.0044457316398620605, + 0.0011037476360797882, + 0.002774357795715332, + 0.005730271339416504 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005730271339416504, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.6241115430998009, + 0.8873542149861318, + 1.4819105466206306, + 0.3617238253354889, + 0.8962154388427395, + 1.527388890584252 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.3944878578186035, + "leadthrough_velocity_rms_rad_s": 0.21185583947041822, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005998626351356506, + "measured_wall_accel_p95_abs_rad_s2": 0.5202528238296509, + "measured_wall_accel_peak_abs_rad_s2": 1.826250672340393, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 15.97683948802296, + "measured_wall_accel_rms_rad_s2": 0.22605323918957235, + "measured_wall_jerk_p95_abs_rad_s3": 9.324043273925781, + "measured_wall_jerk_peak_abs_rad_s3": 28.258628845214844, + "measured_wall_jerk_peak_joint": 2, + "measured_wall_jerk_peak_time_s": 32.743121052975766, + "measured_wall_jerk_rms_rad_s3": 3.9352366145468354, + "measured_wall_smoothness_samples": 1123, + "measured_wall_velocity_peak_abs_rad_s": 0.5500394105911255, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 16.31613039295189, + "measured_wall_velocity_rms_rad_s": 0.10956879233779321, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005998626351356506, + "moving_aligned_p95_error_rad": 0.0021862981375306845, + "moving_aligned_rms_error_rad": 0.0009997878296921945, + "moving_aligned_samples": 812, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 16.674, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004281103610992432, + 0.005998626351356506, + 0.005125582218170166, + 0.0035128695890307426, + 0.005982160568237305, + 0.005647778511047363 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002163196448236704, + 0.002177659422159195, + 0.0023671623785048723, + 0.002407038351520896, + 0.0023883688263595104, + 0.002593904733657837 + ], + "moving_joint_lag_rms_error_rad": [ + 0.000986067910127611, + 0.0010594045517445029, + 0.0012121431369012232, + 0.0010329540304251773, + 0.0011473216090308546, + 0.001396096062658174 + ], + "moving_joint_lag_samples": [ + 667, + 746, + 654, + 208, + 517, + 478 + ], + "moving_joint_lag_worst_time_s": [ + 2.692, + 16.674, + 3.772000000000001, + 23.805, + 16.674, + 3.7429999999999994 + ], + "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": 1.644909381866455, + "playback_velocity_rms_rad_s": 0.3437419226657426, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 83.23400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.617, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2180, + 5247 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4342770878077507, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08649951219558716, + "rapid_planner_max_dt_s": 2.3440000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0075795650482177734, + "rapid_planner_median_dt_s": 0.1039999999999992, + "rapid_planner_path_max_error_rad": 0.005998626351356506, + "rapid_planner_path_p95_error_rad": 0.0028333408758044187, + "rapid_planner_path_rms_error_rad": 0.001454062156275034, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 58, + 100, + 119, + 137, + 152, + 166, + 177, + 188, + 200, + 211, + 222, + 234, + 245, + 256, + 269, + 282, + 295, + 308, + 316, + 325, + 334, + 342, + 351, + 360, + 377, + 392, + 406, + 420, + 434, + 448, + 462, + 481, + 498, + 514, + 548, + 581, + 618, + 656, + 734, + 803, + 851, + 884, + 917, + 993, + 1044, + 1091, + 1153, + 1594, + 2180, + 2737, + 2850, + 2955, + 3015, + 3151, + 3193, + 3212, + 3231, + 3258, + 3284, + 3310, + 3328, + 3345, + 3362, + 3380, + 3393, + 3408, + 3426, + 3439, + 3453, + 3482, + 3512, + 3555, + 3576, + 3598, + 3630, + 3663, + 3682, + 3700, + 3719, + 3738, + 3758, + 3778, + 3798, + 3823, + 3868, + 3911, + 3950, + 4004, + 4046, + 4078, + 4119, + 4246, + 4422, + 4685, + 5247, + 5540, + 5595, + 5655, + 5696, + 5722, + 5744, + 5767, + 5784, + 5800, + 5825, + 5851, + 5889, + 5927, + 5973, + 6024, + 6095, + 6136, + 6176, + 6208, + 6240, + 6287, + 6336, + 6441, + 6655 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9560569787475375, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6656, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005998626351356506, + "raw_replay_rms_error_rad": 0.0008639892731944873, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9730901300841208, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8905066658391251, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9789832836863711, + "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": 0.9891893369220393, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9110935415834478, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9878045423967482, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00047140568494796753, + 0.0004391670227050781, + 0.0009136199951171875, + 0.0017638709396123886, + 0.0035570859909057617, + 0.008062601089477539 + ], + "replay_smoothing_max_deviation_normalized": 0.9239060358061998, + "replay_smoothing_max_deviation_rad": 0.008062601089477539, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017999112606048584, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.961572647094727, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 46.957218170166016, + "replay_smoothing_raw_accel_rms_rad_s2": 3.5742820703257516, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1375.6627197265625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12394.951171875, + "replay_smoothing_raw_jerk_rms_rad_s3": 911.7309431841205, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4325604438781738, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21278966765395343, + "replay_smoothing_rms_deviation_rad": 0.0009420008584852492, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.774237632751465, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 41.81571578979492, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.499162398028825, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1360.7908935546875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11292.9599609375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 900.6119671209458, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3944878578186035, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21185583947041822, + "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": 0.9734233998835667, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956114965833123, + "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": 13.726000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.008062601089477539, + "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": 0.005998626351356506, + "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": 0.03182085603475571, + "stage_planned_to_measured_rms_error_rad": 0.006494194096738941, + "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": 1123, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7659220695495605, + "target_wall_accel_peak_abs_rad_s2": 3.3410966396331787, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 8.133387467940338, + "target_wall_accel_rms_rad_s2": 0.33527000835816645, + "target_wall_jerk_p95_abs_rad_s3": 16.41061019897461, + "target_wall_jerk_peak_abs_rad_s3": 89.98212432861328, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 8.16672270197887, + "target_wall_jerk_rms_rad_s3": 7.582807943033797, + "target_wall_smoothness_samples": 1123, + "target_wall_velocity_peak_abs_rad_s": 0.5697373747825623, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.0334034269908443, + "target_wall_velocity_rms_rad_s": 0.11035448629241332, + "tcp_pose_count": 1123, + "timestamp_count": 1123, + "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": -1.2199999999999993, + "window_lag_best_lag_p95_abs_s": 1.0899999999999992, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.909999999999999, + "window_lag_worst_end_s": 22.0, + "window_lag_worst_max_error_rad": 0.0239943265914917, + "window_lag_worst_rms_error_rad": 0.005065209576486859, + "window_lag_worst_start_s": 21.0, + "zero_lag_max_error_rad": 0.005998626351356506, + "zero_lag_p95_error_rad": 0.001987222582101822, + "zero_lag_rms_error_rad": 0.0008639892731944873, + "zero_lag_samples": 1123, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 16.674 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.npz b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b43a875020195b98ab52c319e56a4e9c18cff88 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165038.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3245d8b9fc3bde658f63f8b340575e8b1d71c3710fb0cb38d46d489b96f4164 +size 118557 diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_manifest.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..162d133c9c791abe2b3b7d6427b4a0e9c67ae510 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_manifest.json @@ -0,0 +1,541 @@ +{ + "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": 18, + "discard": 5, + "failure": 0, + "success": 13 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 38.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260831_120642.hdf5", + "file_size_mb": 1394.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1148, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.433, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260831_120922.hdf5", + "file_size_mb": 1391.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1154, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 40.633, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260831_121137.hdf5", + "file_size_mb": 1473.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1220, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.067, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260831_121357.hdf5", + "file_size_mb": 1381.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1143, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 40.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 30.0, + "num_frames": 1218, + "outcome": "discard", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.033, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 30.0, + "num_frames": 1172, + "outcome": "discard", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 40.2, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260831_132347.hdf5", + "file_size_mb": 1466.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1207, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000005", + "episode_idx": 5, + "file": "episode_000005_20260831_135015.hdf5", + "file_size_mb": 1378.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1140, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 30.0, + "num_frames": 1200, + "outcome": "discard", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000006", + "episode_idx": 6, + "file": "episode_000006_20260831_163409.hdf5", + "file_size_mb": 1395.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1151, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.468, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000007", + "episode_idx": 7, + "file": "episode_000007_20260831_163605.hdf5", + "file_size_mb": 1434.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1185, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.633, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000008", + "episode_idx": 8, + "file": "episode_000008_20260831_164038.hdf5", + "file_size_mb": 1359.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1130, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.933, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000009", + "episode_idx": 9, + "file": "episode_000009_20260831_164301.hdf5", + "file_size_mb": 1336.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1109, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 29.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:discard_000004", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7327, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 9, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.533, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000010", + "episode_idx": 10, + "file": "episode_000010_20260831_164641.hdf5", + "file_size_mb": 1391.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1157, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000011", + "episode_idx": 11, + "file": "episode_000011_20260831_164844.hdf5", + "file_size_mb": 1419.0, + "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": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.4, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:episode_000012", + "episode_idx": 12, + "file": "episode_000012_20260831_165043.hdf5", + "file_size_mb": 1347.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1123, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 14, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.992, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_12-04-17:discard_000005", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 8500, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 3, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "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": "2026-08-31T16:53:59", + "session_id": "flex_to_biotek_v2_2026-08-31_12-04-17", + "session_started": "2026-08-31T12:04:17", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 22, + "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_v018", + "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": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v019.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": "2026-08-31T16:53:59" +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_summary.json b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..929be6dc39e12ac305c60143fe16181b32acb07a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_12-04-17/session_summary.json @@ -0,0 +1,798 @@ +{ + "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": "2026-08-31T12:04:19", + "session_ended": "", + "counts": { + "attempted": 18, + "success": 13, + "failure": 0, + "discard": 5 + }, + "episodes": [ + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260831_120642.hdf5", + "num_frames": 1148, + "duration_s": 38.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.454, + "file_size_mb": 1394.3, + "save_metrics": { + "validate_s": 0.0009484419133514166, + "prepare_arrays_s": 0.0011856689816340804, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.41953663900494576, + "image_write_s": 9.991213507018983, + "image_chunking": "frame", + "image_input_mb": 2115.9936, + "image_storage_mb": 1391.517072, + "image_frame_count": 2296, + "image_camera_frame_counts": { + "cam_wrist": 1148, + "cam_scene": 1148 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1057.9968, + "cam_scene": 1057.9968 + }, + "image_camera_storage_mb": { + "cam_wrist": 674.333904, + "cam_scene": 717.183168 + }, + "file_size_mb": 1394.269832, + "hdf5_write_s": 10.4513148550177, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.2856944017112255e-05, + "total_s": 10.453549365047365 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260831_120922.hdf5", + "num_frames": 1154, + "duration_s": 38.433, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 12.71, + "file_size_mb": 1391.6, + "save_metrics": { + "validate_s": 0.001226332038640976, + "prepare_arrays_s": 0.0012772040208801627, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.059998946147971, + "image_write_s": 10.602281052968465, + "image_chunking": "frame", + "image_input_mb": 2127.0528, + "image_storage_mb": 1389.216981, + "image_frame_count": 2308, + "image_camera_frame_counts": { + "cam_wrist": 1154, + "cam_scene": 1154 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1063.5264, + "cam_scene": 1063.5264 + }, + "image_camera_storage_mb": { + "cam_wrist": 668.051521, + "cam_scene": 721.16546 + }, + "file_size_mb": 1391.632353, + "hdf5_write_s": 12.707679350976832, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.813102375715971e-05, + "total_s": 12.710289887036197 + } + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260831_121137.hdf5", + "num_frames": 1220, + "duration_s": 40.633, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 14.683, + "file_size_mb": 1473.4, + "save_metrics": { + "validate_s": 0.0011719110189005733, + "prepare_arrays_s": 0.001799557008780539, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.57314924208913, + "image_write_s": 11.894334073993377, + "image_chunking": "frame", + "image_input_mb": 2248.704, + "image_storage_mb": 1470.605356, + "image_frame_count": 2440, + "image_camera_frame_counts": { + "cam_wrist": 1220, + "cam_scene": 1220 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1124.352, + "cam_scene": 1124.352 + }, + "image_camera_storage_mb": { + "cam_wrist": 708.572431, + "cam_scene": 762.032925 + }, + "file_size_mb": 1473.376768, + "hdf5_write_s": 14.65990814496763, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.168999683111906e-05, + "total_s": 14.68272571999114 + } + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260831_121357.hdf5", + "num_frames": 1143, + "duration_s": 38.067, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 672.597, + "file_size_mb": 1381.9, + "save_metrics": { + "validate_s": 0.0022589939180761576, + "prepare_arrays_s": 0.0027049880009144545, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.1962246369803324, + "image_write_s": 670.0337135971058, + "image_chunking": "frame", + "image_input_mb": 2106.7776, + "image_storage_mb": 1379.4311819999998, + "image_frame_count": 2286, + "image_camera_frame_counts": { + "cam_wrist": 1143, + "cam_scene": 1143 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1053.3888, + "cam_scene": 1053.3888 + }, + "image_camera_storage_mb": { + "cam_wrist": 664.625375, + "cam_scene": 714.805807 + }, + "file_size_mb": 1381.91749, + "hdf5_write_s": 672.5911756170681, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.19330720230937e-05, + "total_s": 672.596789199044 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 1218, + "duration_s": 40.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 1172, + "duration_s": 39.033, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260831_132347.hdf5", + "num_frames": 1207, + "duration_s": 40.2, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 1010.941, + "file_size_mb": 1466.5, + "save_metrics": { + "validate_s": 0.00130899203941226, + "prepare_arrays_s": 0.0016367209609597921, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.9278184770373628, + "image_write_s": 1007.7566577390535, + "image_chunking": "frame", + "image_input_mb": 2224.7424, + "image_storage_mb": 1463.60546, + "image_frame_count": 2414, + "image_camera_frame_counts": { + "cam_wrist": 1207, + "cam_scene": 1207 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1112.3712, + "cam_scene": 1112.3712 + }, + "image_camera_storage_mb": { + "cam_wrist": 708.780765, + "cam_scene": 754.824695 + }, + "file_size_mb": 1466.484084, + "hdf5_write_s": 1010.9301810819888, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.431097138673067e-05, + "total_s": 1010.9408089809585 + } + }, + { + "episode_idx": 5, + "outcome": "success", + "file": "episode_000005_20260831_135015.hdf5", + "num_frames": 1140, + "duration_s": 37.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 1322.214, + "file_size_mb": 1378.5, + "save_metrics": { + "validate_s": 0.0016750199720263481, + "prepare_arrays_s": 0.0015338290249928832, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.2646357230842113, + "image_write_s": 1319.0570950818947, + "image_chunking": "frame", + "image_input_mb": 2101.248, + "image_storage_mb": 1375.563102, + "image_frame_count": 2280, + "image_camera_frame_counts": { + "cam_wrist": 1140, + "cam_scene": 1140 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1050.624, + "cam_scene": 1050.624 + }, + "image_camera_storage_mb": { + "cam_wrist": 662.650925, + "cam_scene": 712.912177 + }, + "file_size_mb": 1378.472938, + "hdf5_write_s": 1322.2088096960215, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.4590018913149834e-05, + "total_s": 1322.213948145043 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 1200, + "duration_s": 39.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 6, + "outcome": "success", + "file": "episode_000006_20260831_163409.hdf5", + "num_frames": 1151, + "duration_s": 38.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.886, + "file_size_mb": 1395.1, + "save_metrics": { + "validate_s": 0.0013698100810870528, + "prepare_arrays_s": 0.0014685989590361714, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.30258155707269907, + "image_write_s": 9.536108643864281, + "image_chunking": "frame", + "image_input_mb": 2121.5232, + "image_storage_mb": 1392.434781, + "image_frame_count": 2302, + "image_camera_frame_counts": { + "cam_wrist": 1151, + "cam_scene": 1151 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1060.7616, + "cam_scene": 1060.7616 + }, + "image_camera_storage_mb": { + "cam_wrist": 674.208447, + "cam_scene": 718.226334 + }, + "file_size_mb": 1395.132357, + "hdf5_write_s": 9.882465685950592, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.2988958992064e-05, + "total_s": 9.885528268991038 + } + }, + { + "episode_idx": 7, + "outcome": "success", + "file": "episode_000007_20260831_163605.hdf5", + "num_frames": 1185, + "duration_s": 39.468, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.187, + "file_size_mb": 1434.3, + "save_metrics": { + "validate_s": 0.0011857030913233757, + "prepare_arrays_s": 0.001389579032547772, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.33385058597195894, + "image_write_s": 9.807474673958495, + "image_chunking": "frame", + "image_input_mb": 2184.192, + "image_storage_mb": 1431.8147920000001, + "image_frame_count": 2370, + "image_camera_frame_counts": { + "cam_wrist": 1185, + "cam_scene": 1185 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1092.096, + "cam_scene": 1092.096 + }, + "image_camera_storage_mb": { + "cam_wrist": 692.312478, + "cam_scene": 739.502314 + }, + "file_size_mb": 1434.346104, + "hdf5_write_s": 10.184657626901753, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.401399590075016e-05, + "total_s": 10.187332062982023 + } + }, + { + "episode_idx": 8, + "outcome": "success", + "file": "episode_000008_20260831_164038.hdf5", + "num_frames": 1130, + "duration_s": 37.633, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.583, + "file_size_mb": 1359.6, + "save_metrics": { + "validate_s": 0.001288727973587811, + "prepare_arrays_s": 0.0015457610134035349, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.30744391691405326, + "image_write_s": 9.226398229948245, + "image_chunking": "frame", + "image_input_mb": 2082.816, + "image_storage_mb": 1356.865496, + "image_frame_count": 2260, + "image_camera_frame_counts": { + "cam_wrist": 1130, + "cam_scene": 1130 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1041.408, + "cam_scene": 1041.408 + }, + "image_camera_storage_mb": { + "cam_wrist": 652.534705, + "cam_scene": 704.330791 + }, + "file_size_mb": 1359.59464, + "hdf5_write_s": 9.579585800995119, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.35529912263155e-05, + "total_s": 9.582577059045434 + } + }, + { + "episode_idx": 9, + "outcome": "success", + "file": "episode_000009_20260831_164301.hdf5", + "num_frames": 1109, + "duration_s": 36.933, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.407, + "file_size_mb": 1336.4, + "save_metrics": { + "validate_s": 0.0010768900392577052, + "prepare_arrays_s": 0.0014533349312841892, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.28234838298521936, + "image_write_s": 9.068523959023878, + "image_chunking": "frame", + "image_input_mb": 2044.1088, + "image_storage_mb": 1333.234463, + "image_frame_count": 2218, + "image_camera_frame_counts": { + "cam_wrist": 1109, + "cam_scene": 1109 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1022.0544, + "cam_scene": 1022.0544 + }, + "image_camera_storage_mb": { + "cam_wrist": 641.20626, + "cam_scene": 692.028203 + }, + "file_size_mb": 1336.356239, + "hdf5_write_s": 9.404418941936456, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 2.9670074582099915e-05, + "total_s": 9.407304940978065 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7327, + "duration_s": 29.3, + "measured_fps": 250.03, + "slow_ticks": 9, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 10, + "outcome": "success", + "file": "episode_000010_20260831_164641.hdf5", + "num_frames": 1157, + "duration_s": 38.533, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.755, + "file_size_mb": 1391.2, + "save_metrics": { + "validate_s": 0.0010367808863520622, + "prepare_arrays_s": 0.001262243022210896, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.29800197400618345, + "image_write_s": 9.412408559001051, + "image_chunking": "frame", + "image_input_mb": 2132.5824, + "image_storage_mb": 1388.314824, + "image_frame_count": 2314, + "image_camera_frame_counts": { + "cam_wrist": 1157, + "cam_scene": 1157 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1066.2912, + "cam_scene": 1066.2912 + }, + "image_camera_storage_mb": { + "cam_wrist": 666.189357, + "cam_scene": 722.125467 + }, + "file_size_mb": 1391.19128, + "hdf5_write_s": 9.752159324008971, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.5833101719617844e-05, + "total_s": 9.754550272948109 + } + }, + { + "episode_idx": 11, + "outcome": "success", + "file": "episode_000011_20260831_164844.hdf5", + "num_frames": 1178, + "duration_s": 39.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.937, + "file_size_mb": 1419.0, + "save_metrics": { + "validate_s": 0.0012143600033596158, + "prepare_arrays_s": 0.0014126630267128348, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.29305870400276035, + "image_write_s": 9.59539802488871, + "image_chunking": "frame", + "image_input_mb": 2171.2896, + "image_storage_mb": 1415.829717, + "image_frame_count": 2356, + "image_camera_frame_counts": { + "cam_wrist": 1178, + "cam_scene": 1178 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1085.6448, + "cam_scene": 1085.6448 + }, + "image_camera_storage_mb": { + "cam_wrist": 680.892796, + "cam_scene": 734.936921 + }, + "file_size_mb": 1419.012561, + "hdf5_write_s": 9.934642881038599, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.497104626148939e-05, + "total_s": 9.93736916501075 + } + }, + { + "episode_idx": 12, + "outcome": "success", + "file": "episode_000012_20260831_165043.hdf5", + "num_frames": 1123, + "duration_s": 37.4, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.477, + "file_size_mb": 1347.8, + "save_metrics": { + "validate_s": 0.0012927430216223001, + "prepare_arrays_s": 0.0013352188980206847, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.2891729110851884, + "image_write_s": 9.125951985013671, + "image_chunking": "frame", + "image_input_mb": 2069.9136, + "image_storage_mb": 1344.9982559999999, + "image_frame_count": 2246, + "image_camera_frame_counts": { + "cam_wrist": 1123, + "cam_scene": 1123 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1034.9568, + "cam_scene": 1034.9568 + }, + "image_camera_storage_mb": { + "cam_wrist": 644.472732, + "cam_scene": 700.525524 + }, + "file_size_mb": 1347.759344, + "hdf5_write_s": 9.474388113012537, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 2.9064016416668892e-05, + "total_s": 9.477202517096885 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 8500, + "duration_s": 33.992, + "measured_fps": 250.03, + "slow_ticks": 3, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000000_20260831_165616.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000000_20260831_165616.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5b8cd7bba504153614811cb8ed579e67ef40dec8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000000_20260831_165616.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a4fb82e8c74411733150ce094ed96cb4b8807d1e10bf1e5da8ab9ab5f9230f4 +size 1395031269 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000001_20260831_165922.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000001_20260831_165922.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..580b06384048d8b9b97bba50f000206ec8dd77f0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000001_20260831_165922.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ca8d148345766d89a1a53ea652d8eece1c41d215e9bcf73502f93a2e82127f4 +size 1373600599 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000002_20260831_170343.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000002_20260831_170343.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..4b3cb563ba3416d30a3e2751438950932e30864c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000002_20260831_170343.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39cacd981e8f4959013c33d6f3c5d174cde03c269fbd54c29f0549cb84a6b133 +size 1392198812 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000003_20260831_170615.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000003_20260831_170615.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a8dd98c7da82382ddb54e0bd55435bfb3136bff9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000003_20260831_170615.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f429db49de411f8b6b68a7fe50e77ad7605cabd2986433e925dc74f91beff24a +size 1393810615 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000004_20260831_170812.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000004_20260831_170812.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e64a971bf51247692c40525be0d75fbc1a61a35e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000004_20260831_170812.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aed128f4e31427bdbf868da0c3b6b707b314dfd68237d20fd8cf9c510488b921 +size 1431157237 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000005_20260831_171023.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000005_20260831_171023.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5764be5e701c926c210e442d3dad666173eff29c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000005_20260831_171023.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:825b80d10d76504954ca26fc2662bf2b24ef35a64c4ce7a517ee68772e85a6af +size 1446127759 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000006_20260831_171617.hdf5 b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000006_20260831_171617.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1d008de048636c216a42c729ff04df8ce79a5f58 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/episode_000006_20260831_171617.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcdb50d3aa917b6a52508b62c303bb385f5df982c79b705ca54ace149f364b3b +size 1382280386 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.json new file mode 100644 index 0000000000000000000000000000000000000000..a2a3a2d83ac0f266e296cee9f4d6e48723ea1a9c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.json @@ -0,0 +1,508 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:01:11", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 532, + "actual_playback_duration_s": 17.761455136933364, + "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_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 532, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 532, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.619017012404885, + "image_frame_counts": { + "cam_scene": 532, + "cam_wrist": 532 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.02000000001862645, + "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": 3, + "leadthrough_capture_egm_drained_packet_max": 14, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.022385793970897794, + "leadthrough_capture_egm_poll_duration_median_s": 0.00397749402327463, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0042505996709223835, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004672227310948075, + "leadthrough_capture_egm_poll_duration_warn_count": 4858, + "leadthrough_capture_egm_recorded_seqno_jump_count": 2, + "leadthrough_capture_egm_recorded_seqno_step_max": 5, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.022447825060226023, + "leadthrough_capture_host_loop_dt_median_s": 0.004003014997579157, + "leadthrough_capture_host_loop_dt_p95_s": 0.004281987936701625, + "leadthrough_capture_host_loop_dt_p99_s": 0.004713998544029895, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 1, + "leadthrough_capture_host_receive_dt_max_s": 0.02240285591688007, + "leadthrough_capture_host_receive_dt_median_s": 0.004005124908871949, + "leadthrough_capture_host_receive_dt_p95_s": 0.004263649776112289, + "leadthrough_capture_host_receive_dt_p99_s": 0.004672135554719716, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.03171715827193111, + "leadthrough_capture_loop_late_median_s": 0.008773526817094535, + "leadthrough_capture_loop_late_p95_s": 0.028926093922927977, + "leadthrough_capture_loop_late_p99_s": 0.02907931121531874, + "leadthrough_capture_loop_late_warn_count": 11524, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.02242615702562034, + "leadthrough_capture_read_duration_median_s": 0.003991932957433164, + "leadthrough_capture_read_duration_p95_s": 0.004268317064270377, + "leadthrough_capture_read_duration_p99_s": 0.0046984823443926875, + "leadthrough_capture_read_duration_warn_count": 5432, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.01999999999999602, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0039999999999995595, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": true, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 1, + "leadthrough_capture_slow_ticks": 6, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0024635568261146545, + 0.002878546714782715, + 0.005328178405761719, + 0.0020738691091537476, + 0.0038691163063049316, + 0.005216732621192932 + ], + "leadthrough_delta_max_abs_rad": 0.005328178405761719, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009050488588400185, + 0.0014173358213156462, + 0.0024074555840343237, + 0.00041261655860580504, + 0.0015569927636533976, + 0.0032376646995544434 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.00045334696187637746, + 0.0007216900703497231, + 0.0011211112141609192, + 0.00023808664991520345, + 0.000670203473418951, + 0.0010637786472216249 + ], + "leadthrough_delta_samples": 7169, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005328178405761719, + "leadthrough_delta_worst_from_rad": -1.0187830924987793, + "leadthrough_delta_worst_joint": 2, + "leadthrough_delta_worst_time_s": 14.326999999999998, + "leadthrough_delta_worst_to_rad": -1.0134549140930176, + "leadthrough_duration_s": 28.692999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7168, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.25200000000000244, + "leadthrough_final_stillness_removed_samples": 63, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7169, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 11524, + "leadthrough_initial_stillness_first_motion_index": 4292, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 17.161, + "leadthrough_initial_stillness_removed_samples": 4291, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 4291, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.01999999999999602, + "leadthrough_sample_dt_median_s": 0.003999999999997783, + "leadthrough_sample_gap_warn": true, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0024635568261146545, + 0.002878546714782715, + 0.005328178405761719, + 0.0020738691091537476, + 0.0038691163063049316, + 0.005216732621192932 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005328178405761719, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8179893096287735, + 0.7196366786960775, + 1.332044601441168, + 0.5342972775300141, + 1.2897054354379829, + 1.7325182755787512 + ], + "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": 87.386, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.692999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2343, + 5877 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42988591650166724, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08700722455978394, + "rapid_planner_max_dt_s": 2.7509999999999977, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0075029246509075165, + "rapid_planner_median_dt_s": 0.10800000000000054, + "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, + 81, + 99, + 113, + 128, + 142, + 156, + 170, + 184, + 197, + 209, + 221, + 232, + 244, + 266, + 288, + 310, + 329, + 348, + 372, + 397, + 424, + 451, + 475, + 498, + 521, + 556, + 591, + 618, + 645, + 679, + 703, + 730, + 774, + 819, + 892, + 945, + 998, + 1052, + 1105, + 1145, + 1241, + 1475, + 1624, + 1876, + 2064, + 2303, + 2343, + 3031, + 3233, + 3351, + 3417, + 3487, + 3505, + 3521, + 3537, + 3553, + 3564, + 3574, + 3590, + 3607, + 3623, + 3640, + 3686, + 3751, + 3800, + 3837, + 3856, + 3874, + 3892, + 3910, + 3928, + 3947, + 3972, + 3996, + 4040, + 4083, + 4132, + 4181, + 4209, + 4253, + 4284, + 4315, + 4346, + 4377, + 4394, + 4411, + 4428, + 4445, + 4464, + 4482, + 4501, + 4520, + 4541, + 4560, + 4651, + 4725, + 4853, + 4907, + 5050, + 5194, + 5288, + 5587, + 5877, + 6136, + 6197, + 6240, + 6268, + 6292, + 6309, + 6326, + 6351, + 6375, + 6411, + 6447, + 6488, + 6529, + 6616, + 6664, + 6698, + 6740, + 6767, + 6780, + 6793, + 6806, + 6819, + 6836, + 6854, + 6874, + 6913, + 6933, + 6971, + 7009, + 7049, + 7107, + 7169 + ], + "rapid_planner_selected_max_joint_step_deg": 4.985146754422622, + "rapid_planner_selected_samples": 137, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7170, + "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": 137, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005987763404846191, + "raw_replay_rms_error_rad": 0.0007417224791211647, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9723961321168852, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9980807667648298, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9848759466656352, + "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": 0.978971876381139, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9904592929331282, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9917281070990767, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000637739896774292, + 0.0009050965309143066, + 0.0016983747482299805, + 0.004155024886131287, + 0.003223717212677002, + 0.003809422254562378 + ], + "replay_smoothing_max_deviation_normalized": 0.47613078318258, + "replay_smoothing_max_deviation_rad": 0.004155024886131287, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001492473529651761, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.755265712738037, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.960697174072266, + "replay_smoothing_raw_accel_rms_rad_s2": 3.4761465414906234, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1425.4649658203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13657.3505859375, + "replay_smoothing_raw_jerk_rms_rad_s3": 902.6582756464793, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5487544536590576, + "replay_smoothing_raw_velocity_rms_rad_s": 0.19887277305211706, + "replay_smoothing_rms_deviation_rad": 0.0006912941138120956, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.568794250488281, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.864810943603516, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4235731157990514, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1395.4901123046875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13527.0498046875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 895.1915830641994, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.525080680847168, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19817862935218356, + "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": 0.9847143149413011, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965096091874195, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 3, + "replay_smoothing_worst_time_s": 27.689, + "replay_smoothing_wrist_max_deviation_rad": 0.004155024886131287, + "safety_abort": false, + "safety_path_error_rad": 0.005987763404846191, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.04515480995178223, + "stage_planned_to_measured_rms_error_rad": 0.0076221691024806505, + "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": 532, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 532, + "timestamp_count": 532, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.npz new file mode 100644 index 0000000000000000000000000000000000000000..8d085215bc70bfe18aa4d3407c91d46acad7e299 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_170110.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:826f028ac3ba5890dfa8da40c09e3b9df28dd1e70ab3542bf66b680267124f70 +size 52872 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.json new file mode 100644 index 0000000000000000000000000000000000000000..642e8f1231f4ff2cab9347dc8bc3fe38cde7bb1e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.json @@ -0,0 +1,493 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:12:03", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 931, + "actual_playback_duration_s": 31.479191466001794, + "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_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 931, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 931, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3577395499677287, + "image_frame_counts": { + "cam_scene": 931, + "cam_wrist": 931 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.03789727296680212, + "leadthrough_capture_egm_poll_duration_median_s": 0.003994699101895094, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004236480325926095, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005061457455158233, + "leadthrough_capture_egm_poll_duration_warn_count": 3315, + "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": 0.05007851391565055, + "leadthrough_capture_host_loop_dt_median_s": 0.004021059954538941, + "leadthrough_capture_host_loop_dt_p95_s": 0.0042714744340628386, + "leadthrough_capture_host_loop_dt_p99_s": 0.005104316021315753, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.0063309939578175545, + "leadthrough_capture_host_receive_dt_median_s": 0.0040199499926529825, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042424096842296425, + "leadthrough_capture_host_receive_dt_p99_s": 0.005051038383971895, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.08830502058845013, + "leadthrough_capture_loop_late_median_s": 0.08611724100774154, + "leadthrough_capture_loop_late_p95_s": 0.08637460995814764, + "leadthrough_capture_loop_late_p99_s": 0.08719301345176063, + "leadthrough_capture_loop_late_warn_count": 6804, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.05007379094604403, + "leadthrough_capture_read_duration_median_s": 0.004009208059869707, + "leadthrough_capture_read_duration_p95_s": 0.004256508336402475, + "leadthrough_capture_read_duration_p99_s": 0.005091345818946138, + "leadthrough_capture_read_duration_warn_count": 3576, + "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": [ + 0.0030623693019151688, + 0.003466665744781494, + 0.0050757527351379395, + 0.00139676034450531, + 0.0036443471908569336, + 0.006064623594284058 + ], + "leadthrough_delta_max_abs_rad": 0.006064623594284058, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014247592771425843, + 0.0019663034472614527, + 0.003258576849475503, + 0.0003187805414199829, + 0.0019961108919233084, + 0.00396942812949419 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006273226463235915, + 0.0009100093739107251, + 0.0013298193225637078, + 0.0001717791019473225, + 0.0007894465234130621, + 0.0013646569568663836 + ], + "leadthrough_delta_samples": 5797, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006064623594284058, + "leadthrough_delta_worst_from_rad": -0.396598756313324, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7880000000000003, + "leadthrough_delta_worst_to_rad": -0.40266337990760803, + "leadthrough_duration_s": 23.185000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5796, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5039999999999978, + "leadthrough_final_stillness_removed_samples": 126, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5797, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6803, + "leadthrough_initial_stillness_first_motion_index": 880, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.516, + "leadthrough_initial_stillness_removed_samples": 879, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 879, + "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": [ + 0.0030623693019151688, + 0.003466665744781494, + 0.0050757527351379395, + 0.00139676034450531, + 0.0036443471908569336, + 0.006064623594284058 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006064623594284058, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0149305065472536, + 1.1555552482604543, + 1.6310612360635774, + 0.4631901780764086, + 1.1666615804036016, + 1.8395781517028111 + ], + "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": 76.37, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.185000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1865, + 4817 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4154565015497806, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08414705097675323, + "rapid_planner_max_dt_s": 2.6799999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007251083850860596, + "rapid_planner_median_dt_s": 0.08399999999999963, + "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, + 70, + 90, + 109, + 130, + 142, + 154, + 163, + 172, + 180, + 189, + 198, + 206, + 215, + 224, + 236, + 249, + 260, + 272, + 283, + 294, + 304, + 314, + 334, + 359, + 379, + 392, + 406, + 434, + 468, + 488, + 513, + 552, + 572, + 610, + 648, + 682, + 717, + 754, + 792, + 847, + 955, + 1044, + 1195, + 1865, + 2153, + 2219, + 2464, + 2574, + 2634, + 2661, + 2687, + 2699, + 2711, + 2722, + 2734, + 2748, + 2763, + 2774, + 2785, + 2803, + 2821, + 2837, + 2853, + 2884, + 2916, + 2948, + 2980, + 3001, + 3022, + 3042, + 3063, + 3088, + 3114, + 3142, + 3160, + 3178, + 3196, + 3214, + 3226, + 3238, + 3249, + 3260, + 3271, + 3282, + 3303, + 3324, + 3352, + 3415, + 3486, + 3547, + 3603, + 3626, + 3682, + 3742, + 3805, + 4150, + 4817, + 5113, + 5140, + 5166, + 5188, + 5202, + 5224, + 5240, + 5256, + 5271, + 5287, + 5314, + 5344, + 5365, + 5386, + 5411, + 5433, + 5454, + 5474, + 5502, + 5523, + 5554, + 5586, + 5797 + ], + "rapid_planner_selected_max_joint_step_deg": 4.821270879440152, + "rapid_planner_selected_samples": 122, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5798, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 122, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004961192607879639, + "raw_replay_rms_error_rad": 0.000713414931432084, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9919026556606276, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9380733946562266, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9847387214908152, + "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": 0.9919562077656509, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9359095547911238, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9910283123224994, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000558212399482727, + 0.0006458759307861328, + 0.001162886619567871, + 0.002130205277353525, + 0.003966927528381348, + 0.0067195892333984375 + ], + "replay_smoothing_max_deviation_normalized": 0.7700082122353235, + "replay_smoothing_max_deviation_rad": 0.0067195892333984375, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002263554371893406, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.478075981140137, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.406429290771484, + "replay_smoothing_raw_accel_rms_rad_s2": 4.7398625971407835, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2501.959716796875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14739.2412109375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1219.689520821789, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6433801651000977, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2458329871086, + "replay_smoothing_rms_deviation_rad": 0.0009927068210933581, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.393231391906738, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.03722381591797, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.66752623395055, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2481.83447265625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13794.5966796875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1208.7468473774557, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5437980890274048, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24485543635701626, + "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": 0.9394041146488905, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960235167660723, + "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": 2.2110000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.0067195892333984375, + "safety_abort": false, + "safety_path_error_rad": 0.004961192607879639, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.04170471429824829, + "stage_planned_to_measured_rms_error_rad": 0.006668300922245155, + "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": 931, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 931, + "timestamp_count": 931, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a4d00bc8b6b7863cd53549405f4bac068746f88 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_operator_stop_20260831_171202.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee70306193f4803b5549a59921e5314f69ddc69920ee085133e36d8c2cca7d86 +size 94847 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.json new file mode 100644 index 0000000000000000000000000000000000000000..76c069f085c7f49eff6fe0cf5d39e70cc83a6370 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.json @@ -0,0 +1,686 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:56:11", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1152, + "actual_playback_duration_s": 38.413284451002255, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0039452314376831055, + "aligned_p95_error_rad": 0.0017314146971330047, + "aligned_rms_error_rad": 0.0007485010263215462, + "aligned_samples": 1152, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 3.771, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1152, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1152, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.363914374769289, + "image_frame_counts": { + "cam_scene": 1152, + "cam_wrist": 1152 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003536701202392578, + 0.0034600496292114258, + 0.003909513354301453, + 0.0036833807826042175, + 0.0037921667098999023, + 0.0039452314376831055 + ], + "joint_lag_p95_error_rad": [ + 0.001527071581222117, + 0.0016409585950896144, + 0.0017719353782013059, + 0.0011708512902259827, + 0.0019059416372328997, + 0.0022051697596907616 + ], + "joint_lag_rms_error_rad": [ + 0.0006463696901345926, + 0.0007292778943591497, + 0.0008244640410715372, + 0.00046705787780248575, + 0.0007558778762926536, + 0.0009709002599622578 + ], + "joint_lag_samples": [ + 1152, + 1152, + 1152, + 1152, + 1152, + 1152 + ], + "joint_lag_worst_time_s": [ + 16.377, + 12.198, + 1.8199999999999994, + 20.589, + 25.073, + 3.771 + ], + "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": 43, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006296933977864683, + "leadthrough_capture_egm_poll_duration_median_s": 0.003961434529628605, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004279290291015058, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004601252876454964, + "leadthrough_capture_egm_poll_duration_warn_count": 3128, + "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": 0.006337987957522273, + "leadthrough_capture_host_loop_dt_median_s": 0.003985507995821536, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043068847618997095, + "leadthrough_capture_host_loop_dt_p99_s": 0.004662098477128896, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006288125994615257, + "leadthrough_capture_host_receive_dt_median_s": 0.003987389034591615, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042958882986567914, + "leadthrough_capture_host_receive_dt_p99_s": 0.0045796161936596065, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.0341560950037092, + "leadthrough_capture_loop_late_median_s": 0.02783664216985926, + "leadthrough_capture_loop_late_p95_s": 0.028128871659282594, + "leadthrough_capture_loop_late_p99_s": 0.02848880659788847, + "leadthrough_capture_loop_late_warn_count": 7980, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006322926958091557, + "leadthrough_capture_read_duration_median_s": 0.003974892431870103, + "leadthrough_capture_read_duration_p95_s": 0.004294717166339978, + "leadthrough_capture_read_duration_p99_s": 0.004645954851293937, + "leadthrough_capture_read_duration_warn_count": 3395, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "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": [ + 0.003231346607208252, + 0.002239048480987549, + 0.0031202733516693115, + 0.002380065619945526, + 0.0024154186248779297, + 0.005147218704223633 + ], + "leadthrough_delta_max_abs_rad": 0.005147218704223633, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0010377955622971058, + 0.001734872697852552, + 0.002595326164737344, + 0.0004074328753631562, + 0.0012637076433748007, + 0.0033309157006442547 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005407515564002097, + 0.0007579255616292357, + 0.0010696368990465999, + 0.0002489645848982036, + 0.0005188912618905306, + 0.0011616275878623128 + ], + "leadthrough_delta_samples": 7042, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005147218704223633, + "leadthrough_delta_worst_from_rad": -0.5417582988739014, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1509999999999998, + "leadthrough_delta_worst_to_rad": -0.546905517578125, + "leadthrough_duration_s": 28.163999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7006, + "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": 7007, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7980, + "leadthrough_initial_stillness_first_motion_index": 938, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.748, + "leadthrough_initial_stillness_removed_samples": 937, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 937, + "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": [ + 0.003231346607208252, + 0.002239048480987549, + 0.0031202733516693115, + 0.002380065619945526, + 0.0024154186248779297, + 0.005147218704223633 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005147218704223633, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0653976351022316, + 0.712926189104689, + 0.9942948818206411, + 0.7891617715358435, + 0.805139541625946, + 1.7157395680744794 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.510141134262085, + "leadthrough_velocity_rms_rad_s": 0.19961127334074877, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0039452314376831055, + "measured_wall_accel_p95_abs_rad_s2": 0.49208787083625793, + "measured_wall_accel_peak_abs_rad_s2": 2.6166605949401855, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 43.02869100193493, + "measured_wall_accel_rms_rad_s2": 0.24021560856054577, + "measured_wall_jerk_p95_abs_rad_s3": 8.53252124786377, + "measured_wall_jerk_peak_abs_rad_s3": 51.12845230102539, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 43.09608906402718, + "measured_wall_jerk_rms_rad_s3": 4.120605755350351, + "measured_wall_smoothness_samples": 1152, + "measured_wall_velocity_peak_abs_rad_s": 0.4849299490451813, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 20.228953524958342, + "measured_wall_velocity_rms_rad_s": 0.10410011098108991, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0039452314376831055, + "moving_aligned_p95_error_rad": 0.0019496879540383816, + "moving_aligned_rms_error_rad": 0.0008668180077412351, + "moving_aligned_samples": 840, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 3.771, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003365129232406616, + 0.0034600496292114258, + 0.003909513354301453, + 0.0036833807826042175, + 0.0037921667098999023, + 0.0039452314376831055 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016215387731790543, + 0.0017565427115187049, + 0.002065128879621625, + 0.001767084700986743, + 0.0022249987814575434, + 0.0027802661061286926 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007258338114832412, + 0.0008416312209097393, + 0.0010175033323357105, + 0.0009210139474320057, + 0.0009896405167431827, + 0.001451858750180642 + ], + "moving_joint_lag_samples": [ + 687, + 802, + 710, + 231, + 594, + 460 + ], + "moving_joint_lag_worst_time_s": [ + 16.352999999999998, + 12.198, + 1.8199999999999994, + 20.589, + 25.073, + 3.771 + ], + "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": 2.0375139713287354, + "playback_velocity_rms_rad_s": 0.36552632874086716, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 86.328, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.163999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2214, + 5890 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.38811696184951205, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08604595065116882, + "rapid_planner_max_dt_s": 2.6359999999999992, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006773918867111206, + "rapid_planner_median_dt_s": 0.10000000000000098, + "rapid_planner_path_max_error_rad": 0.0039452314376831055, + "rapid_planner_path_p95_error_rad": 0.002642463147640229, + "rapid_planner_path_rms_error_rad": 0.0013033139981364, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 52, + 101, + 125, + 149, + 170, + 191, + 206, + 220, + 235, + 250, + 260, + 271, + 282, + 292, + 302, + 313, + 324, + 334, + 344, + 355, + 366, + 376, + 386, + 396, + 406, + 417, + 430, + 443, + 465, + 495, + 525, + 557, + 589, + 614, + 639, + 668, + 698, + 728, + 758, + 813, + 869, + 926, + 968, + 1014, + 1042, + 1072, + 1099, + 1134, + 1168, + 1207, + 1238, + 1267, + 1681, + 2214, + 2873, + 2979, + 3076, + 3099, + 3120, + 3144, + 3164, + 3184, + 3204, + 3225, + 3247, + 3269, + 3291, + 3313, + 3334, + 3354, + 3378, + 3402, + 3436, + 3473, + 3510, + 3532, + 3555, + 3580, + 3605, + 3645, + 3661, + 3687, + 3713, + 3738, + 3762, + 3789, + 3808, + 3828, + 3847, + 3866, + 3883, + 3901, + 3936, + 3975, + 4026, + 4063, + 4138, + 4185, + 4233, + 4291, + 4433, + 4506, + 4677, + 4951, + 5121, + 5187, + 5324, + 5441, + 5890, + 6137, + 6183, + 6221, + 6252, + 6280, + 6298, + 6315, + 6337, + 6358, + 6372, + 6387, + 6405, + 6423, + 6441, + 6462, + 6487, + 6512, + 6547, + 6582, + 6736, + 7042 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9300698165029315, + "rapid_planner_selected_samples": 131, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7043, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 131, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0039452314376831055, + "raw_replay_rms_error_rad": 0.0007485010263215462, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9608116908179066, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9774995925561518, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9855709826304704, + "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": 0.9893229597842259, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9781066619933619, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9932984725142875, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00038567185401916504, + 0.0005666613578796387, + 0.001112520694732666, + 0.002416178584098816, + 0.002627730369567871, + 0.005576133728027344 + ], + "replay_smoothing_max_deviation_normalized": 0.6389778621827897, + "replay_smoothing_max_deviation_rad": 0.005576133728027344, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0022283608559519053, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.763444423675537, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.55755615234375, + "replay_smoothing_raw_accel_rms_rad_s2": 3.6653919496399654, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1080.0958251953125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13680.3173828125, + "replay_smoothing_raw_jerk_rms_rad_s3": 935.2753612060757, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5312716960906982, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20060889514990207, + "replay_smoothing_rms_deviation_rad": 0.0009068485547238064, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.5375847816467285, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.41999053955078, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.612503945532476, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1068.5635986328125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13380.8095703125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 929.0075876662435, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.510141134262085, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19961127334074877, + "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": 0.9862006449393931, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9950270310376425, + "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": 15.485, + "replay_smoothing_wrist_max_deviation_rad": 0.005576133728027344, + "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": 0.0039452314376831055, + "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": 0.02801990509033203, + "stage_planned_to_measured_rms_error_rad": 0.006177773066296974, + "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": 1152, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7397821545600891, + "target_wall_accel_peak_abs_rad_s2": 3.294826030731201, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 27.800054432009347, + "target_wall_accel_rms_rad_s2": 0.34431451367456345, + "target_wall_jerk_p95_abs_rad_s3": 16.991052627563477, + "target_wall_jerk_peak_abs_rad_s3": 64.55712890625, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 4.100054514943622, + "target_wall_jerk_rms_rad_s3": 7.613494137061214, + "target_wall_smoothness_samples": 1152, + "target_wall_velocity_peak_abs_rad_s": 0.5109399557113647, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 3.967311416985467, + "target_wall_velocity_rms_rad_s": 0.10500835692037012, + "tcp_pose_count": 1152, + "timestamp_count": 1152, + "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": 1.8000000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 0.8900000000000017, + "window_lag_count": 31, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.0, + "window_lag_worst_max_error_rad": 0.0039452314376831055, + "window_lag_worst_rms_error_rad": 0.0012894735116561122, + "window_lag_worst_start_s": 3.0, + "zero_lag_max_error_rad": 0.0039452314376831055, + "zero_lag_p95_error_rad": 0.0017314146971330047, + "zero_lag_rms_error_rad": 0.0007485010263215462, + "zero_lag_samples": 1152, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 3.771 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.npz new file mode 100644 index 0000000000000000000000000000000000000000..7604f6d00403d43849443e0f739e78531f4e72c9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165609.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc2f358361eee263e8fe79518aef4c4503279790adfbf59499b9a9eb2f31bc8 +size 120345 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c7dac4c10d20e4978b4aa51ded304d8a5f4a38 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.json @@ -0,0 +1,683 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T16:59:18", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1134, + "actual_playback_duration_s": 37.818387679057196, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004445824772119522, + "aligned_p95_error_rad": 0.001744427252560854, + "aligned_rms_error_rad": 0.0007776726257050794, + "aligned_samples": 1134, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 0.2290000000000001, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1134, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1134, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4114498648599385, + "image_frame_counts": { + "cam_scene": 1134, + "cam_wrist": 1134 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004374384880065918, + 0.0041103363037109375, + 0.004180431365966797, + 0.004445824772119522, + 0.004378557205200195, + 0.004338860511779785 + ], + "joint_lag_p95_error_rad": [ + 0.0016682621790096164, + 0.0015916561242192984, + 0.001754817203618586, + 0.0010419327300041914, + 0.0016554294852539897, + 0.002139923395588994 + ], + "joint_lag_rms_error_rad": [ + 0.0007718880103096937, + 0.0007641469640716245, + 0.0007892451140866548, + 0.00047050957718027827, + 0.0007760836096179942, + 0.0010011611818387391 + ], + "joint_lag_samples": [ + 1134, + 1134, + 1134, + 1134, + 1134, + 1134 + ], + "joint_lag_worst_time_s": [ + 22.87, + 4.571999999999999, + 4.571999999999999, + 0.2290000000000001, + 21.91, + 21.942 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00675022997893393, + "leadthrough_capture_egm_poll_duration_median_s": 0.003961617010645568, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004290249524638056, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004787681624293327, + "leadthrough_capture_egm_poll_duration_warn_count": 3409, + "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": 0.0068393469555303454, + "leadthrough_capture_host_loop_dt_median_s": 0.003986658528447151, + "leadthrough_capture_host_loop_dt_p95_s": 0.004320887540234253, + "leadthrough_capture_host_loop_dt_p99_s": 0.004818660572636873, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0066455049673095345, + "leadthrough_capture_host_receive_dt_median_s": 0.003987962496466935, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043019351549446585, + "leadthrough_capture_host_receive_dt_p99_s": 0.004769847004208711, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.013793386053293943, + "leadthrough_capture_loop_late_median_s": 0.007462151232175529, + "leadthrough_capture_loop_late_p95_s": 0.007764202228281647, + "leadthrough_capture_loop_late_p99_s": 0.00834480263292789, + "leadthrough_capture_loop_late_warn_count": 8579, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006802920950576663, + "leadthrough_capture_read_duration_median_s": 0.003975644009187818, + "leadthrough_capture_read_duration_p95_s": 0.004307658621110022, + "leadthrough_capture_read_duration_p99_s": 0.004807095015421507, + "leadthrough_capture_read_duration_warn_count": 3696, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0033376067876815796, + 0.003714323043823242, + 0.005987703800201416, + 0.0017419066280126572, + 0.0034819841384887695, + 0.005135834217071533 + ], + "leadthrough_delta_max_abs_rad": 0.005987703800201416, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0011043061967939138, + 0.0015355661744251847, + 0.002613229677081108, + 0.000249272387009114, + 0.001516580581665039, + 0.0035660266876220703 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005760519998148084, + 0.0007856079027988017, + 0.0011918952222913504, + 0.00018088615615852177, + 0.0006133298156782985, + 0.001218892284668982 + ], + "leadthrough_delta_samples": 6699, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005987703800201416, + "leadthrough_delta_worst_from_rad": -0.38934317231178284, + "leadthrough_delta_worst_joint": 2, + "leadthrough_delta_worst_time_s": 11.939, + "leadthrough_delta_worst_to_rad": -0.3833554685115814, + "leadthrough_duration_s": 26.794, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6698, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.1709999999999994, + "leadthrough_final_stillness_removed_samples": 293, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6699, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8579, + "leadthrough_initial_stillness_first_motion_index": 1587, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.343, + "leadthrough_initial_stillness_removed_samples": 1586, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1586, + "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": [ + 0.0033376067876815796, + 0.003714323043823242, + 0.005987703800201416, + 0.0017419066280126572, + 0.0034819841384887695, + 0.005135834217071533 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005987703800201416, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8344016969208573, + 0.9285807609555005, + 1.4969259500498542, + 0.43547665700301885, + 0.8704960346219017, + 1.7071515321730921 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.4904813766479492, + "leadthrough_velocity_rms_rad_s": 0.2129295912751375, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004445824772119522, + "measured_wall_accel_p95_abs_rad_s2": 0.503882646560669, + "measured_wall_accel_peak_abs_rad_s2": 2.449124336242676, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 42.87369018304162, + "measured_wall_accel_rms_rad_s2": 0.2480821586314337, + "measured_wall_jerk_p95_abs_rad_s3": 8.71884822845459, + "measured_wall_jerk_peak_abs_rad_s3": 50.948402404785156, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 39.84153567801695, + "measured_wall_jerk_rms_rad_s3": 4.248814494043524, + "measured_wall_smoothness_samples": 1134, + "measured_wall_velocity_peak_abs_rad_s": 0.6511979699134827, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 39.97490134101827, + "measured_wall_velocity_rms_rad_s": 0.10867531438318032, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004445824772119522, + "moving_aligned_p95_error_rad": 0.001909017562866211, + "moving_aligned_rms_error_rad": 0.0008894468559584311, + "moving_aligned_samples": 818, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 0.2290000000000001, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004374384880065918, + 0.0035966187715530396, + 0.003739297389984131, + 0.004445824772119522, + 0.004378557205200195, + 0.004338860511779785 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020728292874991894, + 0.0017901286482810974, + 0.0020254875998944044, + 0.002381950384005904, + 0.0018764127744361758, + 0.0025328947231173515 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009152693689918416, + 0.0008628591890013969, + 0.0009620237863662513, + 0.0010979665143718686, + 0.0009769877515052549, + 0.0013482804990827871 + ], + "moving_joint_lag_samples": [ + 694, + 791, + 692, + 160, + 563, + 533 + ], + "moving_joint_lag_worst_time_s": [ + 22.87, + 16.231, + 0.20899999999999963, + 0.2290000000000001, + 21.91, + 21.942 + ], + "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": 2.221592903137207, + "playback_velocity_rms_rad_s": 0.39007978274046057, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 83.588, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.794, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1894, + 5159 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.3929646886129286, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08666467666625977, + "rapid_planner_max_dt_s": 2.5159999999999982, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006858527660369873, + "rapid_planner_median_dt_s": 0.08800000000000097, + "rapid_planner_path_max_error_rad": 0.004445824772119522, + "rapid_planner_path_p95_error_rad": 0.002664512395858764, + "rapid_planner_path_rms_error_rad": 0.0012925431881611214, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 34, + 77, + 94, + 111, + 126, + 142, + 155, + 168, + 181, + 194, + 205, + 216, + 227, + 238, + 249, + 260, + 271, + 282, + 302, + 323, + 341, + 359, + 386, + 413, + 430, + 448, + 482, + 503, + 526, + 548, + 582, + 616, + 645, + 671, + 706, + 741, + 802, + 844, + 903, + 940, + 977, + 1042, + 1235, + 1280, + 1337, + 1433, + 1894, + 2523, + 2638, + 2721, + 2755, + 2787, + 2815, + 2843, + 2866, + 2893, + 2913, + 2933, + 2942, + 2952, + 2962, + 2971, + 2980, + 2988, + 2999, + 3010, + 3020, + 3031, + 3049, + 3072, + 3094, + 3138, + 3160, + 3182, + 3204, + 3226, + 3258, + 3291, + 3313, + 3329, + 3345, + 3362, + 3380, + 3398, + 3416, + 3436, + 3456, + 3476, + 3495, + 3509, + 3524, + 3634, + 3659, + 3709, + 3778, + 3821, + 3869, + 3898, + 3997, + 4194, + 4587, + 4771, + 5159, + 5368, + 5418, + 5437, + 5459, + 5496, + 5515, + 5527, + 5539, + 5552, + 5566, + 5588, + 5604, + 5619, + 5642, + 5660, + 5683, + 5699, + 5767, + 5834, + 5899, + 5942, + 6165, + 6446, + 6699 + ], + "rapid_planner_selected_max_joint_step_deg": 4.96552020584259, + "rapid_planner_selected_samples": 128, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6700, + "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": 0.004445824772119522, + "raw_replay_rms_error_rad": 0.0007776726257050794, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.868649631277994, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9628265415377617, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9700919975694112, + "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": 0.7629954757798882, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9716652855697139, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9825753011277574, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004590824246406555, + 0.0010920166969299316, + 0.0016965866088867188, + 0.002515926957130432, + 0.0038508176803588867, + 0.006210118532180786 + ], + "replay_smoothing_max_deviation_normalized": 0.7116271698523985, + "replay_smoothing_max_deviation_rad": 0.006210118532180786, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021556972060352564, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.658034324645996, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.784217834472656, + "replay_smoothing_raw_accel_rms_rad_s2": 3.2577428406327384, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 710.7740478515625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13539.6318359375, + "replay_smoothing_raw_jerk_rms_rad_s3": 822.9899430314869, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5254638195037842, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2139137709547043, + "replay_smoothing_rms_deviation_rad": 0.000943202862967538, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.046199798583984, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.896392822265625, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.1603102598368613, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 542.3173828125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13155.990234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 808.6495910992791, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4904813766479492, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2129295912751375, + "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": 0.9770676679390441, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953991756810496, + "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": 14.803, + "replay_smoothing_wrist_max_deviation_rad": 0.006210118532180786, + "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": 0.004445824772119522, + "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": 0.037323713302612305, + "stage_planned_to_measured_rms_error_rad": 0.006444124766292173, + "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": 1134, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7929283380508423, + "target_wall_accel_peak_abs_rad_s2": 4.445955753326416, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 24.70008213398978, + "target_wall_accel_rms_rad_s2": 0.36035151725130427, + "target_wall_jerk_p95_abs_rad_s3": 18.24323081970215, + "target_wall_jerk_peak_abs_rad_s3": 63.70838165283203, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 9.366722048027441, + "target_wall_jerk_rms_rad_s3": 8.089492490784792, + "target_wall_smoothness_samples": 1134, + "target_wall_velocity_peak_abs_rad_s": 0.6362552046775818, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.50050134398043, + "target_wall_velocity_rms_rad_s": 0.10947046190229151, + "tcp_pose_count": 1134, + "timestamp_count": 1134, + "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": 1.8900000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.709500000000003, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.8900000000000032, + "window_lag_worst_end_s": 8.0, + "window_lag_worst_max_error_rad": 0.013845324516296387, + "window_lag_worst_rms_error_rad": 0.00318214436913555, + "window_lag_worst_start_s": 7.0, + "zero_lag_max_error_rad": 0.004445824772119522, + "zero_lag_p95_error_rad": 0.001744427252560854, + "zero_lag_rms_error_rad": 0.0007776726257050794, + "zero_lag_samples": 1134, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 0.2290000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.npz new file mode 100644 index 0000000000000000000000000000000000000000..7f97777ab939938701e57535867e716d86cc5a5a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_165917.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd1c5b45e22d6b615f9c7565cf89393b28dfbec990d8ee43f573f0e75a3e34e9 +size 117537 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.json new file mode 100644 index 0000000000000000000000000000000000000000..0382d857405272eeceb70d685540fb23419b5ad7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.json @@ -0,0 +1,685 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:03:41", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.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": 38.28879812802188, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.43295639753341675, + "aligned_p95_error_rad": 0.0021258557680994272, + "aligned_rms_error_rad": 0.009541352783422557, + "aligned_samples": 1148, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 0.41900000000000004, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.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": 1.5876269074935472, + "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": [ + 0.08183467388153076, + 0.43295639753341675, + 0.32866501808166504, + 0.1319091022014618, + 0.3453167974948883, + 0.4273119568824768 + ], + "joint_lag_p95_error_rad": [ + 0.0019245008006691933, + 0.0018962494796141982, + 0.002208879915997386, + 0.001205198117531836, + 0.0022441805340349674, + 0.002742845332249999 + ], + "joint_lag_rms_error_rad": [ + 0.0025471939586198533, + 0.012807611731176534, + 0.009753160737368483, + 0.003928945350935682, + 0.010233125445232664, + 0.012665849753944601 + ], + "joint_lag_samples": [ + 1148, + 1148, + 1148, + 1148, + 1148, + 1148 + ], + "joint_lag_worst_time_s": [ + 0.41900000000000004, + 0.41900000000000004, + 0.41900000000000004, + 0.41900000000000004, + 0.41900000000000004, + 0.41900000000000004 + ], + "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": 2, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006577663938514888, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971374011598527, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00435197043698281, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004996728417463601, + "leadthrough_capture_egm_poll_duration_warn_count": 3153, + "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": 0.006620684987865388, + "leadthrough_capture_host_loop_dt_median_s": 0.003998092550318688, + "leadthrough_capture_host_loop_dt_p95_s": 0.004392644821200519, + "leadthrough_capture_host_loop_dt_p99_s": 0.005042193011613564, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0065042899223044515, + "leadthrough_capture_host_receive_dt_median_s": 0.003997341962531209, + "leadthrough_capture_host_receive_dt_p95_s": 0.004360105528030544, + "leadthrough_capture_host_receive_dt_p99_s": 0.004982109075644987, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.12018665310461074, + "leadthrough_capture_loop_late_median_s": 0.11303080047946423, + "leadthrough_capture_loop_late_p95_s": 0.11345186172984541, + "leadthrough_capture_loop_late_p99_s": 0.11414283231832087, + "leadthrough_capture_loop_late_warn_count": 6993, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006604923983104527, + "leadthrough_capture_read_duration_median_s": 0.00398663803935051, + "leadthrough_capture_read_duration_p95_s": 0.004377289838157593, + "leadthrough_capture_read_duration_p99_s": 0.005027912897057831, + "leadthrough_capture_read_duration_warn_count": 3336, + "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": [ + 0.0025542378425598145, + 0.0033216476440429688, + 0.0057784318923950195, + 0.0020990371704101562, + 0.0032578706741333008, + 0.006973624229431152 + ], + "leadthrough_delta_max_abs_rad": 0.006973624229431152, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001187243266031146, + 0.0020800004713237286, + 0.003666417207568884, + 0.0002897496160585433, + 0.0015229342970997095, + 0.004402340855449438 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005679445457644761, + 0.0008673439151607454, + 0.0014067544834688306, + 0.000216678308788687, + 0.0006623099325224757, + 0.001511811395175755 + ], + "leadthrough_delta_samples": 6030, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006973624229431152, + "leadthrough_delta_worst_from_rad": -1.03821861743927, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.0389999999999997, + "leadthrough_delta_worst_to_rad": -1.0451922416687012, + "leadthrough_duration_s": 24.117, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6029, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.7829999999999977, + "leadthrough_final_stillness_removed_samples": 196, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6030, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6993, + "leadthrough_initial_stillness_first_motion_index": 767, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.064, + "leadthrough_initial_stillness_removed_samples": 766, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 766, + "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": [ + 0.0025542378425598145, + 0.0033216476440429688, + 0.0057784318923950195, + 0.0020990371704101562, + 0.0032578706741333008, + 0.006973624229431152 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006973624229431152, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.6385594606403076, + 0.8304119110108337, + 1.49549854298427, + 0.699679056803359, + 1.041849454244247, + 2.3185412089029067 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.039865255355835, + "leadthrough_velocity_rms_rad_s": 0.2501757653924498, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.43295639753341675, + "measured_wall_accel_p95_abs_rad_s2": 0.5446710586547852, + "measured_wall_accel_peak_abs_rad_s2": 251.83306884765625, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 15.43600983102806, + "measured_wall_accel_rms_rad_s2": 7.01746638389342, + "measured_wall_jerk_p95_abs_rad_s3": 8.384272575378418, + "measured_wall_jerk_peak_abs_rad_s3": 3572.07470703125, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 15.46714817499742, + "measured_wall_jerk_rms_rad_s3": 78.38922586237727, + "measured_wall_smoothness_samples": 1148, + "measured_wall_velocity_peak_abs_rad_s": 15.934256553649902, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 15.403865286963992, + "measured_wall_velocity_rms_rad_s": 0.3445999915173602, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.43295639753341675, + "moving_aligned_p95_error_rad": 0.002416699891909957, + "moving_aligned_rms_error_rad": 0.011160399765073797, + "moving_aligned_samples": 839, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 0.41900000000000004, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.08183467388153076, + 0.43295639753341675, + 0.32866501808166504, + 0.0041039809584617615, + 0.3453167974948883, + 0.4273119568824768 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002422753721475601, + 0.002108684740960598, + 0.0027397554367780685, + 0.0031421685125678778, + 0.0030011122580617666, + 0.003294566413387656 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0033082885052997, + 0.015698003004077275, + 0.012330256385550959, + 0.0014466296401750033, + 0.014886429967693219, + 0.019720868313598178 + ], + "moving_joint_lag_samples": [ + 676, + 764, + 718, + 132, + 542, + 473 + ], + "moving_joint_lag_worst_time_s": [ + 0.41900000000000004, + 0.41900000000000004, + 0.41900000000000004, + 1.9749999999999996, + 0.41900000000000004, + 0.41900000000000004 + ], + "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": 79.84532165527344, + "playback_velocity_rms_rad_s": 2.773193501938949, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.23400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.117, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2216, + 5175 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42559250227807954, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0868183970451355, + "rapid_planner_max_dt_s": 2.347999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007427990436553955, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.43295639753341675, + "rapid_planner_path_p95_error_rad": 0.003266668319702147, + "rapid_planner_path_rms_error_rad": 0.012869141487438908, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 47, + 60, + 72, + 85, + 92, + 100, + 114, + 126, + 138, + 150, + 162, + 170, + 177, + 192, + 200, + 208, + 223, + 230, + 238, + 246, + 253, + 260, + 268, + 276, + 283, + 296, + 308, + 327, + 346, + 358, + 370, + 392, + 415, + 444, + 472, + 506, + 548, + 589, + 627, + 665, + 694, + 724, + 771, + 831, + 883, + 945, + 1103, + 1215, + 1544, + 1638, + 1779, + 1891, + 1954, + 2122, + 2216, + 2803, + 2868, + 2960, + 3041, + 3110, + 3138, + 3163, + 3180, + 3196, + 3206, + 3216, + 3226, + 3237, + 3248, + 3260, + 3276, + 3292, + 3316, + 3339, + 3374, + 3418, + 3465, + 3498, + 3532, + 3558, + 3591, + 3624, + 3662, + 3679, + 3719, + 3766, + 3788, + 3808, + 3823, + 3838, + 3851, + 3864, + 3878, + 3891, + 3903, + 3915, + 3927, + 3939, + 4013, + 4078, + 4141, + 4198, + 4303, + 4354, + 4402, + 4531, + 4836, + 4906, + 5175, + 5356, + 5463, + 5535, + 5580, + 5608, + 5631, + 5642, + 5654, + 5666, + 5678, + 5704, + 5729, + 5755, + 5773, + 5791, + 5818, + 5836, + 5873, + 5918, + 6030 + ], + "rapid_planner_selected_max_joint_step_deg": 4.974327734777321, + "rapid_planner_selected_samples": 130, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6031, + "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": 0.43295639753341675, + "raw_replay_rms_error_rad": 0.009541352783422557, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.882083115769844, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9649838861816374, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9658128584482656, + "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": 0.8720556967648234, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9865103478807783, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9768589521578555, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006125867366790771, + 0.0007963180541992188, + 0.0010942816734313965, + 0.003367932513356209, + 0.003384828567504883, + 0.006291508674621582 + ], + "replay_smoothing_max_deviation_normalized": 0.7209537932362984, + "replay_smoothing_max_deviation_rad": 0.006291508674621582, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002508188597857952, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.377920627593994, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 68.3381576538086, + "replay_smoothing_raw_accel_rms_rad_s2": 4.301376816090989, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1039.85400390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18352.75390625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1101.620260241559, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.072054624557495, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2513643118132943, + "replay_smoothing_rms_deviation_rad": 0.0010927404522575867, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.743772983551025, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 65.94522094726562, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.154325038011938, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 906.8106079101562, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18105.181640625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1076.1276130954334, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.039865255355835, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2501757653924498, + "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": 0.9844649997060119, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952716182648579, + "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": 0.2669999999999999, + "replay_smoothing_wrist_max_deviation_rad": 0.006291508674621582, + "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": 0.43295639753341675, + "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": 0.5117266178131104, + "stage_planned_to_measured_rms_error_rad": 0.01157813597903528, + "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": false, + "strict_tracking_reason": "max_error_rad=0.4330", + "target_wall_accel_p95_abs_rad_s2": 0.8995527625083923, + "target_wall_accel_peak_abs_rad_s2": 117.2765121459961, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.660004146397114e-06, + "target_wall_accel_rms_rad_s2": 2.6294107872628465, + "target_wall_jerk_p95_abs_rad_s3": 19.66448974609375, + "target_wall_jerk_peak_abs_rad_s3": 1759.243896484375, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06672383402474225, + "target_wall_jerk_rms_rad_s3": 32.96086297844327, + "target_wall_smoothness_samples": 1148, + "target_wall_velocity_peak_abs_rad_s": 7.824357509613037, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.660004146397114e-06, + "target_wall_velocity_rms_rad_s": 0.17289303964360606, + "tcp_pose_count": 1148, + "timestamp_count": 1148, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4330", + "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": 1.110000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2699999999999994, + "window_lag_best_lag_p95_abs_s": 1.110000000000003, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.43295639753341675, + "window_lag_worst_rms_error_rad": 0.03069638864344727, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.43295639753341675, + "zero_lag_p95_error_rad": 0.0021258557680994272, + "zero_lag_rms_error_rad": 0.009541352783422557, + "zero_lag_samples": 1148, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 0.41900000000000004 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.npz new file mode 100644 index 0000000000000000000000000000000000000000..36de587a32a444b858c5c887d4a11b36e1391893 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170339.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dec26631fbd556d02a440200b04b99d344cdd72a03cc1483547d3b6ec492cbf7 +size 118303 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.json new file mode 100644 index 0000000000000000000000000000000000000000..ca2df0c7349157660b03d0bf4cabff2948f0a53a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.json @@ -0,0 +1,683 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:06:12", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.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": 38.481191397993825, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006801009178161621, + "aligned_p95_error_rad": 0.001909573213197291, + "aligned_rms_error_rad": 0.0008304294071293621, + "aligned_samples": 1154, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 2.319, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.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": 1.367296453879826, + "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": [ + 0.004157796502113342, + 0.004213482141494751, + 0.006801009178161621, + 0.003911398351192474, + 0.005825519561767578, + 0.006479620933532715 + ], + "joint_lag_p95_error_rad": [ + 0.0015373928472399712, + 0.0016158510698005557, + 0.001826187944971025, + 0.001127375173382461, + 0.0021534438710659742, + 0.0023548374883830547 + ], + "joint_lag_rms_error_rad": [ + 0.0006674143473143745, + 0.0007561087049755288, + 0.0009210679514878626, + 0.0005654618853880166, + 0.0009442307770999261, + 0.0010299760390917601 + ], + "joint_lag_samples": [ + 1154, + 1154, + 1154, + 1154, + 1154, + 1154 + ], + "joint_lag_worst_time_s": [ + 2.486999999999999, + 21.096999999999998, + 2.319, + 26.904, + 2.319, + 2.287 + ], + "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": 2, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007754234015010297, + "leadthrough_capture_egm_poll_duration_median_s": 0.003958446497563273, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0042958273494150484, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0048322861932683795, + "leadthrough_capture_egm_poll_duration_warn_count": 3332, + "leadthrough_capture_egm_recorded_seqno_jump_count": 0, + "leadthrough_capture_egm_recorded_seqno_step_max": 1, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.007860488025471568, + "leadthrough_capture_host_loop_dt_median_s": 0.003984131966717541, + "leadthrough_capture_host_loop_dt_p95_s": 0.00432875567348674, + "leadthrough_capture_host_loop_dt_p99_s": 0.004888867596164352, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007540190010331571, + "leadthrough_capture_host_receive_dt_median_s": 0.003985607996582985, + "leadthrough_capture_host_receive_dt_p95_s": 0.004303847462870181, + "leadthrough_capture_host_receive_dt_p99_s": 0.0048097806959413, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.1308785310247913, + "leadthrough_capture_loop_late_median_s": 0.12403094983892515, + "leadthrough_capture_loop_late_p95_s": 0.12433999910135754, + "leadthrough_capture_loop_late_p99_s": 0.12497687888098881, + "leadthrough_capture_loop_late_warn_count": 8524, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007824901957064867, + "leadthrough_capture_read_duration_median_s": 0.003973098995629698, + "leadthrough_capture_read_duration_p95_s": 0.004314703680574894, + "leadthrough_capture_read_duration_p99_s": 0.004871277725324038, + "leadthrough_capture_read_duration_warn_count": 3609, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 11, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0027384012937545776, + 0.002123206853866577, + 0.003564506769180298, + 0.0020361170172691345, + 0.002445399761199951, + 0.006101131439208984 + ], + "leadthrough_delta_max_abs_rad": 0.006101131439208984, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0011036599753424525, + 0.0017262159381061792, + 0.0027575695421546698, + 0.000134343295940198, + 0.0012183187063783407, + 0.003838899312540889 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005255750147625804, + 0.0007551233284175396, + 0.001085145864635706, + 0.0001764229964464903, + 0.0005371397128328681, + 0.0012454295065253973 + ], + "leadthrough_delta_samples": 7037, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006101131439208984, + "leadthrough_delta_worst_from_rad": -0.8481667637825012, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 17.916999999999998, + "leadthrough_delta_worst_to_rad": -0.8420656323432922, + "leadthrough_duration_s": 28.144000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7036, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.32399999999999807, + "leadthrough_final_stillness_removed_samples": 81, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7037, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8524, + "leadthrough_initial_stillness_first_motion_index": 1406, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.62, + "leadthrough_initial_stillness_removed_samples": 1405, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1405, + "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": [ + 0.0027384012937545776, + 0.002123206853866577, + 0.003564506769180298, + 0.0020361170172691345, + 0.002445399761199951, + 0.006101131439208984 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006101131439208984, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9006808201471623, + 0.695089499155654, + 1.052608092625896, + 0.5090292543166616, + 0.8071462313333841, + 2.0279288291930384 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7926899194717407, + "leadthrough_velocity_rms_rad_s": 0.20495440764680617, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006801009178161621, + "measured_wall_accel_p95_abs_rad_s2": 0.503646969795227, + "measured_wall_accel_peak_abs_rad_s2": 2.731478691101074, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 42.35201964492444, + "measured_wall_accel_rms_rad_s2": 0.24809974341394314, + "measured_wall_jerk_p95_abs_rad_s3": 9.187055587768555, + "measured_wall_jerk_peak_abs_rad_s3": 39.95241165161133, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 42.25116172293201, + "measured_wall_jerk_rms_rad_s3": 4.144386865600114, + "measured_wall_smoothness_samples": 1154, + "measured_wall_velocity_peak_abs_rad_s": 0.7056723237037659, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 42.25116172293201, + "measured_wall_velocity_rms_rad_s": 0.10568949550138686, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006801009178161621, + "moving_aligned_p95_error_rad": 0.0021124754566699266, + "moving_aligned_rms_error_rad": 0.0009420358499932694, + "moving_aligned_samples": 850, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 2.319, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004157796502113342, + 0.0038626790046691895, + 0.006801009178161621, + 0.003911398351192474, + 0.005825519561767578, + 0.006479620933532715 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017190709477290511, + 0.001842466532252729, + 0.0019639283418655396, + 0.003189787268638611, + 0.0025590118020772934, + 0.003259471384808421 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007720882306354517, + 0.000860236070333317, + 0.001044748695207553, + 0.0013395209557845469, + 0.0011305145957830728, + 0.001653932636490767 + ], + "moving_joint_lag_samples": [ + 675, + 793, + 796, + 136, + 654, + 384 + ], + "moving_joint_lag_worst_time_s": [ + 2.486999999999999, + 2.319, + 2.319, + 26.904, + 2.319, + 2.287 + ], + "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": 2.031153917312622, + "playback_velocity_rms_rad_s": 0.3700688984457354, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 86.28800000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.144000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2700, + 6203 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43031557808914334, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08676151186227798, + "rapid_planner_max_dt_s": 2.5749999999999993, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00751042366027832, + "rapid_planner_median_dt_s": 0.10299999999999798, + "rapid_planner_path_max_error_rad": 0.006801009178161621, + "rapid_planner_path_p95_error_rad": 0.003024345263838768, + "rapid_planner_path_rms_error_rad": 0.0013775731410479908, + "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, + 77, + 95, + 113, + 136, + 148, + 160, + 174, + 189, + 204, + 218, + 228, + 238, + 248, + 257, + 270, + 282, + 295, + 308, + 319, + 330, + 340, + 351, + 364, + 378, + 392, + 406, + 426, + 445, + 472, + 499, + 526, + 553, + 609, + 667, + 722, + 754, + 810, + 865, + 944, + 1023, + 1080, + 1125, + 1244, + 1377, + 1437, + 1513, + 1561, + 1665, + 1836, + 1970, + 2056, + 2700, + 3313, + 3414, + 3522, + 3598, + 3629, + 3666, + 3690, + 3713, + 3736, + 3760, + 3786, + 3813, + 3838, + 3864, + 3893, + 3916, + 3938, + 3961, + 3984, + 4002, + 4020, + 4038, + 4056, + 4082, + 4107, + 4142, + 4177, + 4225, + 4273, + 4322, + 4372, + 4408, + 4423, + 4438, + 4450, + 4462, + 4475, + 4488, + 4501, + 4514, + 4529, + 4543, + 4556, + 4570, + 4646, + 4686, + 4725, + 4771, + 4817, + 4893, + 4988, + 5340, + 5648, + 6203, + 6298, + 6479, + 6515, + 6551, + 6574, + 6592, + 6602, + 6613, + 6627, + 6642, + 6660, + 6677, + 6696, + 6715, + 6743, + 6776, + 6808, + 6837, + 6895, + 7037 + ], + "rapid_planner_selected_max_joint_step_deg": 4.971068453882756, + "rapid_planner_selected_samples": 128, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7038, + "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": 0.006801009178161621, + "raw_replay_rms_error_rad": 0.0008304294071293621, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9796227273534813, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9911201845361018, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9852439924826769, + "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": 0.9883691681610101, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0013929939129786, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9939770575243351, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007580369710922241, + 0.0007297992706298828, + 0.001048445701599121, + 0.003347046673297882, + 0.003831028938293457, + 0.007724285125732422 + ], + "replay_smoothing_max_deviation_normalized": 0.8851378817768951, + "replay_smoothing_max_deviation_rad": 0.007724285125732422, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001974394079297781, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.8710479736328125, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 58.70631790161133, + "replay_smoothing_raw_accel_rms_rad_s2": 3.5225358989863182, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1369.503662109375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15860.6220703125, + "replay_smoothing_raw_jerk_rms_rad_s3": 906.6304861778225, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8096225261688232, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20585301122293279, + "replay_smoothing_rms_deviation_rad": 0.0009090189137666222, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.731034755706787, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 58.18501663208008, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4705573327808357, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1353.5751953125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15882.7158203125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 901.1699029128894, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7926899194717407, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20495440764680617, + "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": 0.9906430172855271, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956347319342662, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5670000000000002, + "replay_smoothing_wrist_max_deviation_rad": 0.007724285125732422, + "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": 0.006801009178161621, + "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": 0.04349184036254883, + "stage_planned_to_measured_rms_error_rad": 0.006270695567463914, + "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": 0.8099399209022522, + "target_wall_accel_peak_abs_rad_s2": 3.11242413520813, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 28.800057520042174, + "target_wall_accel_rms_rad_s2": 0.3704051299480235, + "target_wall_jerk_p95_abs_rad_s3": 18.289430618286133, + "target_wall_jerk_peak_abs_rad_s3": 88.04694366455078, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 28.766747781075537, + "target_wall_jerk_rms_rad_s3": 8.389526574399254, + "target_wall_smoothness_samples": 1154, + "target_wall_velocity_peak_abs_rad_s": 0.7378361821174622, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 26.00553759606555, + "target_wall_velocity_rms_rad_s": 0.1067115535466463, + "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": 0.18000000000000194, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0199999999999991, + "window_lag_best_lag_p95_abs_s": 0.47399999999999914, + "window_lag_count": 34, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.0, + "window_lag_worst_max_error_rad": 0.006801009178161621, + "window_lag_worst_rms_error_rad": 0.001791237978026228, + "window_lag_worst_start_s": 2.0, + "zero_lag_max_error_rad": 0.006801009178161621, + "zero_lag_p95_error_rad": 0.001909573213197291, + "zero_lag_rms_error_rad": 0.0008304294071293621, + "zero_lag_samples": 1154, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 2.319 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.npz new file mode 100644 index 0000000000000000000000000000000000000000..febdb4db58e2bdb946fe7ea6d4603e5a2f13bb71 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170611.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a400c6ca8a1cbe80238295f97a0f5b39d901ef08831b490dfc1508f83843b72 +size 121882 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2b428a4bfdb94adfe30fe167a504c08a9d7eec --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.json @@ -0,0 +1,682 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:08:11", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1182, + "actual_playback_duration_s": 39.41145961207803, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005295533686876297, + "aligned_p95_error_rad": 0.002020558575168252, + "aligned_rms_error_rad": 0.0008771106707000504, + "aligned_samples": 1182, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 1.1590000000000003, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1182, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1182, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.595089024286791, + "image_frame_counts": { + "cam_scene": 1182, + "cam_wrist": 1182 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0036750882863998413, + 0.004758328199386597, + 0.005295533686876297, + 0.00452016294002533, + 0.0046964287757873535, + 0.004346609115600586 + ], + "joint_lag_p95_error_rad": [ + 0.001475825090892613, + 0.0019174746703356504, + 0.0021818105597049, + 0.001359394984319806, + 0.0021181940101087093, + 0.0024404083378612995 + ], + "joint_lag_rms_error_rad": [ + 0.0006603291768007066, + 0.0008820025524945104, + 0.0010568728981555525, + 0.0006726780453502109, + 0.0009394069899460975, + 0.0009746866569737877 + ], + "joint_lag_samples": [ + 1182, + 1182, + 1182, + 1182, + 1182, + 1182 + ], + "joint_lag_worst_time_s": [ + 14.354000000000003, + 23.829, + 1.1590000000000003, + 23.077, + 23.057000000000002, + 1.1520000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.0400000000372529, + "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": 2, + "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": 3, + "leadthrough_capture_egm_drained_packet_max": 41, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.042903584078885615, + "leadthrough_capture_egm_poll_duration_median_s": 0.003979764005634934, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004274469474330544, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004719411862315609, + "leadthrough_capture_egm_poll_duration_warn_count": 3107, + "leadthrough_capture_egm_recorded_seqno_jump_count": 2, + "leadthrough_capture_egm_recorded_seqno_step_max": 10, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.042968757916241884, + "leadthrough_capture_host_loop_dt_median_s": 0.0040057869628071785, + "leadthrough_capture_host_loop_dt_p95_s": 0.004309284733608365, + "leadthrough_capture_host_loop_dt_p99_s": 0.004750227658078074, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.04296107706613839, + "leadthrough_capture_host_receive_dt_median_s": 0.004009664058685303, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042889438103884455, + "leadthrough_capture_host_receive_dt_p99_s": 0.004704126720316704, + "leadthrough_capture_host_receive_gap_warn": true, + "leadthrough_capture_host_receive_gap_warn_count": 2, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.06689854804426432, + "leadthrough_capture_loop_late_median_s": 0.06306624639546499, + "leadthrough_capture_loop_late_p95_s": 0.06340379635221324, + "leadthrough_capture_loop_late_p99_s": 0.06383466309634969, + "leadthrough_capture_loop_late_warn_count": 6870, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.04294640989974141, + "leadthrough_capture_read_duration_median_s": 0.003994656028226018, + "leadthrough_capture_read_duration_p95_s": 0.004293064132798462, + "leadthrough_capture_read_duration_p99_s": 0.004738534333882853, + "leadthrough_capture_read_duration_warn_count": 3359, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.040000000000000036, + "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": 2, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0017568841576576233, + 0.002742767333984375, + 0.0044401586055755615, + 0.0018971003592014313, + 0.0034389495849609375, + 0.007687896490097046 + ], + "leadthrough_delta_max_abs_rad": 0.007687896490097046, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013741075526922941, + 0.002212448278442025, + 0.003764891531318426, + 0.0005119659472256899, + 0.0016788237262517214, + 0.004497935064136982 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005534301162697375, + 0.0009080424206331372, + 0.0013768031494691968, + 0.0002524015144445002, + 0.0006923889159224927, + 0.0014616309199482203 + ], + "leadthrough_delta_samples": 6165, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007687896490097046, + "leadthrough_delta_worst_from_rad": -0.34139642119407654, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.4910000000000001, + "leadthrough_delta_worst_to_rad": -0.3490843176841736, + "leadthrough_duration_s": 24.708000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6121, + "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": 6122, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6870, + "leadthrough_initial_stillness_first_motion_index": 705, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.816, + "leadthrough_initial_stillness_removed_samples": 704, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 704, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.040000000000000036, + "leadthrough_sample_dt_median_s": 0.004000000000000448, + "leadthrough_sample_gap_warn": true, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0017568841576576233, + 0.002742767333984375, + 0.0044401586055755615, + 0.0018971003592014313, + 0.0034389495849609375, + 0.007687896490097046 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007687896490097046, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.43922103941425916, + 0.8692542711893388, + 1.4121433099112477, + 0.6299714247385422, + 0.9806950887043899, + 2.5484462579090423 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.2104673385620117, + "leadthrough_velocity_rms_rad_s": 0.24753228915498424, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005295533686876297, + "measured_wall_accel_p95_abs_rad_s2": 0.5419192314147949, + "measured_wall_accel_peak_abs_rad_s2": 3.371068239212036, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 42.457199955009855, + "measured_wall_accel_rms_rad_s2": 0.27182970246885113, + "measured_wall_jerk_p95_abs_rad_s3": 8.781170845031738, + "measured_wall_jerk_peak_abs_rad_s3": 64.81450653076172, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 42.42383039696142, + "measured_wall_jerk_rms_rad_s3": 4.558907038131817, + "measured_wall_smoothness_samples": 1182, + "measured_wall_velocity_peak_abs_rad_s": 1.0988163948059082, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 42.39170581905637, + "measured_wall_velocity_rms_rad_s": 0.11220430844722987, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005295533686876297, + "moving_aligned_p95_error_rad": 0.002307785674929619, + "moving_aligned_rms_error_rad": 0.0010118141084413375, + "moving_aligned_samples": 873, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 1.1590000000000003, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0036750882863998413, + 0.004758328199386597, + 0.005295533686876297, + 0.00452016294002533, + 0.0046964287757873535, + 0.004346609115600586 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016963849775493145, + 0.002228161785751581, + 0.0025371431838721037, + 0.0036910048220306635, + 0.002694249153137207, + 0.0030114096589386463 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007998891333175254, + 0.0010214906815398997, + 0.001265809153580359, + 0.0013990558714197427, + 0.0012066410357266947, + 0.0016099755687967224 + ], + "moving_joint_lag_samples": [ + 702, + 812, + 713, + 238, + 637, + 390 + ], + "moving_joint_lag_worst_time_s": [ + 14.354000000000003, + 23.829, + 1.1590000000000003, + 23.077, + 23.057000000000002, + 1.1520000000000001 + ], + "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": 2.8246238231658936, + "playback_velocity_rms_rad_s": 0.4557446040497839, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 79.416, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.708000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1996, + 5055 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42265893602955906, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08694028854370117, + "rapid_planner_max_dt_s": 2.379999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0073767900466918945, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.005295533686876297, + "rapid_planner_path_p95_error_rad": 0.003087201714515686, + "rapid_planner_path_rms_error_rad": 0.0015096194007457023, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 24, + 41, + 55, + 71, + 84, + 96, + 102, + 109, + 116, + 122, + 128, + 135, + 148, + 160, + 172, + 184, + 195, + 208, + 222, + 235, + 248, + 262, + 277, + 298, + 313, + 328, + 343, + 363, + 383, + 406, + 427, + 448, + 469, + 499, + 548, + 569, + 606, + 636, + 667, + 696, + 726, + 754, + 781, + 834, + 887, + 1009, + 1163, + 1251, + 1369, + 1440, + 1996, + 2591, + 2695, + 2806, + 2857, + 2928, + 2955, + 2983, + 2995, + 3007, + 3020, + 3033, + 3050, + 3066, + 3077, + 3088, + 3109, + 3133, + 3157, + 3181, + 3205, + 3227, + 3249, + 3276, + 3303, + 3325, + 3347, + 3369, + 3391, + 3411, + 3431, + 3477, + 3514, + 3554, + 3588, + 3612, + 3623, + 3634, + 3650, + 3665, + 3673, + 3681, + 3697, + 3712, + 3726, + 3740, + 3754, + 3782, + 3826, + 3890, + 3939, + 4011, + 4092, + 4284, + 4631, + 4718, + 5055, + 5337, + 5387, + 5417, + 5461, + 5485, + 5507, + 5534, + 5562, + 5600, + 5629, + 5670, + 5710, + 5735, + 5770, + 5816, + 5855, + 5910, + 6044, + 6165 + ], + "rapid_planner_selected_max_joint_step_deg": 4.981311603203659, + "rapid_planner_selected_samples": 127, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6166, + "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": 0.005295533686876297, + "raw_replay_rms_error_rad": 0.0008771106707000504, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8199375794891828, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9481227072519074, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9899615220362497, + "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": 0.8278253897028649, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9739104129306896, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.99746542794401, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005807802081108093, + 0.001479506492614746, + 0.0023668408393859863, + 0.0034222034737467766, + 0.004455685615539551, + 0.0060350894927978516 + ], + "replay_smoothing_max_deviation_normalized": 0.6915703191992884, + "replay_smoothing_max_deviation_rad": 0.0060350894927978516, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002021998167037964, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.4372940063476562, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 76.17130279541016, + "replay_smoothing_raw_accel_rms_rad_s2": 4.077568189767459, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 477.56878662109375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20150.220703125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1042.9321688792274, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.279249429702759, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24834968658816464, + "replay_smoothing_rms_deviation_rad": 0.0009330413180464662, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.818366527557373, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 72.21974182128906, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.036635611348789, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 395.34356689453125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19624.509765625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1040.2887821476932, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.2104673385620117, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24753228915498424, + "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": 0.9698224818028288, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967086834519108, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.1670000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.0060350894927978516, + "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": 0.005295533686876297, + "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": 0.06374251842498779, + "stage_planned_to_measured_rms_error_rad": 0.006648493863522181, + "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": 1182, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8763787150382996, + "target_wall_accel_peak_abs_rad_s2": 5.204306125640869, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 26.066744168987498, + "target_wall_accel_rms_rad_s2": 0.405927303988574, + "target_wall_jerk_p95_abs_rad_s3": 20.184598922729492, + "target_wall_jerk_peak_abs_rad_s3": 141.6144256591797, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 26.10044452897273, + "target_wall_jerk_rms_rad_s3": 9.320884702772782, + "target_wall_smoothness_samples": 1182, + "target_wall_velocity_peak_abs_rad_s": 1.1037098169326782, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 26.533396881073713, + "target_wall_velocity_rms_rad_s": 0.1130128277496413, + "tcp_pose_count": 1182, + "timestamp_count": 1182, + "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": 1.3500000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1999999999999993, + "window_lag_best_lag_p95_abs_s": 1.1879999999999993, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 24.0, + "window_lag_worst_max_error_rad": 0.005086004734039307, + "window_lag_worst_rms_error_rad": 0.0017798634838176403, + "window_lag_worst_start_s": 23.0, + "zero_lag_max_error_rad": 0.005295533686876297, + "zero_lag_p95_error_rad": 0.002020558575168252, + "zero_lag_rms_error_rad": 0.0008771106707000504, + "zero_lag_samples": 1182, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 1.1590000000000003 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.npz new file mode 100644 index 0000000000000000000000000000000000000000..56e75b7f56f343a9656e572629801cbd2acbabdf --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_170810.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde24571dab837040ac51ec1ced61f6ce9e3364cae1f2a47c0cad3d87a428ac4 +size 124746 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.json new file mode 100644 index 0000000000000000000000000000000000000000..2ddba8e136fbb8e7c221172820811750bb2016c0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.json @@ -0,0 +1,681 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:10:20", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1183, + "actual_playback_duration_s": 39.45324505795725, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0071541666984558105, + "aligned_p95_error_rad": 0.002469801576808095, + "aligned_rms_error_rad": 0.0010694688453187656, + "aligned_samples": 1183, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 29.121000000000002, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1183, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1183, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3175236285843128, + "image_frame_counts": { + "cam_scene": 1183, + "cam_wrist": 1183 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004275783896446228, + 0.006986856460571289, + 0.005639433860778809, + 0.004370506852865219, + 0.006594419479370117, + 0.0071541666984558105 + ], + "joint_lag_p95_error_rad": [ + 0.0019483619835227728, + 0.0022103465162217617, + 0.002424532314762473, + 0.0017780113266780972, + 0.0034904193598777056, + 0.0026726797223091125 + ], + "joint_lag_rms_error_rad": [ + 0.000795468662881793, + 0.0010434581890450818, + 0.0010156983020195715, + 0.0007747343228626028, + 0.001422551559555068, + 0.0012188096772643223 + ], + "joint_lag_samples": [ + 1183, + 1183, + 1183, + 1183, + 1183, + 1183 + ], + "joint_lag_worst_time_s": [ + 28.301000000000002, + 29.105000000000004, + 16.918, + 28.301000000000002, + 28.193000000000005, + 29.121000000000002 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 19, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006701597012579441, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039773445460014045, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004315120371757075, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0050805640337057405, + "leadthrough_capture_egm_poll_duration_warn_count": 4290, + "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": 0.006751006003469229, + "leadthrough_capture_host_loop_dt_median_s": 0.004003535024821758, + "leadthrough_capture_host_loop_dt_p95_s": 0.004348289594054222, + "leadthrough_capture_host_loop_dt_p99_s": 0.005102820005267858, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006637079990468919, + "leadthrough_capture_host_receive_dt_median_s": 0.004007037030532956, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043228532187640665, + "leadthrough_capture_host_receive_dt_p99_s": 0.00506149414461106, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.013663879013620317, + "leadthrough_capture_loop_late_median_s": 0.00872542872093618, + "leadthrough_capture_loop_late_p95_s": 0.009090930729871615, + "leadthrough_capture_loop_late_p99_s": 0.009918557375203817, + "leadthrough_capture_loop_late_warn_count": 9578, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00673211005050689, + "leadthrough_capture_read_duration_median_s": 0.003992930985987186, + "leadthrough_capture_read_duration_p95_s": 0.0043349543819203975, + "leadthrough_capture_read_duration_p99_s": 0.005093484927201643, + "leadthrough_capture_read_duration_warn_count": 4613, + "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": 40, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0032265521585941315, + 0.0024455785751342773, + 0.003681570291519165, + 0.0024226121604442596, + 0.0030140280723571777, + 0.006341457366943359 + ], + "leadthrough_delta_max_abs_rad": 0.006341457366943359, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0012131563853472471, + 0.0019611523021012545, + 0.0023692427203059196, + 0.0005626592901535332, + 0.001427113777026534, + 0.0035120451357215643 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005332568543963134, + 0.0007771346135996282, + 0.0010494522284716368, + 0.0002861764223780483, + 0.0006127576343715191, + 0.0011533501092344522 + ], + "leadthrough_delta_samples": 7487, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006341457366943359, + "leadthrough_delta_worst_from_rad": -0.7776929140090942, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 20.738, + "leadthrough_delta_worst_to_rad": -0.7713514566421509, + "leadthrough_duration_s": 29.945, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7486, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.8359999999999985, + "leadthrough_final_stillness_removed_samples": 209, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7487, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9578, + "leadthrough_initial_stillness_first_motion_index": 1882, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.522, + "leadthrough_initial_stillness_removed_samples": 1881, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1881, + "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": [ + 0.0032265521585941315, + 0.0024455785751342773, + 0.003681570291519165, + 0.0024226121604442596, + 0.0030140280723571777, + 0.006341457366943359 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006341457366943359, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8066380396475471, + 0.7861653963724474, + 1.21054053306575, + 0.6056530401114005, + 0.7535070180897121, + 1.5853643417367185 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5535577535629272, + "leadthrough_velocity_rms_rad_s": 0.20008579037085217, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0071541666984558105, + "measured_wall_accel_p95_abs_rad_s2": 0.5428703427314758, + "measured_wall_accel_peak_abs_rad_s2": 4.03261137008667, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.55122465500608, + "measured_wall_accel_rms_rad_s2": 0.29216115648228097, + "measured_wall_jerk_p95_abs_rad_s3": 10.02351188659668, + "measured_wall_jerk_peak_abs_rad_s3": 65.63349151611328, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 25.615810115006752, + "measured_wall_jerk_rms_rad_s3": 4.995327598831902, + "measured_wall_smoothness_samples": 1183, + "measured_wall_velocity_peak_abs_rad_s": 1.2631531953811646, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 41.849984364933334, + "measured_wall_velocity_rms_rad_s": 0.1175890433974515, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0071541666984558105, + "moving_aligned_p95_error_rad": 0.0028337957337498665, + "moving_aligned_rms_error_rad": 0.0012350734822149667, + "moving_aligned_samples": 871, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 29.121000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004275783896446228, + 0.006986856460571289, + 0.005639433860778809, + 0.004370506852865219, + 0.006594419479370117, + 0.0071541666984558105 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002545151859521866, + 0.002565001370385289, + 0.0026645809412002563, + 0.003416048362851143, + 0.003975033760070801, + 0.004580185282975435 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010565876844913981, + 0.0012189637005605356, + 0.0011722198138210491, + 0.0013684810325982099, + 0.0017455541102778403, + 0.0020157817075740266 + ], + "moving_joint_lag_samples": [ + 626, + 822, + 816, + 326, + 681, + 384 + ], + "moving_joint_lag_worst_time_s": [ + 28.301000000000002, + 29.105000000000004, + 16.918, + 28.301000000000002, + 28.193000000000005, + 29.121000000000002 + ], + "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": 1.5878554582595825, + "playback_velocity_rms_rad_s": 0.3412200385262259, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 89.89, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 29.945, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 3487, + 6608 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43632272946416956, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08686172962188721, + "rapid_planner_max_dt_s": 2.4959999999999987, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007615268230438232, + "rapid_planner_median_dt_s": 0.1120000000000001, + "rapid_planner_path_max_error_rad": 0.0071541666984558105, + "rapid_planner_path_p95_error_rad": 0.0037370845675468367, + "rapid_planner_path_rms_error_rad": 0.0017048142430218874, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 132, + 756, + 1033, + 1091, + 1135, + 1173, + 1213, + 1242, + 1270, + 1298, + 1326, + 1348, + 1385, + 1409, + 1434, + 1452, + 1461, + 1470, + 1488, + 1505, + 1524, + 1542, + 1560, + 1578, + 1592, + 1606, + 1620, + 1633, + 1650, + 1666, + 1682, + 1698, + 1716, + 1735, + 1771, + 1798, + 1826, + 1871, + 1924, + 1978, + 2050, + 2086, + 2121, + 2160, + 2198, + 2278, + 2342, + 2396, + 2451, + 2503, + 2732, + 2893, + 3487, + 4071, + 4179, + 4263, + 4306, + 4328, + 4349, + 4380, + 4408, + 4422, + 4437, + 4464, + 4490, + 4518, + 4532, + 4546, + 4561, + 4576, + 4592, + 4607, + 4633, + 4662, + 4692, + 4728, + 4765, + 4788, + 4811, + 4840, + 4869, + 4920, + 4979, + 5067, + 5099, + 5114, + 5129, + 5142, + 5156, + 5168, + 5181, + 5194, + 5206, + 5218, + 5229, + 5245, + 5261, + 5297, + 5359, + 5426, + 5472, + 5542, + 5632, + 5689, + 6139, + 6608, + 6886, + 6944, + 6962, + 6979, + 7006, + 7034, + 7062, + 7090, + 7105, + 7124, + 7141, + 7156, + 7174, + 7192, + 7222, + 7260, + 7307, + 7335, + 7487 + ], + "rapid_planner_selected_max_joint_step_deg": 4.976810508540621, + "rapid_planner_selected_samples": 126, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7488, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 126, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0071541666984558105, + "raw_replay_rms_error_rad": 0.0010694688453187656, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9479627397884105, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9289627938898704, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9819319294603924, + "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": 0.9845488605342623, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9769704325546705, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9926493006377939, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005636513233184814, + 0.0005676150321960449, + 0.0008901655673980713, + 0.0027533993124961853, + 0.0030678510665893555, + 0.005537465214729309 + ], + "replay_smoothing_max_deviation_normalized": 0.6345467769244192, + "replay_smoothing_max_deviation_rad": 0.005537465214729309, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017277300357818604, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.657415866851807, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 37.273109436035156, + "replay_smoothing_raw_accel_rms_rad_s2": 2.6509144576997974, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 865.5173950195312, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 9569.9833984375, + "replay_smoothing_raw_jerk_rms_rad_s3": 675.4771727469637, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5852153301239014, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20091350529438734, + "replay_smoothing_rms_deviation_rad": 0.0007746294580073631, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.4150567054748535, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 34.62533187866211, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.6030175482836118, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 852.1441650390625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 9349.5908203125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 670.5119431240678, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5535577535629272, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20008579037085217, + "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": 0.9800294786712038, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958802424838372, + "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": 28.597, + "replay_smoothing_wrist_max_deviation_rad": 0.005537465214729309, + "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": 0.0071541666984558105, + "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": 0.07477372884750366, + "stage_planned_to_measured_rms_error_rad": 0.006971934778250431, + "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": 1183, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7446462512016296, + "target_wall_accel_peak_abs_rad_s2": 4.9933905601501465, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 26.166723940055817, + "target_wall_accel_rms_rad_s2": 0.3914454487222869, + "target_wall_jerk_p95_abs_rad_s3": 18.069591522216797, + "target_wall_jerk_peak_abs_rad_s3": 84.52632904052734, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 10.033412144053727, + "target_wall_jerk_rms_rad_s3": 8.422398145471577, + "target_wall_smoothness_samples": 1183, + "target_wall_velocity_peak_abs_rad_s": 1.289770483970642, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 26.466720810974948, + "target_wall_velocity_rms_rad_s": 0.11843903442126122, + "tcp_pose_count": 1183, + "timestamp_count": 1183, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.650000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.01999999999999824, + "window_lag_best_lag_p95_abs_s": 0.6814999999999993, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.01999999999999824, + "window_lag_worst_end_s": 17.0, + "window_lag_worst_max_error_rad": 0.006467461585998535, + "window_lag_worst_rms_error_rad": 0.0021051241020338847, + "window_lag_worst_start_s": 16.0, + "zero_lag_max_error_rad": 0.0071541666984558105, + "zero_lag_p95_error_rad": 0.002469801576808095, + "zero_lag_rms_error_rad": 0.0010694688453187656, + "zero_lag_samples": 1183, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 29.121000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc3c955d192a53b5b3a1f450f906e6b429706094 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171019.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae2a65d09d70e484a15a1e5e7a3600e9f0626a3b0f9301acf26a8adf18778f5f +size 122926 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.json new file mode 100644 index 0000000000000000000000000000000000000000..f715cb0e1307a43512f6875c1767331566756f73 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.json @@ -0,0 +1,683 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:13:54", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1146, + "actual_playback_duration_s": 38.21207524102647, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.37195178866386414, + "aligned_p95_error_rad": 0.002139657735824585, + "aligned_rms_error_rad": 0.00868074619452464, + "aligned_samples": 1146, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 0.5359999999999996, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1146, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1146, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.323636954554244, + "image_frame_counts": { + "cam_scene": 1146, + "cam_wrist": 1146 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.06069973111152649, + 0.37195178866386414, + 0.219546377658844, + 0.34405001997947693, + 0.371391236782074, + 0.25508248805999756 + ], + "joint_lag_p95_error_rad": [ + 0.0019750501960515976, + 0.0018749488517642021, + 0.001813046634197235, + 0.0022914952132850885, + 0.002807214856147766, + 0.002258891239762306 + ], + "joint_lag_rms_error_rad": [ + 0.001988910924548562, + 0.011023075981139056, + 0.006536230900009349, + 0.010216664248892258, + 0.011032643128304046, + 0.007605682024738224 + ], + "joint_lag_samples": [ + 1146, + 1146, + 1146, + 1146, + 1146, + 1146 + ], + "joint_lag_worst_time_s": [ + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996 + ], + "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": 21, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006452673929743469, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973364015109837, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043492860277183345, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0049141348409466445, + "leadthrough_capture_egm_poll_duration_warn_count": 4078, + "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": 0.006511931074783206, + "leadthrough_capture_host_loop_dt_median_s": 0.003997421532403678, + "leadthrough_capture_host_loop_dt_p95_s": 0.004386089142644778, + "leadthrough_capture_host_loop_dt_p99_s": 0.004966014038072898, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006477431044913828, + "leadthrough_capture_host_receive_dt_median_s": 0.004001726512797177, + "leadthrough_capture_host_receive_dt_p95_s": 0.004359960427973419, + "leadthrough_capture_host_receive_dt_p99_s": 0.004926986071513959, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.0135024479823187, + "leadthrough_capture_loop_late_median_s": 0.008797400281764567, + "leadthrough_capture_loop_late_p95_s": 0.009156037506181746, + "leadthrough_capture_loop_late_p99_s": 0.009803003121633081, + "leadthrough_capture_loop_late_warn_count": 9555, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006491514039225876, + "leadthrough_capture_read_duration_median_s": 0.003986928961239755, + "leadthrough_capture_read_duration_p95_s": 0.0043721378315240145, + "leadthrough_capture_read_duration_p99_s": 0.0049494425067678075, + "leadthrough_capture_read_duration_warn_count": 4418, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003426291048526764, + 0.002534151077270508, + 0.003832995891571045, + 0.004882968962192535, + 0.0038319826126098633, + 0.00602327287197113 + ], + "leadthrough_delta_max_abs_rad": 0.00602327287197113, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009484125184826553, + 0.0018145284848287702, + 0.002870520344004035, + 0.0003421503643039614, + 0.0015095467679202557, + 0.0033084198366850615 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005359645001590252, + 0.0007565812557004392, + 0.0011210056254640222, + 0.00042265409138053656, + 0.0006394913070835173, + 0.00112332112621516 + ], + "leadthrough_delta_samples": 7218, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00602327287197113, + "leadthrough_delta_worst_from_rad": -0.22483664751052856, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8569999999999993, + "leadthrough_delta_worst_to_rad": -0.2308599203824997, + "leadthrough_duration_s": 28.869, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7217, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.29999999999999716, + "leadthrough_final_stillness_removed_samples": 75, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7218, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9555, + "leadthrough_initial_stillness_first_motion_index": 2262, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 9.042, + "leadthrough_initial_stillness_removed_samples": 2261, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 2261, + "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": [ + 0.003426291048526764, + 0.002534151077270508, + 0.003832995891571045, + 0.004882968962192535, + 0.0038319826126098633, + 0.00602327287197113 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00602327287197113, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1197260270515654, + 0.8016228675841981, + 1.2769897778828454, + 1.6276563207307835, + 1.2745062510172043, + 2.006158232688828 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7320120334625244, + "leadthrough_velocity_rms_rad_s": 0.20959700965733907, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.37195178866386414, + "measured_wall_accel_p95_abs_rad_s2": 0.6042789220809937, + "measured_wall_accel_peak_abs_rad_s2": 235.0937042236328, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.784771040081978, + "measured_wall_accel_rms_rad_s2": 7.416629169651183, + "measured_wall_jerk_p95_abs_rad_s3": 10.159743309020996, + "measured_wall_jerk_peak_abs_rad_s3": 3647.4208984375, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.81641077704262, + "measured_wall_jerk_rms_rad_s3": 94.45313971864384, + "measured_wall_smoothness_samples": 1146, + "measured_wall_velocity_peak_abs_rad_s": 14.875551223754883, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.753131495090201, + "measured_wall_velocity_rms_rad_s": 0.36536817368879954, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.37195178866386414, + "moving_aligned_p95_error_rad": 0.0025183875113725662, + "moving_aligned_rms_error_rad": 0.010205923760285297, + "moving_aligned_samples": 829, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 0.5359999999999996, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.06069973111152649, + 0.37195178866386414, + 0.219546377658844, + 0.34405001997947693, + 0.371391236782074, + 0.25508248805999756 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0025389576330780983, + 0.002302248030900955, + 0.0019274228252470493, + 0.005157189909368753, + 0.0035926103591918945, + 0.0026724974159151316 + ], + "moving_joint_lag_rms_error_rad": [ + 0.002556723271721275, + 0.01350479443559147, + 0.008077137898425759, + 0.022640095281519078, + 0.014254491656159373, + 0.012074646245061637 + ], + "moving_joint_lag_samples": [ + 679, + 763, + 749, + 233, + 686, + 453 + ], + "moving_joint_lag_worst_time_s": [ + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996, + 0.5359999999999996 + ], + "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": 51.15721893310547, + "playback_velocity_rms_rad_s": 1.7269293134159387, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 87.738, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.869, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2921, + 6455 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42979370894787206, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08713668584823608, + "rapid_planner_max_dt_s": 2.2119999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007501315325498581, + "rapid_planner_median_dt_s": 0.09299999999999997, + "rapid_planner_path_max_error_rad": 0.37195178866386414, + "rapid_planner_path_p95_error_rad": 0.003274529241025448, + "rapid_planner_path_rms_error_rad": 0.011097572811035463, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 45, + 76, + 106, + 130, + 153, + 168, + 184, + 197, + 210, + 224, + 237, + 254, + 276, + 297, + 312, + 326, + 341, + 356, + 370, + 383, + 396, + 410, + 425, + 440, + 462, + 485, + 530, + 562, + 580, + 613, + 633, + 680, + 727, + 774, + 821, + 863, + 913, + 971, + 1020, + 1065, + 1106, + 1161, + 1296, + 1363, + 1509, + 1547, + 1683, + 1755, + 1927, + 2105, + 2186, + 2739, + 2921, + 3089, + 3276, + 3711, + 3821, + 3930, + 3951, + 3972, + 3987, + 4002, + 4016, + 4031, + 4054, + 4076, + 4103, + 4130, + 4147, + 4164, + 4180, + 4197, + 4216, + 4235, + 4252, + 4270, + 4287, + 4304, + 4338, + 4370, + 4402, + 4421, + 4443, + 4466, + 4488, + 4510, + 4533, + 4546, + 4558, + 4570, + 4582, + 4594, + 4607, + 4631, + 4655, + 4681, + 4756, + 4803, + 4847, + 4895, + 4922, + 4966, + 5022, + 5081, + 5294, + 5756, + 5837, + 6025, + 6455, + 6754, + 6783, + 6798, + 6812, + 6828, + 6861, + 6884, + 6894, + 6905, + 6916, + 6926, + 6941, + 6956, + 6999, + 7027, + 7056, + 7126, + 7218 + ], + "rapid_planner_selected_max_joint_step_deg": 4.992564339861255, + "rapid_planner_selected_samples": 128, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7219, + "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": 0.37195178866386414, + "raw_replay_rms_error_rad": 0.00868074619452464, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.976443704353202, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9619627827727278, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9883993541552517, + "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": 0.9876963972563209, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9601199607844478, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9932401806459695, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005771666765213013, + 0.0009211301803588867, + 0.0012656450271606445, + 0.003372529521584511, + 0.0037502050399780273, + 0.006698012351989746 + ], + "replay_smoothing_max_deviation_normalized": 0.7675356837366257, + "replay_smoothing_max_deviation_rad": 0.006698012351989746, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021765471901744604, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.190171241760254, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 59.235530853271484, + "replay_smoothing_raw_accel_rms_rad_s2": 4.765756739895413, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2199.658203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15985.3671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1226.0925022837805, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.79172682762146, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2107092803293435, + "replay_smoothing_rms_deviation_rad": 0.0009137377694405224, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.950128555297852, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.98237609863281, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.710470883773664, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2172.594482421875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15347.8701171875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1217.804338457011, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7320120334625244, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20959700965733907, + "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": 0.9666719316592431, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.994721301927158, + "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": 2.452, + "replay_smoothing_wrist_max_deviation_rad": 0.006698012351989746, + "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": 0.37195178866386414, + "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": 0.47133976221084595, + "stage_planned_to_measured_rms_error_rad": 0.011809154437519783, + "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": 1146, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3720", + "target_wall_accel_p95_abs_rad_s2": 0.8486754298210144, + "target_wall_accel_peak_abs_rad_s2": 94.2759780883789, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 7.210997864603996e-06, + "target_wall_accel_rms_rad_s2": 2.1776159659072074, + "target_wall_jerk_p95_abs_rad_s3": 19.78870391845703, + "target_wall_jerk_peak_abs_rad_s3": 1410.0584716796875, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672182702459395, + "target_wall_jerk_rms_rad_s3": 27.56595995881738, + "target_wall_smoothness_samples": 1146, + "target_wall_velocity_peak_abs_rad_s": 6.289585113525391, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 7.210997864603996e-06, + "target_wall_velocity_rms_rad_s": 0.15279896036698595, + "tcp_pose_count": 1146, + "timestamp_count": 1146, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3720", + "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": 0.7900000000000027, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0999999999999992, + "window_lag_best_lag_p95_abs_s": 0.9140000000000008, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.37195178866386414, + "window_lag_worst_rms_error_rad": 0.03225572137342831, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.37195178866386414, + "zero_lag_p95_error_rad": 0.002139657735824585, + "zero_lag_rms_error_rad": 0.00868074619452464, + "zero_lag_samples": 1146, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 0.5359999999999996 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.npz new file mode 100644 index 0000000000000000000000000000000000000000..95102e5f81e7b60d6cb9de0049e229bb5c1580d8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171353.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01d688db4e91308b3bd433081b5a8b34161c896a1d5ba8986f645f41e0dea4b8 +size 120048 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.json new file mode 100644 index 0000000000000000000000000000000000000000..d1f4ee8450f605c850adeb1b3737c2796ed321df --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.json @@ -0,0 +1,678 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-08-31T17:16:16", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1141, + "actual_playback_duration_s": 38.054246986983344, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005453437566757202, + "aligned_p95_error_rad": 0.0020904541015625, + "aligned_rms_error_rad": 0.0009065837805476186, + "aligned_samples": 1141, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 19.126, + "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_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1141, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1141, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4875980996436162, + "image_frame_counts": { + "cam_scene": 1141, + "cam_wrist": 1141 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004088848829269409, + 0.005370140075683594, + 0.004650592803955078, + 0.004258692264556885, + 0.0053948163986206055, + 0.005453437566757202 + ], + "joint_lag_p95_error_rad": [ + 0.0020099282264709473, + 0.0020644068717956543, + 0.0020563602447509766, + 0.0009398460388183594, + 0.0023752450942993164, + 0.002468109130859375 + ], + "joint_lag_rms_error_rad": [ + 0.0008092503718317635, + 0.0009661571797410942, + 0.0009195522788080973, + 0.00048277947807379357, + 0.0010390671411000198, + 0.001088442054044599 + ], + "joint_lag_samples": [ + 1141, + 1141, + 1141, + 1141, + 1141, + 1141 + ], + "joint_lag_worst_time_s": [ + 16.403, + 19.126, + 3.812, + 24.305, + 16.454, + 19.126 + ], + "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": 37, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006549451965838671, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039714284939691424, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004333622986450791, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004805252485675736, + "leadthrough_capture_egm_poll_duration_warn_count": 3250, + "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": 0.006639722967520356, + "leadthrough_capture_host_loop_dt_median_s": 0.003999309963546693, + "leadthrough_capture_host_loop_dt_p95_s": 0.00436533106258139, + "leadthrough_capture_host_loop_dt_p99_s": 0.0048484192998148505, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006353308912366629, + "leadthrough_capture_host_receive_dt_median_s": 0.003996466984972358, + "leadthrough_capture_host_receive_dt_p95_s": 0.004341811744961887, + "leadthrough_capture_host_receive_dt_p99_s": 0.004807994016446174, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_capture_leadthrough_start_pose_notes": "", + "leadthrough_capture_leadthrough_start_pose_project": "biotek_to_flex", + "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": 0.011479043983854353, + "leadthrough_capture_loop_late_median_s": 0.005412508267909288, + "leadthrough_capture_loop_late_p95_s": 0.005812032730318606, + "leadthrough_capture_loop_late_p99_s": 0.0063126415479928255, + "leadthrough_capture_loop_late_warn_count": 7256, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0066027159336954355, + "leadthrough_capture_read_duration_median_s": 0.003986786003224552, + "leadthrough_capture_read_duration_p95_s": 0.004349549300968647, + "leadthrough_capture_read_duration_p99_s": 0.004834990546805783, + "leadthrough_capture_read_duration_warn_count": 3455, + "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": 3, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0038605183362960815, + 0.0025730133056640625, + 0.0039324164390563965, + 0.0028007104992866516, + 0.002441883087158203, + 0.0047158002853393555 + ], + "leadthrough_delta_max_abs_rad": 0.0047158002853393555, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009812191128730774, + 0.0018836110830307007, + 0.0028721150010824203, + 0.00018590688705444336, + 0.0013731718063354492, + 0.003103015013039112 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005965342279523611, + 0.0008375043980777264, + 0.0011993625666946173, + 0.000256181025179103, + 0.0005921398405916989, + 0.0011630428489297628 + ], + "leadthrough_delta_samples": 6396, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0047158002853393555, + "leadthrough_delta_worst_from_rad": -0.6220471858978271, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1400000000000001, + "leadthrough_delta_worst_to_rad": -0.6267629861831665, + "leadthrough_duration_s": 25.581, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6395, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.39199999999999946, + "leadthrough_final_stillness_removed_samples": 98, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6396, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7256, + "leadthrough_initial_stillness_first_motion_index": 762, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.044, + "leadthrough_initial_stillness_removed_samples": 761, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 761, + "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": [ + 0.0038605183362960815, + 0.0025730133056640625, + 0.0039324164390563965, + 0.0028007104992866516, + 0.002441883087158203, + 0.0047158002853393555 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0047158002853393555, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2859068810939303, + 0.7629940907160152, + 0.9978810946158087, + 0.9263815979162501, + 0.8115371068318378, + 1.2609412272770721 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.159176230430603, + "leadthrough_velocity_rms_rad_s": 0.21304679458351355, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005453437566757202, + "measured_wall_accel_p95_abs_rad_s2": 0.5156747102737427, + "measured_wall_accel_peak_abs_rad_s2": 2.6608994007110596, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 23.47696784196887, + "measured_wall_accel_rms_rad_s2": 0.241535061465968, + "measured_wall_jerk_p95_abs_rad_s3": 8.98101806640625, + "measured_wall_jerk_peak_abs_rad_s3": 45.343997955322266, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.875035770004615, + "measured_wall_jerk_rms_rad_s3": 4.2325486431187445, + "measured_wall_smoothness_samples": 1141, + "measured_wall_velocity_peak_abs_rad_s": 0.5076338648796082, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.97491962299682, + "measured_wall_velocity_rms_rad_s": 0.10920044307790237, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0053948163986206055, + "moving_aligned_p95_error_rad": 0.0023651719093322754, + "moving_aligned_rms_error_rad": 0.0010356743866008766, + "moving_aligned_samples": 831, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 16.454, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004013970494270325, + 0.004987277090549469, + 0.004650592803955078, + 0.004258692264556885, + 0.0053948163986206055, + 0.005231752991676331 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0022309496998786926, + 0.002578861778602004, + 0.002366414526477456, + 0.0025486533995717764, + 0.0027551769744604826, + 0.0032649124041199684 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009536188752913397, + 0.0011194161035304614, + 0.0011026949937398705, + 0.0011149589115830108, + 0.0013061370174397454, + 0.0014973992453116796 + ], + "moving_joint_lag_samples": [ + 662, + 760, + 709, + 170, + 667, + 475 + ], + "moving_joint_lag_worst_time_s": [ + 24.63, + 16.454, + 3.812, + 24.305, + 16.454, + 24.589 + ], + "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": 1.4046895503997803, + "playback_velocity_rms_rad_s": 0.36278816471458747, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 81.162, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 25.581, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2166, + 5608 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.41688742618089825, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08668369054794312, + "rapid_planner_max_dt_s": 2.7079999999999984, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007276058197021484, + "rapid_planner_median_dt_s": 0.1014999999999997, + "rapid_planner_path_max_error_rad": 0.005453437566757202, + "rapid_planner_path_p95_error_rad": 0.003381013870239258, + "rapid_planner_path_rms_error_rad": 0.0015061250521425937, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 33, + 57, + 86, + 114, + 149, + 166, + 184, + 202, + 220, + 232, + 244, + 256, + 268, + 280, + 292, + 304, + 317, + 337, + 357, + 377, + 397, + 418, + 440, + 460, + 487, + 514, + 537, + 560, + 579, + 598, + 622, + 646, + 667, + 688, + 708, + 738, + 771, + 822, + 864, + 894, + 939, + 988, + 1005, + 1041, + 1077, + 1141, + 1182, + 1218, + 1430, + 1519, + 1631, + 1795, + 2166, + 2843, + 2961, + 3043, + 3084, + 3104, + 3123, + 3144, + 3164, + 3182, + 3200, + 3218, + 3237, + 3254, + 3270, + 3286, + 3303, + 3328, + 3354, + 3374, + 3395, + 3426, + 3458, + 3486, + 3514, + 3538, + 3576, + 3612, + 3647, + 3686, + 3724, + 3741, + 3758, + 3776, + 3793, + 3837, + 3880, + 3912, + 3947, + 3979, + 4022, + 4063, + 4188, + 4215, + 4262, + 4292, + 4349, + 4442, + 4521, + 4640, + 5116, + 5608, + 5865, + 5890, + 5912, + 5950, + 5984, + 6000, + 6016, + 6029, + 6042, + 6063, + 6088, + 6104, + 6119, + 6136, + 6179, + 6229, + 6275, + 6396 + ], + "rapid_planner_selected_max_joint_step_deg": 4.966609621015207, + "rapid_planner_selected_samples": 123, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6397, + "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": 0.005453437566757202, + "raw_replay_rms_error_rad": 0.0009065837805476186, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.976004657487973, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9479379223952011, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9804207525454154, + "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": 0.9951312548038076, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9430136957562699, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9928465969804772, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005107372999191284, + 0.0005865655839443207, + 0.0006206929683685303, + 0.002306392416357994, + 0.002447843551635742, + 0.007677316665649414 + ], + "replay_smoothing_max_deviation_normalized": 0.8797556926692326, + "replay_smoothing_max_deviation_rad": 0.007677316665649414, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002156606875360012, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.228026390075684, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.16114807128906, + "replay_smoothing_raw_accel_rms_rad_s2": 3.203195703924188, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1238.7939453125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10613.17578125, + "replay_smoothing_raw_jerk_rms_rad_s3": 813.12650649292, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.1781229972839355, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21398860830014765, + "replay_smoothing_rms_deviation_rad": 0.0009968823565685773, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.078582763671875, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.122337341308594, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.140479542591594, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1232.7625732421875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10008.3701171875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 807.3098848861196, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.159176230430603, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21304679458351355, + "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": 0.9839178363405071, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9955987670366402, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 24.514, + "replay_smoothing_wrist_max_deviation_rad": 0.007677316665649414, + "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": 0.005453437566757202, + "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": 0.029588043689727783, + "stage_planned_to_measured_rms_error_rad": 0.006476519603830897, + "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": 1141, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8288112282752991, + "target_wall_accel_peak_abs_rad_s2": 3.424791097640991, + "target_wall_accel_peak_joint": 1, + "target_wall_accel_peak_time_s": 27.933388535981067, + "target_wall_accel_rms_rad_s2": 0.37813495191132657, + "target_wall_jerk_p95_abs_rad_s3": 20.385086059570312, + "target_wall_jerk_peak_abs_rad_s3": 97.07120513916016, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 27.90005693794228, + "target_wall_jerk_rms_rad_s3": 8.814174508728284, + "target_wall_smoothness_samples": 1141, + "target_wall_velocity_peak_abs_rad_s": 0.5376314520835876, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.6667382089654, + "target_wall_velocity_rms_rad_s": 0.11031382579402473, + "tcp_pose_count": 1141, + "timestamp_count": 1141, + "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": 0.030000000000002025, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.3399999999999994, + "window_lag_best_lag_p95_abs_s": 1.1699999999999993, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0899999999999992, + "window_lag_worst_end_s": 23.0, + "window_lag_worst_max_error_rad": 0.1598973274230957, + "window_lag_worst_rms_error_rad": 0.008794052416092466, + "window_lag_worst_start_s": 22.0, + "zero_lag_max_error_rad": 0.005453437566757202, + "zero_lag_p95_error_rad": 0.0020904541015625, + "zero_lag_rms_error_rad": 0.0009065837805476186, + "zero_lag_samples": 1141, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 19.126 + } +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.npz b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.npz new file mode 100644 index 0000000000000000000000000000000000000000..a66b8b8036bd6c0535357340410b3f6073c458eb --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260831_171613.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13a0007cffa8d0b4b99a11bd6b064524c7c7c9212ed73f14eb8ac2bcc950e88c +size 120083 diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_manifest.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4e83544cd9faff7b8268160c526c0a35a047e44c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_manifest.json @@ -0,0 +1,431 @@ +{ + "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": 13, + "discard": 6, + "failure": 0, + "success": 7 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 38.367, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260831_165616.hdf5", + "file_size_mb": 1395.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1152, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.767, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260831_165922.hdf5", + "file_size_mb": 1373.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1134, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 46.106, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 249.92, + "num_frames": 11524, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 6, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 35.116, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 8781, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 30, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260831_170343.hdf5", + "file_size_mb": 1392.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1148, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 23.386, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.02, + "num_frames": 5848, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 4, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.433, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260831_170615.hdf5", + "file_size_mb": 1393.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1154, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.367, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260831_170812.hdf5", + "file_size_mb": 1431.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1182, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.4, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000005", + "episode_idx": 5, + "file": "episode_000005_20260831_171023.hdf5", + "file_size_mb": 1446.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1183, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 27.205, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000004", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6803, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 6, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.167, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000005", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 30.0, + "num_frames": 1146, + "outcome": "discard", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 26.713, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:discard_000006", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6680, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 4, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.0, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-08-31_16-54-06:episode_000006", + "episode_idx": 6, + "file": "episode_000006_20260831_171617.hdf5", + "file_size_mb": 1382.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1141, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "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": "2026-08-31T18:18:46", + "session_id": "flex_to_biotek_v2_2026-08-31_16-54-06", + "session_started": "2026-08-31T16:54:06", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 9, + "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": "biotek_to_flex/start_pose_v012", + "leadthrough_start_pose_notes": "", + "leadthrough_start_pose_project": "biotek_to_flex", + "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": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v001", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v001.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": "2026-08-31T18:18:46" +} diff --git a/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_summary.json b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b64360a2b33752dd61ccf4128881b000313cba --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-08-31_16-54-06/session_summary.json @@ -0,0 +1,481 @@ +{ + "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": "2026-08-31T16:54:07", + "session_ended": "", + "counts": { + "attempted": 13, + "success": 7, + "failure": 0, + "discard": 6 + }, + "episodes": [ + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260831_165616.hdf5", + "num_frames": 1152, + "duration_s": 38.367, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.87, + "file_size_mb": 1395.0, + "save_metrics": { + "validate_s": 0.0013165880227461457, + "prepare_arrays_s": 0.0012479790020734072, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.3389621259411797, + "image_write_s": 9.483428423991427, + "image_chunking": "frame", + "image_input_mb": 2123.3664, + "image_storage_mb": 1392.233549, + "image_frame_count": 2304, + "image_camera_frame_counts": { + "cam_wrist": 1152, + "cam_scene": 1152 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1061.6832, + "cam_scene": 1061.6832 + }, + "image_camera_storage_mb": { + "cam_wrist": 665.118253, + "cam_scene": 727.115296 + }, + "file_size_mb": 1395.031269, + "hdf5_write_s": 9.867581423954107, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.0516996048390865e-05, + "total_s": 9.870235882000998 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260831_165922.hdf5", + "num_frames": 1134, + "duration_s": 37.767, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.012, + "file_size_mb": 1373.6, + "save_metrics": { + "validate_s": 0.0013218100648373365, + "prepare_arrays_s": 0.0013945630053058267, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6619723699986935, + "image_write_s": 9.305215689004399, + "image_chunking": "frame", + "image_input_mb": 2090.1888, + "image_storage_mb": 1370.673419, + "image_frame_count": 2268, + "image_camera_frame_counts": { + "cam_wrist": 1134, + "cam_scene": 1134 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1045.0944, + "cam_scene": 1045.0944 + }, + "image_camera_storage_mb": { + "cam_wrist": 654.92849, + "cam_scene": 715.744929 + }, + "file_size_mb": 1373.600599, + "hdf5_write_s": 10.008796597016044, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.338500391691923e-05, + "total_s": 10.011846111970954 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 11524, + "duration_s": 46.106, + "measured_fps": 249.92, + "slow_ticks": 6, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 8781, + "duration_s": 35.116, + "measured_fps": 250.03, + "slow_ticks": 30, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260831_170343.hdf5", + "num_frames": 1148, + "duration_s": 38.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.466, + "file_size_mb": 1392.2, + "save_metrics": { + "validate_s": 0.001172365969978273, + "prepare_arrays_s": 0.001332747982814908, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9151693020248786, + "image_write_s": 9.495584569056518, + "image_chunking": "frame", + "image_input_mb": 2115.9936, + "image_storage_mb": 1389.6440080000002, + "image_frame_count": 2296, + "image_camera_frame_counts": { + "cam_wrist": 1148, + "cam_scene": 1148 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1057.9968, + "cam_scene": 1057.9968 + }, + "image_camera_storage_mb": { + "cam_wrist": 664.064462, + "cam_scene": 725.579546 + }, + "file_size_mb": 1392.198812, + "hdf5_write_s": 10.46301691699773, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.8190046325325966e-05, + "total_s": 10.465636798995547 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5848, + "duration_s": 23.386, + "measured_fps": 250.02, + "slow_ticks": 4, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260831_170615.hdf5", + "num_frames": 1154, + "duration_s": 38.433, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 12.157, + "file_size_mb": 1393.8, + "save_metrics": { + "validate_s": 0.0010672749485820532, + "prepare_arrays_s": 0.0012997640296816826, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.4415946330409497, + "image_write_s": 9.66251852887217, + "image_chunking": "frame", + "image_input_mb": 2127.0528, + "image_storage_mb": 1390.879143, + "image_frame_count": 2308, + "image_camera_frame_counts": { + "cam_wrist": 1154, + "cam_scene": 1154 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1063.5264, + "cam_scene": 1063.5264 + }, + "image_camera_storage_mb": { + "cam_wrist": 662.312139, + "cam_scene": 728.567004 + }, + "file_size_mb": 1393.810615, + "hdf5_write_s": 12.154090792057104, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.4837983548641205e-05, + "total_s": 12.1565631829435 + } + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260831_170812.hdf5", + "num_frames": 1182, + "duration_s": 39.367, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.789, + "file_size_mb": 1431.2, + "save_metrics": { + "validate_s": 0.0011070430045947433, + "prepare_arrays_s": 0.0012441430008038878, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.86467395699583, + "image_write_s": 9.879377739969641, + "image_chunking": "frame", + "image_input_mb": 2178.6624, + "image_storage_mb": 1428.614789, + "image_frame_count": 2364, + "image_camera_frame_counts": { + "cam_wrist": 1182, + "cam_scene": 1182 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1089.3312, + "cam_scene": 1089.3312 + }, + "image_camera_storage_mb": { + "cam_wrist": 680.826024, + "cam_scene": 747.788765 + }, + "file_size_mb": 1431.157237, + "hdf5_write_s": 11.786924735992216, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.2069976441562176e-05, + "total_s": 11.789434859994799 + } + }, + { + "episode_idx": 5, + "outcome": "success", + "file": "episode_000005_20260831_171023.hdf5", + "num_frames": 1183, + "duration_s": 39.4, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.849, + "file_size_mb": 1446.1, + "save_metrics": { + "validate_s": 0.0015473010716959834, + "prepare_arrays_s": 0.0012077389983460307, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.8065249549690634, + "image_write_s": 9.953709398047067, + "image_chunking": "frame", + "image_input_mb": 2180.5056, + "image_storage_mb": 1442.924047, + "image_frame_count": 2366, + "image_camera_frame_counts": { + "cam_wrist": 1183, + "cam_scene": 1183 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1090.2528, + "cam_scene": 1090.2528 + }, + "image_camera_storage_mb": { + "cam_wrist": 693.679694, + "cam_scene": 749.244353 + }, + "file_size_mb": 1446.127759, + "hdf5_write_s": 11.845896939979866, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.346602898091078e-05, + "total_s": 11.848754797014408 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6803, + "duration_s": 27.205, + "measured_fps": 250.03, + "slow_ticks": 6, + "dropped_ticks": 1, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 1146, + "duration_s": 38.167, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6680, + "duration_s": 26.713, + "measured_fps": 250.03, + "slow_ticks": 4, + "dropped_ticks": 1, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 6, + "outcome": "success", + "file": "episode_000006_20260831_171617.hdf5", + "num_frames": 1141, + "duration_s": 38.0, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 3628.258, + "file_size_mb": 1382.3, + "save_metrics": { + "validate_s": 0.0017961199628189206, + "prepare_arrays_s": 0.0013969900319352746, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.4306359289912507, + "image_write_s": 3625.8449845389696, + "image_chunking": "frame", + "image_input_mb": 2103.0912, + "image_storage_mb": 1379.672418, + "image_frame_count": 2282, + "image_camera_frame_counts": { + "cam_wrist": 1141, + "cam_scene": 1141 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1051.5456, + "cam_scene": 1051.5456 + }, + "image_camera_storage_mb": { + "cam_wrist": 658.924423, + "cam_scene": 720.747995 + }, + "file_size_mb": 1382.280386, + "hdf5_write_s": 3628.2407099300763, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.240102134644985e-05, + "total_s": 3628.2584979640087 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.json b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.json new file mode 100644 index 0000000000000000000000000000000000000000..51835fad5b00aa786b70f235639ebb806a86172a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.json @@ -0,0 +1,691 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T10:09:47", + "event_log": [], + "npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1131, + "actual_playback_duration_s": 37.714639510028064, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006986856460571289, + "aligned_p95_error_rad": 0.0017950464971363544, + "aligned_rms_error_rad": 0.0007888436848573183, + "aligned_samples": 1131, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 7.675000000000001, + "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/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.json", + "debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1131, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1131, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3850908777416748, + "image_frame_counts": { + "cam_scene": 1131, + "cam_wrist": 1131 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004955112934112549, + 0.0038887858390808105, + 0.004731535911560059, + 0.0035576410591602325, + 0.0068961381912231445, + 0.006986856460571289 + ], + "joint_lag_p95_error_rad": [ + 0.0015120459720492363, + 0.0015244483947753906, + 0.0020092278718948364, + 0.001046774908900261, + 0.0018942952156066895, + 0.0022007375955581665 + ], + "joint_lag_rms_error_rad": [ + 0.0006923509478593787, + 0.000717718743315958, + 0.0008621263187904543, + 0.0005166758445620182, + 0.0008641517729484718, + 0.0009910611084750387 + ], + "joint_lag_samples": [ + 1131, + 1131, + 1131, + 1131, + 1131, + 1131 + ], + "joint_lag_worst_time_s": [ + 17.302, + 16.078, + 16.078, + 2.0600000000000005, + 7.675000000000001, + 7.675000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007752739009447396, + "leadthrough_capture_egm_poll_duration_median_s": 0.003956300031859428, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0045071075146552175, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005267334985546768, + "leadthrough_capture_egm_poll_duration_warn_count": 3861, + "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": 0.00786530296318233, + "leadthrough_capture_host_loop_dt_median_s": 0.003993932041339576, + "leadthrough_capture_host_loop_dt_p95_s": 0.004570312239229678, + "leadthrough_capture_host_loop_dt_p99_s": 0.005327976162079722, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007611735025420785, + "leadthrough_capture_host_receive_dt_median_s": 0.003993921913206577, + "leadthrough_capture_host_receive_dt_p95_s": 0.0045069563086144624, + "leadthrough_capture_host_receive_dt_p99_s": 0.005255889995023608, + "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_v001", + "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": 0.01639577792957425, + "leadthrough_capture_loop_late_median_s": 0.011481531255412847, + "leadthrough_capture_loop_late_p95_s": 0.012115197983803228, + "leadthrough_capture_loop_late_p99_s": 0.012868699908722192, + "leadthrough_capture_loop_late_warn_count": 9076, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007820539991371334, + "leadthrough_capture_read_duration_median_s": 0.0039767889538779855, + "leadthrough_capture_read_duration_p95_s": 0.004543533752439544, + "leadthrough_capture_read_duration_p99_s": 0.005309849017066881, + "leadthrough_capture_read_duration_warn_count": 4198, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 15, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002883806824684143, + 0.0024698972702026367, + 0.004054248332977295, + 0.0024909190833568573, + 0.0032872557640075684, + 0.006322875618934631 + ], + "leadthrough_delta_max_abs_rad": 0.006322875618934631, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0009375485242344439, + 0.0017633899115025997, + 0.0023052131291478872, + 0.0004397614684421569, + 0.0012419521808624268, + 0.004253593739122152 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005301674245856702, + 0.0007385123753920197, + 0.0010725163156166673, + 0.0002770384307950735, + 0.0005897745722904801, + 0.001343105803243816 + ], + "leadthrough_delta_samples": 6808, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006322875618934631, + "leadthrough_delta_worst_from_rad": -0.13526295125484467, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 25.348999999999997, + "leadthrough_delta_worst_to_rad": -0.12894007563591003, + "leadthrough_duration_s": 27.229, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6807, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5, + "leadthrough_final_stillness_removed_samples": 125, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6808, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9076, + "leadthrough_initial_stillness_first_motion_index": 2143, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 8.567, + "leadthrough_initial_stillness_removed_samples": 2142, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 2142, + "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": [ + 0.002883806824684143, + 0.0024698972702026367, + 0.004054248332977295, + 0.0024909190833568573, + 0.0032872557640075684, + 0.006322875618934631 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006322875618934631, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7209517061701547, + 0.791629155476858, + 1.3514161109923803, + 0.6227297708395595, + 0.8218139410008877, + 1.5807189047345338 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.4565027952194214, + "leadthrough_velocity_rms_rad_s": 0.21070794722872602, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006986856460571289, + "measured_wall_accel_p95_abs_rad_s2": 0.5806596875190735, + "measured_wall_accel_peak_abs_rad_s2": 3.7786810398101807, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 16.4659720340278, + "measured_wall_accel_rms_rad_s2": 0.28840362382895496, + "measured_wall_jerk_p95_abs_rad_s3": 9.647648811340332, + "measured_wall_jerk_peak_abs_rad_s3": 55.37076950073242, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 43.86702372704167, + "measured_wall_jerk_rms_rad_s3": 4.63097049471841, + "measured_wall_smoothness_samples": 1131, + "measured_wall_velocity_peak_abs_rad_s": 0.8593568205833435, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 16.566807551076636, + "measured_wall_velocity_rms_rad_s": 0.11555913039302547, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006986856460571289, + "moving_aligned_p95_error_rad": 0.0020425133407115936, + "moving_aligned_rms_error_rad": 0.0009142665847409438, + "moving_aligned_samples": 825, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 7.675000000000001, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004955112934112549, + 0.0038887858390808105, + 0.004731535911560059, + 0.0035576410591602325, + 0.0068961381912231445, + 0.004809141159057617 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001659806934185326, + 0.0016241901321336627, + 0.002314299577847123, + 0.0021704412065446377, + 0.0021304371766746044, + 0.0029367562383413315 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008263434106491026, + 0.0008122754044677113, + 0.0010443514204943312, + 0.001028332759133546, + 0.0010126393336235156, + 0.001550935790265502 + ], + "moving_joint_lag_samples": [ + 660, + 787, + 730, + 226, + 657, + 372 + ], + "moving_joint_lag_worst_time_s": [ + 17.302, + 16.078, + 16.078, + 2.0600000000000005, + 7.675000000000001, + 16.062 + ], + "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": 1.9430928230285645, + "playback_velocity_rms_rad_s": 0.36294106316881836, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 84.458, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 27.229, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2552, + 5882 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43390142740340004, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08497586846351624, + "rapid_planner_max_dt_s": 2.690999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0075730085372924805, + "rapid_planner_median_dt_s": 0.08900000000000219, + "rapid_planner_path_max_error_rad": 0.006986856460571289, + "rapid_planner_path_p95_error_rad": 0.0025666318833827972, + "rapid_planner_path_rms_error_rad": 0.0013580874421925686, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 43, + 74, + 99, + 122, + 134, + 145, + 160, + 175, + 190, + 205, + 224, + 242, + 258, + 274, + 288, + 303, + 318, + 332, + 346, + 360, + 374, + 387, + 406, + 426, + 437, + 448, + 459, + 470, + 483, + 496, + 530, + 565, + 596, + 628, + 656, + 685, + 714, + 744, + 782, + 812, + 868, + 912, + 956, + 996, + 1037, + 1066, + 1096, + 1128, + 1160, + 1245, + 1342, + 1415, + 1500, + 1568, + 1647, + 1781, + 2065, + 2552, + 3079, + 3165, + 3312, + 3448, + 3472, + 3496, + 3520, + 3536, + 3553, + 3577, + 3610, + 3643, + 3669, + 3695, + 3716, + 3736, + 3756, + 3777, + 3798, + 3818, + 3833, + 3848, + 3864, + 3879, + 3898, + 3918, + 3938, + 3958, + 3994, + 4033, + 4055, + 4076, + 4093, + 4110, + 4126, + 4143, + 4152, + 4162, + 4172, + 4181, + 4190, + 4200, + 4219, + 4237, + 4253, + 4272, + 4355, + 4423, + 4483, + 4544, + 4605, + 4669, + 4733, + 4799, + 4923, + 5209, + 5882, + 6119, + 6169, + 6202, + 6235, + 6258, + 6282, + 6296, + 6308, + 6322, + 6330, + 6339, + 6348, + 6357, + 6371, + 6385, + 6405, + 6443, + 6483, + 6546, + 6808 + ], + "rapid_planner_selected_max_joint_step_deg": 4.868758623418311, + "rapid_planner_selected_samples": 136, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6809, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 136, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006986856460571289, + "raw_replay_rms_error_rad": 0.0007888436848573183, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9465334887019962, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8937006066346956, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9784862280917568, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0000830729740229, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8991131753142996, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9923591135003792, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0009183734655380249, + 0.0006147623062133789, + 0.001056373119354248, + 0.002947114408016205, + 0.0029984712600708008, + 0.006109327077865601 + ], + "replay_smoothing_max_deviation_normalized": 0.7000773198764376, + "replay_smoothing_max_deviation_rad": 0.006109327077865601, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001974433893337846, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.705905914306641, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 42.95344924926758, + "replay_smoothing_raw_accel_rms_rad_s2": 2.7537783263437885, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 874.3136596679688, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11526.0458984375, + "replay_smoothing_raw_jerk_rms_rad_s3": 692.5389859531651, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5804190635681152, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21177361146575321, + "replay_smoothing_rms_deviation_rad": 0.0009337852731724304, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.4542975425720215, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 38.38752365112305, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.6945341675449646, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 874.3862915039062, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10363.2197265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 687.2473741649345, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4565027952194214, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21070794722872602, + "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": 0.9215927780136188, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9949679082787917, + "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": 25.269, + "replay_smoothing_wrist_max_deviation_rad": 0.006109327077865601, + "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": 0.006986856460571289, + "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": 0.05264880508184433, + "stage_planned_to_measured_rms_error_rad": 0.006858660043991912, + "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": 1131, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8476343154907227, + "target_wall_accel_peak_abs_rad_s2": 4.949515342712402, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.4333882189821452, + "target_wall_accel_rms_rad_s2": 0.3885788711569192, + "target_wall_jerk_p95_abs_rad_s3": 17.679428100585938, + "target_wall_jerk_peak_abs_rad_s3": 93.274169921875, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 10.333393658977002, + "target_wall_jerk_rms_rad_s3": 8.236655848904531, + "target_wall_smoothness_samples": 1131, + "target_wall_velocity_peak_abs_rad_s": 0.8641501665115356, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.46672622801270336, + "target_wall_velocity_rms_rad_s": 0.1164000811077403, + "tcp_pose_count": 1131, + "timestamp_count": 1131, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.7100000000000035, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0599999999999992, + "window_lag_best_lag_p95_abs_s": 1.2225000000000001, + "window_lag_count": 36, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0199999999999991, + "window_lag_worst_end_s": 24.0, + "window_lag_worst_max_error_rad": 0.03216475248336792, + "window_lag_worst_rms_error_rad": 0.0027863110475614427, + "window_lag_worst_start_s": 23.0, + "zero_lag_max_error_rad": 0.006986856460571289, + "zero_lag_p95_error_rad": 0.0017950464971363544, + "zero_lag_rms_error_rad": 0.0007888436848573183, + "zero_lag_samples": 1131, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 7.675000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.npz b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab1ab5e0cb3a2c891d4bbfc83380497df310f2f0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_100944.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865bd66522cf731e9dc6aff2ac663c1a34c5577b46a9ae1b9f57cb24604c3de0 +size 119674 diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d1137dfc0a13f86ceaf7caa9cddf7c53aac1057c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_manifest.json @@ -0,0 +1,144 @@ +{ + "action_type": "state_copy", + "camera_status": { + "cam_scene": { + "backend": "realsense", + "connected": true, + "error": null, + "frame_count": 0, + "has_frame": false, + "model": "Intel(R) RealSense(TM) Depth Camera 455", + "name": "cam_scene", + "product_id": "0b5c", + "serial": "324422301529", + "started": false, + "usb_min_speed_mbps": 5000.0, + "usb_path": "2-4.3", + "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": 0, + "discard": 0, + "failure": 0, + "success": 0 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [], + "operator": "Jesse", + "rapid_service_status": { + "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd", + "configured": true, + "message": "configured", + "ok": true, + "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState" + }, + "robot_type": "abb_gofa", + "session_ended": "", + "session_id": "flex_to_biotek_v2_2026-09-01_10-06-54", + "session_started": "2026-09-01T10:06:55", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 2, + "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_v001", + "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": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v002", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v002.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": "2026-09-01T10:07:55" +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_summary.json b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe721e7e39b715d2255f918960da4ce8ea49ed5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-06-54/session_summary.json @@ -0,0 +1,17 @@ +{ + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "operator": "Jesse", + "robot_type": "abb_gofa", + "collection_mode": "leadthrough_record", + "action_type": "state_copy", + "session_started": "2026-09-01T10:06:59", + "session_ended": "", + "counts": { + "attempted": 0, + "success": 0, + "failure": 0, + "discard": 0 + }, + "episodes": [] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b8730e510a7f18b5a646dfb542ea86242dcce5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_manifest.json @@ -0,0 +1,142 @@ +{ + "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": 0, + "discard": 0, + "failure": 0, + "success": 0 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [], + "operator": "Jesse", + "rapid_service_status": { + "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd", + "configured": true, + "message": "configured", + "ok": true, + "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState" + }, + "robot_type": "abb_gofa", + "session_ended": "2026-09-01T10:35:14", + "session_id": "flex_to_biotek_v2_2026-09-01_10-30-02", + "session_started": "2026-09-01T10:30:03", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 2, + "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_v002", + "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_io_backend": "", + "leadthrough_start_tool_state": 0.0, + "leadthrough_start_tool_state_valid": true, + "start_pose_hash": "53536edc48cc2b046f2b28752b5c0d6b20f8b2b2b81e1fb84e46e2b29d10b909", + "start_pose_id": "start_pose_v003", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v003.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": "2026-09-01T10:35:14" +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_summary.json b/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0f25fee75d6eace5474d0ff35b90cc84725312b8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_10-30-02/session_summary.json @@ -0,0 +1,17 @@ +{ + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "operator": "Jesse", + "robot_type": "abb_gofa", + "collection_mode": "leadthrough_record", + "action_type": "state_copy", + "session_started": "2026-09-01T10:30:07", + "session_ended": "", + "counts": { + "attempted": 0, + "success": 0, + "failure": 0, + "discard": 0 + }, + "episodes": [] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000000_20260901_153707.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000000_20260901_153707.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..28cf2243cfc2b1984b1a310d286caf63e2756fc4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000000_20260901_153707.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90b553b1947eb74ebc6bfab554345f4e11c0cfefc1d607ac5d803458b14c17de +size 1372033105 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000001_20260901_153853.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000001_20260901_153853.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..08683d5c41eded9af459463636639470acc8b267 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000001_20260901_153853.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb5c01046dade86a83f6cc8e1d4f9f511227d8cb66a4c6720ec6afd3b0f50c24 +size 1406659982 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000002_20260901_154039.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000002_20260901_154039.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f6741e397b251c8e858bc725475b3bf8aed3c898 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000002_20260901_154039.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcf1cd1cfd90e6bdb0b8d0569f6f25edf3655cd3f4fce87498e48fe59ef409a9 +size 1388038454 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000003_20260901_154223.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000003_20260901_154223.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8f8b1679d80194773527a8574492a890df0944b1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000003_20260901_154223.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3623962567c2640bb769e85023871bed0a421d212d5e34ff40623d5db9edeeb7 +size 1327832403 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000004_20260901_154408.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000004_20260901_154408.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9d653b7f26799ca76e48249dc48c0e4c10de8f58 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/episode_000004_20260901_154408.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19bad694c629b237b6a98829487c42f1413f7e0a69d1d94d497d84481e51228b +size 1382042616 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.json new file mode 100644 index 0000000000000000000000000000000000000000..015a74696a01166e944de29a76699d9629536ba1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.json @@ -0,0 +1,675 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:37:05", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1133, + "actual_playback_duration_s": 37.791773851029575, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.00650671124458313, + "aligned_p95_error_rad": 0.0017170252976939082, + "aligned_rms_error_rad": 0.0007635559035536921, + "aligned_samples": 1133, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 3.956, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1133, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1133, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6165529066228752, + "image_frame_counts": { + "cam_scene": 1133, + "cam_wrist": 1133 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00650671124458313, + 0.004806160926818848, + 0.004939377307891846, + 0.006504124030470848, + 0.004475235939025879, + 0.005072593688964844 + ], + "joint_lag_p95_error_rad": [ + 0.0015077542047947645, + 0.00140390417072922, + 0.0018002039287239313, + 0.0007424005889333785, + 0.0017181399744004011, + 0.002270802855491638 + ], + "joint_lag_rms_error_rad": [ + 0.0007401728348889564, + 0.0007397362011706897, + 0.0008510161251623405, + 0.0004982278870772484, + 0.0007319201858262505, + 0.0009459775912316615 + ], + "joint_lag_samples": [ + 1133, + 1133, + 1133, + 1133, + 1133, + 1133 + ], + "joint_lag_worst_time_s": [ + 3.956, + 3.6679999999999997, + 12.103, + 3.956, + 23.286, + 12.091000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006954366923309863, + "leadthrough_capture_egm_poll_duration_median_s": 0.003948447993025184, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004361501673702151, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004921700465492906, + "leadthrough_capture_egm_poll_duration_warn_count": 2607, + "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": 0.0070420620031654835, + "leadthrough_capture_host_loop_dt_median_s": 0.0039923800504766405, + "leadthrough_capture_host_loop_dt_p95_s": 0.004419330769451335, + "leadthrough_capture_host_loop_dt_p99_s": 0.004975513718090957, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007008427055552602, + "leadthrough_capture_host_receive_dt_median_s": 0.003995156497694552, + "leadthrough_capture_host_receive_dt_p95_s": 0.004383839288493618, + "leadthrough_capture_host_receive_dt_p99_s": 0.004918431554688141, + "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": 0.012257843976840377, + "leadthrough_capture_loop_late_median_s": 0.006968981004320085, + "leadthrough_capture_loop_late_p95_s": 0.007370312488637865, + "leadthrough_capture_loop_late_p99_s": 0.00800547694787383, + "leadthrough_capture_loop_late_warn_count": 6867, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007007700041867793, + "leadthrough_capture_read_duration_median_s": 0.0039738520281389356, + "leadthrough_capture_read_duration_p95_s": 0.00439911587163806, + "leadthrough_capture_read_duration_p99_s": 0.004953134895768018, + "leadthrough_capture_read_duration_warn_count": 2978, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0028878003358840942, + 0.003212153911590576, + 0.005025029182434082, + 0.0007166566792875528, + 0.00345456600189209, + 0.005933403968811035 + ], + "leadthrough_delta_max_abs_rad": 0.005933403968811035, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016505501698702574, + 0.0020655265543609858, + 0.0031046983785927296, + 0.00029900670051574707, + 0.0015637633623555303, + 0.0044376603327691555 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006807523895986378, + 0.0008844196563586593, + 0.0012632702710106969, + 0.00012040425644954666, + 0.0006789629114791751, + 0.0014837933704257011 + ], + "leadthrough_delta_samples": 5845, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005933403968811035, + "leadthrough_delta_worst_from_rad": -0.33604127168655396, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5369999999999999, + "leadthrough_delta_worst_to_rad": -0.341974675655365, + "leadthrough_duration_s": 23.378, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5844, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.3150000000000013, + "leadthrough_final_stillness_removed_samples": 329, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5845, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6867, + "leadthrough_initial_stillness_first_motion_index": 693, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.767, + "leadthrough_initial_stillness_removed_samples": 692, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 692, + "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": [ + 0.0028878003358840942, + 0.003212153911590576, + 0.005025029182434082, + 0.0007166566792875528, + 0.00345456600189209, + 0.005933403968811035 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005933403968811035, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7219500839707824, + 0.8030384778973758, + 1.2562572956086588, + 0.22550175587335367, + 0.863641500472734, + 1.966406901677375 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7392405271530151, + "leadthrough_velocity_rms_rad_s": 0.2426025862960126, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.00650671124458313, + "measured_wall_accel_p95_abs_rad_s2": 0.4760444164276123, + "measured_wall_accel_peak_abs_rad_s2": 3.0547118186950684, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 39.01778757106513, + "measured_wall_accel_rms_rad_s2": 0.247813798659121, + "measured_wall_jerk_p95_abs_rad_s3": 8.693512916564941, + "measured_wall_jerk_peak_abs_rad_s3": 52.76013946533203, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 38.85139126807917, + "measured_wall_jerk_rms_rad_s3": 4.17777524068779, + "measured_wall_smoothness_samples": 1133, + "measured_wall_velocity_peak_abs_rad_s": 0.8583377599716187, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 39.3859857940115, + "measured_wall_velocity_rms_rad_s": 0.10821329710279157, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.00650671124458313, + "moving_aligned_p95_error_rad": 0.0019617662765085697, + "moving_aligned_rms_error_rad": 0.0008852532483879669, + "moving_aligned_samples": 833, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 3.956, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.00650671124458313, + 0.004806160926818848, + 0.004939377307891846, + 0.006216142326593399, + 0.003929018974304199, + 0.005072593688964844 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016445815563201904, + 0.0015819788677617908, + 0.002130533568561077, + 0.0011819952633231878, + 0.0021948155481368303, + 0.002771388040855527 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007940218137884999, + 0.0008483438495672913, + 0.0011104010063746601, + 0.0007295654940233883, + 0.0009000311867596893, + 0.0015344281937659122 + ], + "moving_joint_lag_samples": [ + 701, + 777, + 640, + 242, + 670, + 394 + ], + "moving_joint_lag_worst_time_s": [ + 3.956, + 3.6679999999999997, + 12.103, + 4.024000000000001, + 23.21, + 12.091000000000001 + ], + "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": 2.232820987701416, + "playback_velocity_rms_rad_s": 0.44855989699731885, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.756, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.378, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1865, + 5123 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43523246051790626, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08591379225254059, + "rapid_planner_max_dt_s": 2.465, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007596239447593689, + "rapid_planner_median_dt_s": 0.08000000000000007, + "rapid_planner_path_max_error_rad": 0.00650671124458313, + "rapid_planner_path_p95_error_rad": 0.0025914072990417462, + "rapid_planner_path_rms_error_rad": 0.001343328523216788, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 38, + 51, + 67, + 77, + 87, + 100, + 114, + 128, + 141, + 154, + 166, + 179, + 192, + 204, + 216, + 228, + 240, + 253, + 266, + 278, + 291, + 300, + 310, + 320, + 330, + 343, + 356, + 375, + 395, + 415, + 435, + 455, + 478, + 500, + 518, + 536, + 554, + 573, + 598, + 619, + 658, + 696, + 734, + 811, + 862, + 920, + 1117, + 1290, + 1865, + 2481, + 2524, + 2596, + 2622, + 2647, + 2674, + 2692, + 2710, + 2727, + 2745, + 2764, + 2782, + 2804, + 2827, + 2848, + 2868, + 2889, + 2910, + 2931, + 2952, + 2976, + 3001, + 3040, + 3062, + 3084, + 3099, + 3114, + 3130, + 3145, + 3158, + 3172, + 3186, + 3200, + 3222, + 3244, + 3260, + 3280, + 3333, + 3396, + 3431, + 3465, + 3540, + 3605, + 3930, + 4197, + 4330, + 4575, + 4681, + 4770, + 5123, + 5441, + 5466, + 5489, + 5508, + 5524, + 5539, + 5554, + 5570, + 5585, + 5600, + 5614, + 5636, + 5657, + 5680, + 5703, + 5727, + 5748, + 5776, + 5793, + 5845 + ], + "rapid_planner_selected_max_joint_step_deg": 4.922497698034326, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5846, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.00650671124458313, + "raw_replay_rms_error_rad": 0.0007635559035536921, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8259065348869691, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9931600801105261, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9770946341459482, + "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": 0.6493055681566617, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9945466820609113, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9903798101338737, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004654824733734131, + 0.0012875795364379883, + 0.0017982721328735352, + 0.0022427733056247234, + 0.0037708282470703125, + 0.006363034248352051 + ], + "replay_smoothing_max_deviation_normalized": 0.7291500203038047, + "replay_smoothing_max_deviation_rad": 0.006363034248352051, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020528510212898254, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.239856243133545, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 57.135799407958984, + "replay_smoothing_raw_accel_rms_rad_s2": 3.105081363264084, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 454.09075927734375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16372.6298828125, + "replay_smoothing_raw_jerk_rms_rad_s3": 809.868836581761, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.758032202720642, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24340895147985941, + "replay_smoothing_rms_deviation_rad": 0.0008713885931597242, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.67581844329834, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.7449951171875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.033958338631922, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 294.8436584472656, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16283.3447265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 802.0777446071857, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7392405271530151, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2426025862960126, + "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": 0.9893109605509239, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966871999614463, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.416, + "replay_smoothing_wrist_max_deviation_rad": 0.006363034248352051, + "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": 0.00650671124458313, + "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": 0.05136388540267944, + "stage_planned_to_measured_rms_error_rad": 0.006423421364383039, + "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": 1133, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8173417448997498, + "target_wall_accel_peak_abs_rad_s2": 4.821452617645264, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 23.900054294033907, + "target_wall_accel_rms_rad_s2": 0.38873841218142774, + "target_wall_jerk_p95_abs_rad_s3": 19.174785614013672, + "target_wall_jerk_peak_abs_rad_s3": 100.35697174072266, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 23.866721049998887, + "target_wall_jerk_rms_rad_s3": 9.055546909929891, + "target_wall_smoothness_samples": 1133, + "target_wall_velocity_peak_abs_rad_s": 0.8923255801200867, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.266748448018916, + "target_wall_velocity_rms_rad_s": 0.1091799950685479, + "tcp_pose_count": 1133, + "timestamp_count": 1133, + "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": 1.1300000000000026, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2399999999999993, + "window_lag_best_lag_p95_abs_s": 0.9119999999999986, + "window_lag_count": 25, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.5, + "window_lag_worst_max_error_rad": 0.00650671124458313, + "window_lag_worst_rms_error_rad": 0.0022600923860931947, + "window_lag_worst_start_s": 3.5, + "zero_lag_max_error_rad": 0.00650671124458313, + "zero_lag_p95_error_rad": 0.0017170252976939082, + "zero_lag_rms_error_rad": 0.0007635559035536921, + "zero_lag_samples": 1133, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 3.956 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.npz b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.npz new file mode 100644 index 0000000000000000000000000000000000000000..7d5ae8d6253ad93223d5bcb85e2a034747636a59 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153704.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a18df456815c73846174bc2b577e60e5b0a0533d39594b1158f9dcb45b1c205e +size 118298 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.json new file mode 100644 index 0000000000000000000000000000000000000000..787767b7b405d067c7a6095284c37182188a1171 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.json @@ -0,0 +1,672 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:38:51", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1158, + "actual_playback_duration_s": 38.61235487693921, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006979465484619141, + "aligned_p95_error_rad": 0.002218776848167181, + "aligned_rms_error_rad": 0.000975527976524962, + "aligned_samples": 1158, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 17.985, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1158, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1158, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9639059496942783, + "image_frame_counts": { + "cam_scene": 1158, + "cam_wrist": 1158 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0043076276779174805, + 0.004486203193664551, + 0.004098832607269287, + 0.006943481042981148, + 0.006979465484619141, + 0.005510658025741577 + ], + "joint_lag_p95_error_rad": [ + 0.0017653631512075663, + 0.0022199125960469246, + 0.00204963400028646, + 0.001527333864942193, + 0.0019276560051366687, + 0.0030109768267720938 + ], + "joint_lag_rms_error_rad": [ + 0.0007784884737294898, + 0.000940779438120134, + 0.0009002124370528092, + 0.0008072034163216364, + 0.0010245753925188486, + 0.0013065619850879577 + ], + "joint_lag_samples": [ + 1158, + 1158, + 1158, + 1158, + 1158, + 1158 + ], + "joint_lag_worst_time_s": [ + 11.245999999999999, + 2.615, + 2.3709999999999996, + 17.978, + 17.985, + 17.978 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 3, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006290983990766108, + "leadthrough_capture_egm_poll_duration_median_s": 0.003944374504499137, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004363631451269612, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005002656303113326, + "leadthrough_capture_egm_poll_duration_warn_count": 1953, + "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": 0.006350458017550409, + "leadthrough_capture_host_loop_dt_median_s": 0.0039916380774229765, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044235370005480945, + "leadthrough_capture_host_loop_dt_p99_s": 0.0050710996962152425, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006314869970083237, + "leadthrough_capture_host_receive_dt_median_s": 0.003997865016572177, + "leadthrough_capture_host_receive_dt_p95_s": 0.004399836529046297, + "leadthrough_capture_host_receive_dt_p99_s": 0.005027364171110096, + "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": 0.09557261993177235, + "leadthrough_capture_loop_late_median_s": 0.09175176062854007, + "leadthrough_capture_loop_late_p95_s": 0.09213043173658661, + "leadthrough_capture_loop_late_p99_s": 0.09281284015974961, + "leadthrough_capture_loop_late_warn_count": 5592, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006328204995952547, + "leadthrough_capture_read_duration_median_s": 0.00397106702439487, + "leadthrough_capture_read_duration_p95_s": 0.004398588632466271, + "leadthrough_capture_read_duration_p99_s": 0.0050399401690810934, + "leadthrough_capture_read_duration_warn_count": 2303, + "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": [ + 0.003578484058380127, + 0.0034210681915283203, + 0.004831671714782715, + 0.0034700334072113037, + 0.003652811050415039, + 0.006951451301574707 + ], + "leadthrough_delta_max_abs_rad": 0.006951451301574707, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015228930860757828, + 0.0026370249688625336, + 0.0034350790083408356, + 0.0004401225596666336, + 0.0018130689859390259, + 0.004956573247909546 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007401628536172211, + 0.0010824414202943444, + 0.0014619476860389113, + 0.00037166543188504875, + 0.0007733864476904273, + 0.00167988077737391 + ], + "leadthrough_delta_samples": 4916, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006951451301574707, + "leadthrough_delta_worst_from_rad": -0.8985754251480103, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 10.706, + "leadthrough_delta_worst_to_rad": -0.8916239738464355, + "leadthrough_duration_s": 19.661, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4893, + "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": 4894, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5592, + "leadthrough_initial_stillness_first_motion_index": 676, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.7, + "leadthrough_initial_stillness_removed_samples": 675, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 675, + "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": [ + 0.003578484058380127, + 0.0034210681915283203, + 0.004831671714782715, + 0.0034700334072113037, + 0.003652811050415039, + 0.006951451301574707 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006951451301574707, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.192559798558508, + 1.1209249496459537, + 1.5847086906432506, + 1.1500865221023124, + 1.2071927388508656, + 2.0375152428944134 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8020325899124146, + "leadthrough_velocity_rms_rad_s": 0.2853199317068875, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006979465484619141, + "measured_wall_accel_p95_abs_rad_s2": 0.44044095277786255, + "measured_wall_accel_peak_abs_rad_s2": 2.096130132675171, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 41.39235932705924, + "measured_wall_accel_rms_rad_s2": 0.20949970338217516, + "measured_wall_jerk_p95_abs_rad_s3": 7.8153486251831055, + "measured_wall_jerk_peak_abs_rad_s3": 43.733543395996094, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 41.89189464808442, + "measured_wall_jerk_rms_rad_s3": 3.6487596352072207, + "measured_wall_smoothness_samples": 1158, + "measured_wall_velocity_peak_abs_rad_s": 0.6400365829467773, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.190910161007196, + "measured_wall_velocity_rms_rad_s": 0.1055440838913248, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006979465484619141, + "moving_aligned_p95_error_rad": 0.0024944511242210865, + "moving_aligned_rms_error_rad": 0.0011265890216007148, + "moving_aligned_samples": 863, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 17.985, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0043076276779174805, + 0.004486203193664551, + 0.004098832607269287, + 0.006943481042981148, + 0.006979465484619141, + 0.005510658025741577 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021972523536533117, + 0.0025748428888618946, + 0.0023429314605891705, + 0.004890411160886288, + 0.00268039689399302, + 0.0038761370815336704 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009525284453430138, + 0.0010980154803989948, + 0.001152268496487126, + 0.001818716440218875, + 0.001230913659778734, + 0.0018788569908786584 + ], + "moving_joint_lag_samples": [ + 752, + 835, + 663, + 220, + 740, + 487 + ], + "moving_joint_lag_worst_time_s": [ + 11.245999999999999, + 2.615, + 2.3709999999999996, + 17.978, + 17.985, + 17.978 + ], + "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": 2.1541738510131836, + "playback_velocity_rms_rad_s": 0.4842852439871897, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 69.322, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.661, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1473, + 4066 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42701147407814966, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0869971513748169, + "rapid_planner_max_dt_s": 2.200000000000002, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00745275616645813, + "rapid_planner_median_dt_s": 0.07250000000000023, + "rapid_planner_path_max_error_rad": 0.006979465484619141, + "rapid_planner_path_p95_error_rad": 0.003369159996509551, + "rapid_planner_path_rms_error_rad": 0.0016339007335698826, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 24, + 48, + 61, + 78, + 90, + 103, + 112, + 122, + 131, + 140, + 149, + 158, + 168, + 177, + 186, + 194, + 202, + 210, + 218, + 227, + 244, + 262, + 280, + 298, + 317, + 336, + 355, + 372, + 388, + 401, + 420, + 445, + 471, + 497, + 536, + 575, + 620, + 674, + 729, + 780, + 806, + 832, + 868, + 909, + 956, + 1097, + 1473, + 2023, + 2136, + 2202, + 2237, + 2255, + 2273, + 2288, + 2304, + 2316, + 2327, + 2338, + 2350, + 2368, + 2385, + 2396, + 2408, + 2420, + 2432, + 2448, + 2465, + 2490, + 2514, + 2538, + 2563, + 2592, + 2617, + 2628, + 2640, + 2650, + 2660, + 2670, + 2680, + 2690, + 2701, + 2712, + 2723, + 2747, + 2775, + 2829, + 2865, + 2897, + 2924, + 2959, + 3071, + 3151, + 3208, + 3575, + 3775, + 4066, + 4333, + 4362, + 4385, + 4409, + 4435, + 4458, + 4481, + 4507, + 4520, + 4534, + 4546, + 4559, + 4574, + 4589, + 4604, + 4619, + 4662, + 4715, + 4828, + 4916 + ], + "rapid_planner_selected_max_joint_step_deg": 4.984569603437755, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4917, + "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": 0.006979465484619141, + "raw_replay_rms_error_rad": 0.000975527976524962, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0082635088818588, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9830281706286581, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9869277038600839, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.7590354681015015, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7590354681015015 + ], + "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": 0.9868147844493227, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9878001542106031, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9920393491312302, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006357431411743164, + 0.0005764495581388474, + 0.0006415843963623047, + 0.0031282156705856323, + 0.002350449562072754, + 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": 0.0019754874520003796, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 12.550379753112793, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.23133087158203, + "replay_smoothing_raw_accel_rms_rad_s2": 5.9145815535088415, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2687.16943359375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17093.1015625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1509.3384195532863, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8198518753051758, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2864113259987435, + "replay_smoothing_rms_deviation_rad": 0.0010321520337817252, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 12.65408992767334, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.2090950012207, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.837264391897689, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2651.738525390625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16884.568359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1497.3231033524016, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8020325899124146, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2853199317068875, + "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": 0.99020838693821, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961894164343879, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5789999999999997, + "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": 0.006979465484619141, + "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": 0.036634862422943115, + "stage_planned_to_measured_rms_error_rad": 0.006255355752985481, + "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": 1158, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7783129215240479, + "target_wall_accel_peak_abs_rad_s2": 2.730847120285034, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 27.600079673924483, + "target_wall_accel_rms_rad_s2": 0.33511364043800435, + "target_wall_jerk_p95_abs_rad_s3": 18.856870651245117, + "target_wall_jerk_peak_abs_rad_s3": 67.21917724609375, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 27.633462277939543, + "target_wall_jerk_rms_rad_s3": 7.915684506791294, + "target_wall_smoothness_samples": 1158, + "target_wall_velocity_peak_abs_rad_s": 0.6276997327804565, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.166724069975317, + "target_wall_velocity_rms_rad_s": 0.10633607230722962, + "tcp_pose_count": 1158, + "timestamp_count": 1158, + "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": 1.1300000000000026, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2399999999999993, + "window_lag_best_lag_p95_abs_s": 1.2234999999999996, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.2399999999999993, + "window_lag_worst_end_s": 6.0, + "window_lag_worst_max_error_rad": 0.005699634552001953, + "window_lag_worst_rms_error_rad": 0.0022694817251839904, + "window_lag_worst_start_s": 5.0, + "zero_lag_max_error_rad": 0.006979465484619141, + "zero_lag_p95_error_rad": 0.002218776848167181, + "zero_lag_rms_error_rad": 0.000975527976524962, + "zero_lag_samples": 1158, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 17.985 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.npz b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a9f1495cec974524d5b8b27bae0e868e5245d8a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_153850.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b49f2aaaa060776d2f72465313535c1e45d298bc903a35ef3c8fd907b2f88f0a +size 121289 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.json new file mode 100644 index 0000000000000000000000000000000000000000..f8e6f23f7ce2f94cd7202065cf6c8b0d299b484b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.json @@ -0,0 +1,672 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:40:37", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1146, + "actual_playback_duration_s": 38.2114857879933, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004722267389297485, + "aligned_p95_error_rad": 0.0019925832748413086, + "aligned_rms_error_rad": 0.0008391319545312081, + "aligned_samples": 1146, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 10.443000000000001, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1146, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1146, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8309288829896166, + "image_frame_counts": { + "cam_scene": 1146, + "cam_wrist": 1146 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0032776519656181335, + 0.004099033772945404, + 0.004722267389297485, + 0.002932243049144745, + 0.004157662391662598, + 0.004650771617889404 + ], + "joint_lag_p95_error_rad": [ + 0.0017431490123271942, + 0.0016859173774719238, + 0.0018446501344442368, + 0.0010564746335148811, + 0.002039477229118347, + 0.002724025398492813 + ], + "joint_lag_rms_error_rad": [ + 0.0007118944708558019, + 0.0008279183754768277, + 0.0008490071743432522, + 0.0004392090849405479, + 0.0008389040053813477, + 0.0011895941812145212 + ], + "joint_lag_samples": [ + 1146, + 1146, + 1146, + 1146, + 1146, + 1146 + ], + "joint_lag_worst_time_s": [ + 10.443000000000001, + 11.286999999999999, + 10.443000000000001, + 15.061999999999998, + 11.306999999999999, + 0.6759999999999997 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007950154948048294, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039412055048160255, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004391885199584067, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005366131700575352, + "leadthrough_capture_egm_poll_duration_warn_count": 2018, + "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": 0.008066378068178892, + "leadthrough_capture_host_loop_dt_median_s": 0.003987075993791223, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044473716057837, + "leadthrough_capture_host_loop_dt_p99_s": 0.005425387797877193, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007985720061697066, + "leadthrough_capture_host_receive_dt_median_s": 0.003990618046373129, + "leadthrough_capture_host_receive_dt_p95_s": 0.00443018265068531, + "leadthrough_capture_host_receive_dt_p99_s": 0.005388988167978824, + "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": 0.01719810499344021, + "leadthrough_capture_loop_late_median_s": 0.012317302695009857, + "leadthrough_capture_loop_late_p95_s": 0.01269754592794925, + "leadthrough_capture_loop_late_p99_s": 0.013743600264424458, + "leadthrough_capture_loop_late_warn_count": 5718, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.008017948013730347, + "leadthrough_capture_read_duration_median_s": 0.0039674395229667425, + "leadthrough_capture_read_duration_p95_s": 0.0044258983631152654, + "leadthrough_capture_read_duration_p99_s": 0.005406412885058669, + "leadthrough_capture_read_duration_warn_count": 2316, + "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": 13, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003240533173084259, + 0.003035604953765869, + 0.004542425274848938, + 0.0020073577761650085, + 0.004260420799255371, + 0.009967267513275146 + ], + "leadthrough_delta_max_abs_rad": 0.009967267513275146, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015528122894465923, + 0.002502795308828354, + 0.0037271662149578333, + 0.00047397613525390625, + 0.001970865996554494, + 0.005486602429300547 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007182200206443667, + 0.001014957670122385, + 0.0013908440014347434, + 0.000255006569204852, + 0.000798267254140228, + 0.0018260065698996186 + ], + "leadthrough_delta_samples": 5218, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.009967267513275146, + "leadthrough_delta_worst_from_rad": -0.5502688884735107, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6479999999999997, + "leadthrough_delta_worst_to_rad": -0.5602361559867859, + "leadthrough_duration_s": 20.869999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5199, + "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": 5200, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5718, + "leadthrough_initial_stillness_first_motion_index": 500, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.995, + "leadthrough_initial_stillness_removed_samples": 499, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 499, + "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": [ + 0.003240533173084259, + 0.003035604953765869, + 0.004542425274848938, + 0.0020073577761650085, + 0.004260420799255371, + 0.009967267513275146 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.009967267513275146, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8101332932715137, + 0.7589012384414666, + 1.1356063187122334, + 0.5018394440410845, + 1.065105199813487, + 2.4918168783187844 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.4415552616119385, + "leadthrough_velocity_rms_rad_s": 0.2788208720213093, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004722267389297485, + "measured_wall_accel_p95_abs_rad_s2": 0.4055984914302826, + "measured_wall_accel_peak_abs_rad_s2": 3.18341326713562, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 41.709746273001656, + "measured_wall_accel_rms_rad_s2": 0.21988513132753748, + "measured_wall_jerk_p95_abs_rad_s3": 7.571608543395996, + "measured_wall_jerk_peak_abs_rad_s3": 67.2589340209961, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 41.77629154105671, + "measured_wall_jerk_rms_rad_s3": 3.8388276630966653, + "measured_wall_smoothness_samples": 1146, + "measured_wall_velocity_peak_abs_rad_s": 0.808104395866394, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.14186450303532, + "measured_wall_velocity_rms_rad_s": 0.105263757288613, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004722267389297485, + "moving_aligned_p95_error_rad": 0.0021912867669016123, + "moving_aligned_rms_error_rad": 0.0009725912976480095, + "moving_aligned_samples": 838, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 10.443000000000001, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0032776519656181335, + 0.004099033772945404, + 0.004722267389297485, + 0.002932243049144745, + 0.004157662391662598, + 0.004650771617889404 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019456191221252084, + 0.0018646883545443416, + 0.0019519894849509, + 0.0017713141860440373, + 0.0023464260157197714, + 0.003393485676497221 + ], + "moving_joint_lag_rms_error_rad": [ + 0.000839772483399012, + 0.000945514521825648, + 0.0010181751698397554, + 0.0007630459687741297, + 0.00109677675910518, + 0.001808841284829552 + ], + "moving_joint_lag_samples": [ + 714, + 812, + 749, + 297, + 640, + 475 + ], + "moving_joint_lag_worst_time_s": [ + 10.443000000000001, + 11.286999999999999, + 10.443000000000001, + 15.061999999999998, + 11.306999999999999, + 0.6759999999999997 + ], + "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": 3.5629124641418457, + "playback_velocity_rms_rad_s": 0.5557442091762783, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 71.74, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.869999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1519, + 4220 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.501383696403126, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08726263046264648, + "rapid_planner_max_dt_s": 2.1359999999999983, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0087507963180542, + "rapid_planner_median_dt_s": 0.07800000000000118, + "rapid_planner_path_max_error_rad": 0.004722267389297485, + "rapid_planner_path_p95_error_rad": 0.0029787421226501465, + "rapid_planner_path_rms_error_rad": 0.0014784630992905055, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 27, + 53, + 69, + 86, + 97, + 108, + 118, + 129, + 138, + 146, + 151, + 156, + 160, + 165, + 174, + 179, + 184, + 190, + 196, + 202, + 209, + 220, + 232, + 244, + 256, + 275, + 292, + 305, + 318, + 331, + 344, + 370, + 391, + 412, + 437, + 462, + 489, + 528, + 573, + 618, + 654, + 691, + 741, + 1017, + 1087, + 1405, + 1519, + 2053, + 2148, + 2205, + 2234, + 2262, + 2279, + 2298, + 2317, + 2329, + 2341, + 2356, + 2372, + 2388, + 2404, + 2438, + 2471, + 2496, + 2520, + 2544, + 2568, + 2597, + 2622, + 2635, + 2648, + 2662, + 2675, + 2686, + 2696, + 2707, + 2718, + 2726, + 2735, + 2756, + 2792, + 2861, + 2903, + 2969, + 3011, + 3039, + 3077, + 3147, + 3201, + 3441, + 3600, + 3680, + 3799, + 3859, + 4220, + 4508, + 4556, + 4586, + 4603, + 4620, + 4640, + 4661, + 4679, + 4694, + 4707, + 4720, + 4734, + 4747, + 4763, + 4782, + 4815, + 4846, + 4890, + 4937, + 4988, + 5218 + ], + "rapid_planner_selected_max_joint_step_deg": 4.999780434719374, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5219, + "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": 0.004722267389297485, + "raw_replay_rms_error_rad": 0.0008391319545312081, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.700967884020235, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0106429857476416, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8075464775723162, + "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": 0.17127312196331448, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9883387202876489, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.44988787618428083, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006573358550667763, + 0.0005612373352050781, + 0.0008847713470458984, + 0.0024185404181480408, + 0.0026493072509765625, + 0.005817979574203491 + ], + "replay_smoothing_max_deviation_normalized": 0.6666913549547954, + "replay_smoothing_max_deviation_rad": 0.005817979574203491, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023302086628973484, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.3968372344970703, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 12.88344669342041, + "replay_smoothing_raw_accel_rms_rad_s2": 1.1605040879816826, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 205.7913818359375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 3323.8212890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 121.08051769016363, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.4911463260650635, + "replay_smoothing_raw_velocity_rms_rad_s": 0.27980224325487113, + "replay_smoothing_rms_deviation_rad": 0.000996132799476494, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.6801059246063232, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 13.020565032958984, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.9371609884578811, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 35.24653244018555, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 3285.061279296875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 54.472656950920964, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.4415552616119385, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2788208720213093, + "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": 0.9800930744475947, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996492625569596, + "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": 10.966999999999999, + "replay_smoothing_wrist_max_deviation_rad": 0.005817979574203491, + "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": 0.004722267389297485, + "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": 0.04621279239654541, + "stage_planned_to_measured_rms_error_rad": 0.006241560288308079, + "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": 1146, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8178447484970093, + "target_wall_accel_peak_abs_rad_s2": 4.27667760848999, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 26.96673261502292, + "target_wall_accel_rms_rad_s2": 0.3824432894552181, + "target_wall_jerk_p95_abs_rad_s3": 19.36302947998047, + "target_wall_jerk_peak_abs_rad_s3": 117.90576934814453, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 19.90029835002497, + "target_wall_jerk_rms_rad_s3": 9.409189556565742, + "target_wall_smoothness_samples": 1146, + "target_wall_velocity_peak_abs_rad_s": 0.8945258855819702, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.40005649998784, + "target_wall_velocity_rms_rad_s": 0.10625786768921897, + "tcp_pose_count": 1146, + "timestamp_count": 1146, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.2700000000000031, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.1530000000000014, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 12.0, + "window_lag_worst_max_error_rad": 0.004491627216339111, + "window_lag_worst_rms_error_rad": 0.0015442839750223897, + "window_lag_worst_start_s": 11.0, + "zero_lag_max_error_rad": 0.004722267389297485, + "zero_lag_p95_error_rad": 0.0019925832748413086, + "zero_lag_rms_error_rad": 0.0008391319545312081, + "zero_lag_samples": 1146, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 10.443000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.npz b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.npz new file mode 100644 index 0000000000000000000000000000000000000000..045f56153c36fc5d661b4ba4867a5bd2947ee9d5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154036.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efe674b4c865b39f99a290ead97fea5439a8e4d8ff6818e015cb7a34976d8d2d +size 120958 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.json new file mode 100644 index 0000000000000000000000000000000000000000..4d21a9781a717c3bd9474d84f5917fec9baee57c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.json @@ -0,0 +1,676 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:42:21", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1096, + "actual_playback_duration_s": 36.545940917916596, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005733013153076172, + "aligned_p95_error_rad": 0.001779899001121521, + "aligned_rms_error_rad": 0.000786026403042627, + "aligned_samples": 1096, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 11.411, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1096, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1096, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8515523821013575, + "image_frame_counts": { + "cam_scene": 1096, + "cam_wrist": 1096 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004434436559677124, + 0.00422210618853569, + 0.005733013153076172, + 0.004186004400253296, + 0.005635619163513184, + 0.004763692617416382 + ], + "joint_lag_p95_error_rad": [ + 0.001549003878608346, + 0.0015734769403934479, + 0.0021373070776462555, + 0.0005706232041120529, + 0.001355782151222229, + 0.00241784006357193 + ], + "joint_lag_rms_error_rad": [ + 0.0006937456277277297, + 0.0007682389825831354, + 0.0009674227297119876, + 0.0003469677641591067, + 0.000728638233160847, + 0.0010238866466442196 + ], + "joint_lag_samples": [ + 1096, + 1096, + 1096, + 1096, + 1096, + 1096 + ], + "joint_lag_worst_time_s": [ + 11.199, + 11.147, + 11.411, + 18.477999999999998, + 11.395, + 11.199 + ], + "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": 0.004150000144727164, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0074648139998316765, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971808007918298, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004286135663278399, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005248911227099597, + "leadthrough_capture_egm_poll_duration_warn_count": 2216, + "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": 0.00754614407196641, + "leadthrough_capture_host_loop_dt_median_s": 0.004016281454823911, + "leadthrough_capture_host_loop_dt_p95_s": 0.004347895091632381, + "leadthrough_capture_host_loop_dt_p99_s": 0.005311049968004227, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007171761943027377, + "leadthrough_capture_host_receive_dt_median_s": 0.004018311446998268, + "leadthrough_capture_host_receive_dt_p95_s": 0.004315506009152159, + "leadthrough_capture_host_receive_dt_p99_s": 0.0052724039298482255, + "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": 0.017359514022246003, + "leadthrough_capture_loop_late_median_s": 0.013132319669239223, + "leadthrough_capture_loop_late_p95_s": 0.013536260137334465, + "leadthrough_capture_loop_late_p99_s": 0.014461749892216175, + "leadthrough_capture_loop_late_warn_count": 5439, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007516701007261872, + "leadthrough_capture_read_duration_median_s": 0.003996534971520305, + "leadthrough_capture_read_duration_p95_s": 0.004321572859771549, + "leadthrough_capture_read_duration_p99_s": 0.005286489564459771, + "leadthrough_capture_read_duration_warn_count": 2659, + "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": 0.004150000000000623, + "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": [ + 0.0035796836018562317, + 0.0038573741912841797, + 0.006057649850845337, + 0.0023926496505737305, + 0.0030493736267089844, + 0.007293641567230225 + ], + "leadthrough_delta_max_abs_rad": 0.007293641567230225, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018569959793239832, + 0.0022136892657727003, + 0.0036301284562796354, + 0.0002284188667545095, + 0.0018081639427691698, + 0.005379427224397659 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008041640394367278, + 0.0010302277514711022, + 0.0015088495565578341, + 0.00024688057601451874, + 0.0007003189530223608, + 0.0017418345669284463 + ], + "leadthrough_delta_samples": 4935, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.007293641567230225, + "leadthrough_delta_worst_from_rad": -0.777809202671051, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 10.758999999999999, + "leadthrough_delta_worst_to_rad": -0.7705155611038208, + "leadthrough_duration_s": 19.738, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4934, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.30799999999999983, + "leadthrough_final_stillness_removed_samples": 77, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4935, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5439, + "leadthrough_initial_stillness_first_motion_index": 427, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.704, + "leadthrough_initial_stillness_removed_samples": 426, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 426, + "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": [ + 0.0035796836018562317, + 0.0038573741912841797, + 0.006057649850845337, + 0.0023926496505737305, + 0.0030493736267089844, + 0.007293641567230225 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007293641567230225, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.894920900463759, + 0.9643435478211512, + 1.5144124627108284, + 0.5981624126437641, + 0.76234340667733, + 1.8234103918077569 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8073618412017822, + "leadthrough_velocity_rms_rad_s": 0.2798529048345622, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005733013153076172, + "measured_wall_accel_p95_abs_rad_s2": 0.34972304105758667, + "measured_wall_accel_peak_abs_rad_s2": 2.4589004516601562, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 38.02720341004897, + "measured_wall_accel_rms_rad_s2": 0.1897727605188482, + "measured_wall_jerk_p95_abs_rad_s3": 6.3897833824157715, + "measured_wall_jerk_peak_abs_rad_s3": 50.25621795654297, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 40.526500193052925, + "measured_wall_jerk_rms_rad_s3": 3.1989137809515005, + "measured_wall_smoothness_samples": 1096, + "measured_wall_velocity_peak_abs_rad_s": 0.7605666518211365, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.892932116054, + "measured_wall_velocity_rms_rad_s": 0.10740723274549338, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005733013153076172, + "moving_aligned_p95_error_rad": 0.0020179597195237875, + "moving_aligned_rms_error_rad": 0.0009123234186446213, + "moving_aligned_samples": 793, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 11.411, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004434436559677124, + 0.00422210618853569, + 0.005733013153076172, + 0.004186004400253296, + 0.005635619163513184, + 0.004413247108459473 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016502976650372148, + 0.0017506584990769625, + 0.0023569820914417505, + 0.0012829676270484924, + 0.0017915249336510897, + 0.0029379723127931356 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008039727714037856, + 0.0008943580992806739, + 0.0011934614657917622, + 0.0007302675581557648, + 0.000936801320985926, + 0.0015225577839420728 + ], + "moving_joint_lag_samples": [ + 719, + 772, + 670, + 181, + 597, + 453 + ], + "moving_joint_lag_worst_time_s": [ + 11.199, + 11.147, + 11.411, + 18.477999999999998, + 11.395, + 11.338999999999999 + ], + "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": 2.7016029357910156, + "playback_velocity_rms_rad_s": 0.5330885111962645, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 69.476, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.738, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1604, + 3944 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.3977628965048626, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08617818355560303, + "rapid_planner_max_dt_s": 3.043, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006942272186279297, + "rapid_planner_median_dt_s": 0.059999999999999165, + "rapid_planner_path_max_error_rad": 0.005733013153076172, + "rapid_planner_path_p95_error_rad": 0.0026858821511268616, + "rapid_planner_path_rms_error_rad": 0.0013951565113766242, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 24, + 48, + 62, + 75, + 90, + 105, + 122, + 130, + 139, + 152, + 164, + 170, + 177, + 184, + 190, + 200, + 211, + 222, + 232, + 242, + 253, + 264, + 274, + 285, + 296, + 309, + 321, + 343, + 358, + 374, + 389, + 404, + 422, + 440, + 458, + 475, + 496, + 517, + 566, + 614, + 654, + 693, + 735, + 777, + 815, + 843, + 1604, + 2133, + 2184, + 2244, + 2262, + 2279, + 2299, + 2319, + 2330, + 2342, + 2354, + 2366, + 2374, + 2383, + 2392, + 2400, + 2409, + 2418, + 2426, + 2435, + 2446, + 2457, + 2472, + 2486, + 2500, + 2513, + 2542, + 2584, + 2601, + 2619, + 2629, + 2639, + 2648, + 2658, + 2668, + 2677, + 2684, + 2691, + 2698, + 2705, + 2712, + 2720, + 2737, + 2755, + 2817, + 2880, + 2944, + 3001, + 3082, + 3181, + 3332, + 3420, + 3569, + 3944, + 4250, + 4303, + 4333, + 4361, + 4378, + 4388, + 4397, + 4406, + 4415, + 4433, + 4446, + 4460, + 4475, + 4490, + 4511, + 4532, + 4563, + 4593, + 4651, + 4935 + ], + "rapid_planner_selected_max_joint_step_deg": 4.937646203839768, + "rapid_planner_selected_samples": 121, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4936, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 121, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005733013153076172, + "raw_replay_rms_error_rad": 0.000786026403042627, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7158649619461636, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.60435820122354, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.6767679584565572, + "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": 0.21557861221854036, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.572350435154626, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.3959613993963572, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004233121871948242, + 0.0005354210734367371, + 0.0009683966636657715, + 0.0035624802112579346, + 0.00243222713470459, + 0.007283143699169159 + ], + "replay_smoothing_max_deviation_normalized": 0.8345867975643972, + "replay_smoothing_max_deviation_rad": 0.007283143699169159, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023133158683776855, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.4632327556610107, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 16.834003448486328, + "replay_smoothing_raw_accel_rms_rad_s2": 1.3465840632689032, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 268.23809814453125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 3425.11376953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 215.5672966763837, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8227994441986084, + "replay_smoothing_raw_velocity_rms_rad_s": 0.28080118684882727, + "replay_smoothing_rms_deviation_rad": 0.0010193925325402528, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.763342022895813, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 10.173768043518066, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.9113249473886311, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 57.82639694213867, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 1960.3653564453125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 85.3563284560706, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8073618412017822, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2798529048345622, + "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": 0.9915308274610467, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966229415733361, + "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": 17.798, + "replay_smoothing_wrist_max_deviation_rad": 0.007283143699169159, + "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": 0.005733013153076172, + "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": 0.04367250204086304, + "stage_planned_to_measured_rms_error_rad": 0.006364146780360488, + "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": 1096, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7924506664276123, + "target_wall_accel_peak_abs_rad_s2": 3.8589158058166504, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 23.666723013971932, + "target_wall_accel_rms_rad_s2": 0.35623956178523264, + "target_wall_jerk_p95_abs_rad_s3": 19.5225830078125, + "target_wall_jerk_peak_abs_rad_s3": 92.37169647216797, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 23.30006101296749, + "target_wall_jerk_rms_rad_s3": 8.792073445682663, + "target_wall_smoothness_samples": 1096, + "target_wall_velocity_peak_abs_rad_s": 0.8168252110481262, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.63345132500399, + "target_wall_velocity_rms_rad_s": 0.10818823511274053, + "tcp_pose_count": 1096, + "timestamp_count": 1096, + "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": -1.2899999999999994, + "window_lag_best_lag_p95_abs_s": 1.2899999999999994, + "window_lag_count": 21, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.2899999999999994, + "window_lag_worst_end_s": 16.5, + "window_lag_worst_max_error_rad": 0.10569469630718231, + "window_lag_worst_rms_error_rad": 0.007358943878629463, + "window_lag_worst_start_s": 15.5, + "zero_lag_max_error_rad": 0.005733013153076172, + "zero_lag_p95_error_rad": 0.001779899001121521, + "zero_lag_rms_error_rad": 0.000786026403042627, + "zero_lag_samples": 1096, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 11.411 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.npz b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.npz new file mode 100644 index 0000000000000000000000000000000000000000..59eab1f388e0149e0fb832ecd5974eb74bd0eb71 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154220.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42332b6cd9c459ec3da0dcb33ee2786d0f510921469c4d78738a50e5900b26a6 +size 113970 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.json new file mode 100644 index 0000000000000000000000000000000000000000..0be0ed7b91537f3611862d61ab7e77245b539c6b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.json @@ -0,0 +1,672 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:44:07", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1138, + "actual_playback_duration_s": 37.94693489302881, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0052385032176971436, + "aligned_p95_error_rad": 0.002034371253103018, + "aligned_rms_error_rad": 0.0008522600801334929, + "aligned_samples": 1138, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 12.889999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1138, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1138, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8024478645812383, + "image_frame_counts": { + "cam_scene": 1138, + "cam_wrist": 1138 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0035850852727890015, + 0.0034197568893432617, + 0.0052385032176971436, + 0.0027130553498864174, + 0.004936575889587402, + 0.004562109708786011 + ], + "joint_lag_p95_error_rad": [ + 0.0019725302699953318, + 0.001829048153012991, + 0.0019893022254109383, + 0.0011166105978190899, + 0.0019196750363335013, + 0.002757697831839323 + ], + "joint_lag_rms_error_rad": [ + 0.0007790030181304806, + 0.0008320857185549998, + 0.0008974775766923657, + 0.0004581800051448946, + 0.0008494827731084429, + 0.0011497196268078196 + ], + "joint_lag_samples": [ + 1138, + 1138, + 1138, + 1138, + 1138, + 1138 + ], + "joint_lag_worst_time_s": [ + 19.474, + 20.645, + 12.889999999999999, + 3.103, + 12.889999999999999, + 18.874000000000002 + ], + "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": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 2, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.04271677404176444, + "leadthrough_capture_egm_poll_duration_median_s": 0.003961788024753332, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004364936030469835, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004973205039277673, + "leadthrough_capture_egm_poll_duration_warn_count": 2358, + "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": 0.05009477399289608, + "leadthrough_capture_host_loop_dt_median_s": 0.004007835988886654, + "leadthrough_capture_host_loop_dt_p95_s": 0.004422263940796256, + "leadthrough_capture_host_loop_dt_p99_s": 0.005050360923632979, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.006933017051778734, + "leadthrough_capture_host_receive_dt_median_s": 0.004010486474726349, + "leadthrough_capture_host_receive_dt_p95_s": 0.004389367497060448, + "leadthrough_capture_host_receive_dt_p99_s": 0.004991204910911622, + "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": 0.10056443465873599, + "leadthrough_capture_loop_late_median_s": 0.09697564016096294, + "leadthrough_capture_loop_late_p95_s": 0.0974340571789071, + "leadthrough_capture_loop_late_p99_s": 0.09813555446104147, + "leadthrough_capture_loop_late_warn_count": 5902, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.05008604098111391, + "leadthrough_capture_read_duration_median_s": 0.0039884805446490645, + "leadthrough_capture_read_duration_p95_s": 0.0043981949740555136, + "leadthrough_capture_read_duration_p99_s": 0.0050192898616660386, + "leadthrough_capture_read_duration_warn_count": 2775, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.008000000000000007, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "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": [ + 0.0036663711071014404, + 0.003435075283050537, + 0.0057288408279418945, + 0.0016052834689617157, + 0.0031020641326904297, + 0.0067566633224487305 + ], + "leadthrough_delta_max_abs_rad": 0.0067566633224487305, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015359813114628196, + 0.002431744709610939, + 0.003938168752938509, + 0.0004985443083569407, + 0.001894236309453845, + 0.005473709665238857 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007669295882806182, + 0.0010099508799612522, + 0.0014580213464796543, + 0.00022724087466485798, + 0.0007307919440791011, + 0.001657236716710031 + ], + "leadthrough_delta_samples": 5264, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0067566633224487305, + "leadthrough_delta_worst_from_rad": -1.1997971534729004, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1319999999999997, + "leadthrough_delta_worst_to_rad": -1.2065538167953491, + "leadthrough_duration_s": 21.053, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5263, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.3930000000000007, + "leadthrough_final_stillness_removed_samples": 98, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5264, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5901, + "leadthrough_initial_stillness_first_motion_index": 539, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.156, + "leadthrough_initial_stillness_removed_samples": 538, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 538, + "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": [ + 0.0036663711071014404, + 0.003435075283050537, + 0.0057288408279418945, + 0.0016052834689617157, + 0.0031020641326904297, + 0.0067566633224487305 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0067566633224487305, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.916592776775054, + 0.8587688207623475, + 1.4322102069856313, + 0.40132086724065136, + 0.7755160331723484, + 1.689165830612181 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.624777913093567, + "leadthrough_velocity_rms_rad_s": 0.27058018956818125, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0052385032176971436, + "measured_wall_accel_p95_abs_rad_s2": 0.38316601514816284, + "measured_wall_accel_peak_abs_rad_s2": 3.3992862701416016, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 24.565962507971562, + "measured_wall_accel_rms_rad_s2": 0.20459237144486186, + "measured_wall_jerk_p95_abs_rad_s3": 6.862363815307617, + "measured_wall_jerk_peak_abs_rad_s3": 54.42750930786133, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 42.065925783943385, + "measured_wall_jerk_rms_rad_s3": 3.6272790684958087, + "measured_wall_smoothness_samples": 1138, + "measured_wall_velocity_peak_abs_rad_s": 0.5506746172904968, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.265311755938455, + "measured_wall_velocity_rms_rad_s": 0.10365045401249591, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0052385032176971436, + "moving_aligned_p95_error_rad": 0.0022484511137008667, + "moving_aligned_rms_error_rad": 0.000989071139427941, + "moving_aligned_samples": 831, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 12.889999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0035850852727890015, + 0.0033305585384368896, + 0.0052385032176971436, + 0.0027130553498864174, + 0.004936575889587402, + 0.004562109708786011 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021724917460232973, + 0.0019240333931520581, + 0.002167515456676483, + 0.0017051126342266798, + 0.0022495146840810776, + 0.0030385609716176987 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009020486805446766, + 0.0009555392640204456, + 0.00116584229882827, + 0.0008365640743891882, + 0.0010801660149150347, + 0.0015656964160362839 + ], + "moving_joint_lag_samples": [ + 742, + 795, + 591, + 252, + 663, + 585 + ], + "moving_joint_lag_worst_time_s": [ + 19.474, + 18.862000000000002, + 12.889999999999999, + 3.103, + 12.889999999999999, + 18.874000000000002 + ], + "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": 2.422683000564575, + "playback_velocity_rms_rad_s": 0.5301938417096155, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.106, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.053, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1732, + 4274 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4416434468276095, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08723649382591248, + "rapid_planner_max_dt_s": 2.0199999999999996, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007708132266998291, + "rapid_planner_median_dt_s": 0.07200000000000184, + "rapid_planner_path_max_error_rad": 0.0052385032176971436, + "rapid_planner_path_p95_error_rad": 0.0030294775962829566, + "rapid_planner_path_rms_error_rad": 0.0014992036957444015, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 25, + 45, + 62, + 80, + 92, + 104, + 116, + 127, + 140, + 152, + 164, + 176, + 186, + 196, + 206, + 216, + 229, + 242, + 255, + 268, + 281, + 294, + 308, + 322, + 342, + 361, + 376, + 390, + 409, + 428, + 453, + 478, + 519, + 554, + 588, + 625, + 662, + 710, + 752, + 814, + 882, + 1012, + 1062, + 1083, + 1315, + 1732, + 2237, + 2303, + 2362, + 2380, + 2398, + 2423, + 2443, + 2462, + 2480, + 2490, + 2500, + 2510, + 2519, + 2530, + 2542, + 2553, + 2564, + 2579, + 2594, + 2606, + 2618, + 2642, + 2660, + 2677, + 2693, + 2709, + 2727, + 2739, + 2751, + 2762, + 2772, + 2783, + 2794, + 2805, + 2816, + 2834, + 2852, + 2883, + 2921, + 2973, + 3014, + 3054, + 3120, + 3168, + 3282, + 3610, + 3865, + 3971, + 4072, + 4140, + 4274, + 4547, + 4616, + 4639, + 4663, + 4684, + 4706, + 4727, + 4742, + 4756, + 4774, + 4791, + 4810, + 4828, + 4855, + 4882, + 4905, + 4925, + 4982, + 5264 + ], + "rapid_planner_selected_max_joint_step_deg": 4.998282915743848, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5265, + "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": 0.0052385032176971436, + "raw_replay_rms_error_rad": 0.0008522600801334929, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7604761225857753, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0018008128915812, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8038427109819065, + "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": 0.5935211285737749, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9982123415474945, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8278383850631574, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005267560482025146, + 0.000574946403503418, + 0.0010079741477966309, + 0.0027723675593733788, + 0.0030112266540527344, + 0.008146405220031738 + ], + "replay_smoothing_max_deviation_normalized": 0.933509281853628, + "replay_smoothing_max_deviation_rad": 0.008146405220031738, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002427887637168169, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.4516124725341797, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 30.734699249267578, + "replay_smoothing_raw_accel_rms_rad_s2": 1.6719536047993906, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 606.8526000976562, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 8084.4013671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 348.22334872908687, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6873031854629517, + "replay_smoothing_raw_velocity_rms_rad_s": 0.27168813849069207, + "replay_smoothing_rms_deviation_rad": 0.0011134668172093972, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.624868869781494, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 30.79004669189453, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.3439877183179132, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 360.1798400878906, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8069.94921875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 288.27265465317197, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.624777913093567, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.27058018956818125, + "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": 0.9629436648326901, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959219827237736, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.2439999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.008146405220031738, + "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": 0.0052385032176971436, + "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": 0.031445324420928955, + "stage_planned_to_measured_rms_error_rad": 0.006143119630455844, + "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": 1138, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.811231255531311, + "target_wall_accel_peak_abs_rad_s2": 4.362756252288818, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 9.833400610019453, + "target_wall_accel_rms_rad_s2": 0.36790591590351807, + "target_wall_jerk_p95_abs_rad_s3": 20.395301818847656, + "target_wall_jerk_peak_abs_rad_s3": 85.52935028076172, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 23.466722114011645, + "target_wall_jerk_rms_rad_s3": 8.948178081428765, + "target_wall_smoothness_samples": 1138, + "target_wall_velocity_peak_abs_rad_s": 0.65363609790802, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.466722114011645, + "target_wall_velocity_rms_rad_s": 0.10459926538204499, + "tcp_pose_count": 1138, + "timestamp_count": 1138, + "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": 0.5700000000000021, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1399999999999992, + "window_lag_best_lag_p95_abs_s": 1.0259999999999982, + "window_lag_count": 25, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 13.5, + "window_lag_worst_max_error_rad": 0.0052385032176971436, + "window_lag_worst_rms_error_rad": 0.0015767211625882789, + "window_lag_worst_start_s": 12.5, + "zero_lag_max_error_rad": 0.0052385032176971436, + "zero_lag_p95_error_rad": 0.002034371253103018, + "zero_lag_rms_error_rad": 0.0008522600801334929, + "zero_lag_samples": 1138, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 12.889999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.npz b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.npz new file mode 100644 index 0000000000000000000000000000000000000000..0895881932f9124234e1c15cb1523568c34b5cee --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_154406.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c687134c4262f00f77d34865ce73a25d883b4fd549bc5004a5a30f5cab9bff13 +size 119224 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..443d686e3872cb610b69322d76108d54a234f894 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_manifest.json @@ -0,0 +1,277 @@ +{ + "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": 6, + "discard": 1, + "failure": 0, + "success": 5 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 37.733, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260901_153707.hdf5", + "file_size_mb": 1372.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1133, + "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": 38.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260901_153853.hdf5", + "file_size_mb": 1406.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1158, + "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": 38.167, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260901_154039.hdf5", + "file_size_mb": 1388.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1146, + "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": 36.5, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260901_154223.hdf5", + "file_size_mb": 1327.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1096, + "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": 1, + "duration_s": 37.9, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260901_154408.hdf5", + "file_size_mb": 1382.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1138, + "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": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 19.366, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-34-26:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 4843, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 39, + "start_pose_hash": "fc4bb281357764420b7b30eeb96dcccf64b77971d23cd3a5541ac3e6a74b3fbf", + "start_pose_id": "start_pose_v018", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "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_2026-09-01_15-34-26", + "session_started": "2026-09-01T15:34:28", + "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": "2026-09-01T15:44:43" +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_summary.json b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..673a068b4a73a669b94893ec0927f3c4de7e5111 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-34-26/session_summary.json @@ -0,0 +1,306 @@ +{ + "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": "2026-09-01T15:34:32", + "session_ended": "", + "counts": { + "attempted": 6, + "success": 5, + "failure": 0, + "discard": 1 + }, + "episodes": [ + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260901_153707.hdf5", + "num_frames": 1133, + "duration_s": 37.733, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 13.329, + "file_size_mb": 1372.0, + "save_metrics": { + "validate_s": 0.0019416820723563433, + "prepare_arrays_s": 0.0021161079639568925, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.1746133390115574, + "image_write_s": 11.0705845389748, + "image_chunking": "frame", + "image_input_mb": 2088.3456, + "image_storage_mb": 1369.524237, + "image_frame_count": 2266, + "image_camera_frame_counts": { + "cam_wrist": 1133, + "cam_scene": 1133 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1044.1728, + "cam_scene": 1044.1728 + }, + "image_camera_storage_mb": { + "cam_wrist": 650.331845, + "cam_scene": 719.192392 + }, + "file_size_mb": 1372.033105, + "hdf5_write_s": 13.324469732004218, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.453910514712334e-05, + "total_s": 13.328664088039659 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260901_153853.hdf5", + "num_frames": 1158, + "duration_s": 38.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 13.313, + "file_size_mb": 1406.7, + "save_metrics": { + "validate_s": 0.0013952390290796757, + "prepare_arrays_s": 0.0015545380301773548, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.5140980429714546, + "image_write_s": 11.720890091964975, + "image_chunking": "frame", + "image_input_mb": 2134.4256, + "image_storage_mb": 1404.441926, + "image_frame_count": 2316, + "image_camera_frame_counts": { + "cam_wrist": 1158, + "cam_scene": 1158 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1067.2128, + "cam_scene": 1067.2128 + }, + "image_camera_storage_mb": { + "cam_wrist": 669.727147, + "cam_scene": 734.714779 + }, + "file_size_mb": 1406.659982, + "hdf5_write_s": 13.309501036070287, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.515005275607109e-05, + "total_s": 13.31255361798685 + } + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260901_154039.hdf5", + "num_frames": 1146, + "duration_s": 38.167, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 12.044, + "file_size_mb": 1388.0, + "save_metrics": { + "validate_s": 0.0023563429713249207, + "prepare_arrays_s": 0.002503011026419699, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.1396199089940637, + "image_write_s": 10.843346691923216, + "image_chunking": "frame", + "image_input_mb": 2112.3072, + "image_storage_mb": 1385.803206, + "image_frame_count": 2292, + "image_camera_frame_counts": { + "cam_wrist": 1146, + "cam_scene": 1146 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1056.1536, + "cam_scene": 1056.1536 + }, + "image_camera_storage_mb": { + "cam_wrist": 659.780293, + "cam_scene": 726.022913 + }, + "file_size_mb": 1388.038454, + "hdf5_write_s": 12.038920043967664, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.5011984184384346e-05, + "total_s": 12.044060888933018 + } + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260901_154223.hdf5", + "num_frames": 1096, + "duration_s": 36.5, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.475, + "file_size_mb": 1327.8, + "save_metrics": { + "validate_s": 0.0013678069226443768, + "prepare_arrays_s": 0.001315672998316586, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6982196429744363, + "image_write_s": 10.728441268089227, + "image_chunking": "frame", + "image_input_mb": 2020.1472, + "image_storage_mb": 1325.6911989999999, + "image_frame_count": 2192, + "image_camera_frame_counts": { + "cam_wrist": 1096, + "cam_scene": 1096 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1010.0736, + "cam_scene": 1010.0736 + }, + "image_camera_storage_mb": { + "cam_wrist": 630.207539, + "cam_scene": 695.48366 + }, + "file_size_mb": 1327.832403, + "hdf5_write_s": 11.472459031036124, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.8276036977767944e-05, + "total_s": 11.475255433935672 + } + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260901_154408.hdf5", + "num_frames": 1138, + "duration_s": 37.9, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 1, + "save_time_s": 11.345, + "file_size_mb": 1382.0, + "save_metrics": { + "validate_s": 0.0018790399190038443, + "prepare_arrays_s": 0.0021058199927210808, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6688613559817895, + "image_write_s": 10.62261940794997, + "image_chunking": "frame", + "image_input_mb": 2097.5616, + "image_storage_mb": 1379.7668760000001, + "image_frame_count": 2276, + "image_camera_frame_counts": { + "cam_wrist": 1138, + "cam_scene": 1138 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1048.7808, + "cam_scene": 1048.7808 + }, + "image_camera_storage_mb": { + "cam_wrist": 656.601539, + "cam_scene": 723.165337 + }, + "file_size_mb": 1382.042616, + "hdf5_write_s": 11.340556876035407, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.2504980228841305e-05, + "total_s": 11.344664976000786 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 4843, + "duration_s": 19.366, + "measured_fps": 250.03, + "slow_ticks": 39, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000000_20260901_155328.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000000_20260901_155328.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3028e8f81204f44672373b92540ef689c8baf347 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000000_20260901_155328.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfa075a131ea78395fb058c995403f6cee07505e879a4cce9b4e63f30c795a55 +size 1370979715 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000001_20260901_155747.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000001_20260901_155747.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..83b15568bd0085c22ebb8cdecc2850aa909c712f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000001_20260901_155747.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5716a0bbe2e517c73062ed6a266b3c1992bbc2a882bced9b9861b37bd1e9df98 +size 1354034011 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000002_20260901_160123.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000002_20260901_160123.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..4b516127e36ffc4c9090915f52bcb80632788aec --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000002_20260901_160123.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91b399bcb0822b375032277df6f70d21760c0be0d66c0f875f12eab3ddcc0423 +size 1341213355 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000003_20260901_160442.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000003_20260901_160442.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c06557bf72330c8c29cd07fe49d78c47637cfc1a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000003_20260901_160442.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f7a3520a5d0e52ad87b3139ce63adf7726d5b88a96c2778150d21a57f9ed11a +size 1368395995 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000004_20260901_160643.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000004_20260901_160643.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..40e89797ad709d1857b81d31fb9e31f9e9a83c19 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000004_20260901_160643.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75e61c90d5c069af501f35b56a84eeeb9720eaaaeb47a0c8cbbf5746d7ab3867 +size 1406792035 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000005_20260901_161345.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000005_20260901_161345.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8e03f85d08a06d7e2c1a43fca45e5adaf87188be --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000005_20260901_161345.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f4441b499b14bc946ab4ce72ed7af8bdd88f0fceb81c47886a54169db01774a +size 1423898586 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000006_20260901_161552.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000006_20260901_161552.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d1b2284cf3b2b9a2859858373829846a14c7dcf7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000006_20260901_161552.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcd54c919d19edd4243cf1981b8eefeee8f3c639489c8e727b55a998964c419c +size 1463814239 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000007_20260901_161927.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000007_20260901_161927.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..fc18db42f7c55ec38b667b3b9490fcc4750efa14 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000007_20260901_161927.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5be7d1c0cbaf473e86e9d47b99931e9f888ce379259c5f5298695738f71ade8d +size 1398359314 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000008_20260901_162131.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000008_20260901_162131.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a1a0b34f3526911ad818d36454507f567b400692 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000008_20260901_162131.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab7659d36e7b2dde49637dfede65de5d6b45b3b96e6278d79466e03081a79fbb +size 1384134808 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000009_20260901_162337.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000009_20260901_162337.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..59f5fd70f1a01307d3454176185d233f6abb1560 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000009_20260901_162337.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:491b015e0be307232bd8dd465265bb0f7696c07fa40f567306beeec10c0b40eb +size 1493578531 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000010_20260901_162546.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000010_20260901_162546.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c15bd03cbea9ed4ae3e8254e23899323510f62b9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000010_20260901_162546.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c63916cbdc9b407a19200bcde9ecaf43b9f31ac96f45796a0fae041620cd1c6 +size 1457681515 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000011_20260901_162924.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000011_20260901_162924.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ceecada9320d48fa87371155498c748f2525c6cf --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000011_20260901_162924.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27496ed32e69cb6c0c4ff10c2af821738426475ed81fe4afa1c7ba053bbdff76 +size 1334979051 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000012_20260901_163117.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000012_20260901_163117.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5543e73354f66c2de8e9fff528812135d9e38c73 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000012_20260901_163117.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b85e9df74343f674311d39fb31b4c12256028630fe7b459947ccb7faacf4bfb4 +size 1379826417 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000013_20260901_163317.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000013_20260901_163317.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..7b7ad6a38cde5c812f3414bc0377c0b84671ab75 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000013_20260901_163317.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c10ff477053191bebffc04dc859f155f40400e29fb12048d14a01225910d08a +size 1400747276 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000014_20260901_163515.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000014_20260901_163515.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..7e5b411e2fc50d14d56bceae86572a3a928d73c8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000014_20260901_163515.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5adcaa3d6a2050cc014b4a55c8d255161a12e8a1abec6e0b96dc2a6af7bf0cac +size 1366408662 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000015_20260901_163714.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000015_20260901_163714.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ba990da1242dd7ef461948b419906b6e56322616 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000015_20260901_163714.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d909728a67805b428d0d135185de5913fb23ee000a39b52d8524c44a5c6953e +size 1353268635 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000016_20260901_164052.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000016_20260901_164052.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3f8d39b3f26abb36d01096935b884fcf3ad27a3c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000016_20260901_164052.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1056c95d9796bc5ad19306985cfacc5d9ec741cba5050fed29870eda20c2ec4e +size 1417813254 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000017_20260901_164411.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000017_20260901_164411.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..4f7e473e47dd36fc4b67285863516ce6dff0b12b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000017_20260901_164411.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f2fa3ddaf9040259d4f0b184c09f35e5d501a2011849dabddbd149cd4cb1167 +size 1368793842 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000018_20260901_164635.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000018_20260901_164635.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..deaa16e001b0870694961e1b85e4e5729c6f69eb --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000018_20260901_164635.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d424a8e1957e93c86633a8236198a64094c9e1e623e63a09f53a3d3f426bbe6c +size 1447823331 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000019_20260901_164837.hdf5 b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000019_20260901_164837.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..87c582b618adfa0b4076fd09e69c38ca9481cc4e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/episode_000019_20260901_164837.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b9caa16b2aec7f755d3b41b09b5e018f282dbefd4e9c8e9af8a4c175cfb8a25 +size 1426416353 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.json new file mode 100644 index 0000000000000000000000000000000000000000..d7594cf9662cf4e32aab0cd9e4c77532a8540f01 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.json @@ -0,0 +1,489 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:47:30", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 0, + "actual_playback_duration_s": 0.10946474899537861, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 0, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 0, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.00503193660914676, + "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": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006190323969349265, + "leadthrough_capture_egm_poll_duration_median_s": 0.003954020969104022, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004374937620013952, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004855337855406106, + "leadthrough_capture_egm_poll_duration_warn_count": 2338, + "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": 0.006288688047789037, + "leadthrough_capture_host_loop_dt_median_s": 0.004000729066319764, + "leadthrough_capture_host_loop_dt_p95_s": 0.00442828987725079, + "leadthrough_capture_host_loop_dt_p99_s": 0.004924168754369021, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005740560009144247, + "leadthrough_capture_host_receive_dt_median_s": 0.004002816043794155, + "leadthrough_capture_host_receive_dt_p95_s": 0.004403574229218065, + "leadthrough_capture_host_receive_dt_p99_s": 0.0048682742659002555, + "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": 0.016947221010923386, + "leadthrough_capture_loop_late_median_s": 0.011139570502564311, + "leadthrough_capture_loop_late_p95_s": 0.011457096494268626, + "leadthrough_capture_loop_late_p99_s": 0.012077455461258069, + "leadthrough_capture_loop_late_warn_count": 6230, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006240949034690857, + "leadthrough_capture_read_duration_median_s": 0.003981723973993212, + "leadthrough_capture_read_duration_p95_s": 0.004403785400791093, + "leadthrough_capture_read_duration_p99_s": 0.0048945218836888675, + "leadthrough_capture_read_duration_warn_count": 2757, + "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": [ + 0.0034370869398117065, + 0.004225671291351318, + 0.006173074245452881, + 0.0032171644270420074, + 0.003857731819152832, + 0.005973532795906067 + ], + "leadthrough_delta_max_abs_rad": 0.006173074245452881, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001654060441069305, + 0.0022666961885988712, + 0.00369005068205297, + 0.0002512495848350227, + 0.001813596929423511, + 0.003894998226314783 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007077738991938531, + 0.0010646028677001595, + 0.001438455656170845, + 0.0003017809649463743, + 0.000771518622059375, + 0.001414865837432444 + ], + "leadthrough_delta_samples": 5439, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006173074245452881, + "leadthrough_delta_worst_from_rad": -0.43805307149887085, + "leadthrough_delta_worst_joint": 2, + "leadthrough_delta_worst_time_s": 11.027999999999999, + "leadthrough_delta_worst_to_rad": -0.43187999725341797, + "leadthrough_duration_s": 21.754, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5438, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9359999999999999, + "leadthrough_final_stillness_removed_samples": 234, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5439, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6230, + "leadthrough_initial_stillness_first_motion_index": 557, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.223, + "leadthrough_initial_stillness_removed_samples": 556, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 556, + "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": [ + 0.0034370869398117065, + 0.004225671291351318, + 0.006173074245452881, + 0.0032171644270420074, + 0.003857731819152832, + 0.005973532795906067 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006173074245452881, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9836455186207717, + 1.4085570971170527, + 2.0321309566497034, + 0.8042911067602333, + 1.2423594792683448, + 1.9911775986355749 + ], + "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": 73.50800000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.754, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1966, + 4738 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4366130125038951, + "rapid_planner_max_delta_rad": 0.08456754684448242, + "rapid_planner_max_dt_s": 2.8999999999999995, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007620334625244141, + "rapid_planner_median_dt_s": 0.07600000000000051, + "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, + 52, + 65, + 81, + 92, + 104, + 114, + 123, + 132, + 142, + 156, + 171, + 186, + 200, + 213, + 226, + 239, + 252, + 267, + 282, + 297, + 312, + 332, + 348, + 366, + 382, + 397, + 424, + 451, + 482, + 512, + 544, + 575, + 623, + 671, + 729, + 789, + 858, + 907, + 1151, + 1241, + 1966, + 2084, + 2190, + 2500, + 2554, + 2625, + 2656, + 2673, + 2690, + 2703, + 2716, + 2725, + 2734, + 2743, + 2752, + 2760, + 2769, + 2777, + 2785, + 2793, + 2801, + 2810, + 2819, + 2830, + 2840, + 2861, + 2879, + 2897, + 2919, + 2941, + 2988, + 3015, + 3042, + 3069, + 3096, + 3124, + 3148, + 3171, + 3190, + 3208, + 3226, + 3245, + 3266, + 3285, + 3306, + 3343, + 3396, + 3423, + 3465, + 3535, + 3600, + 3668, + 3747, + 4184, + 4338, + 4544, + 4738, + 5014, + 5056, + 5080, + 5094, + 5109, + 5122, + 5136, + 5165, + 5179, + 5193, + 5215, + 5233, + 5250, + 5268, + 5284, + 5300, + 5324, + 5349, + 5391, + 5439 + ], + "rapid_planner_selected_max_joint_step_deg": 4.845363517963726, + "rapid_planner_selected_samples": 119, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5440, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 119, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": null, + "raw_replay_rms_error_rad": null, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.006561738676937, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8878783595510539, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9832648284540388, + "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": 0.9833193907685437, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8973637453411858, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9871635146611739, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000526823103427887, + 0.0007105469703674316, + 0.0008005499839782715, + 0.0031468085944652557, + 0.004430532455444336, + 0.0055042654275894165 + ], + "replay_smoothing_max_deviation_normalized": 0.6307423615272516, + "replay_smoothing_max_deviation_rad": 0.0055042654275894165, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021625792142003775, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.584142684936523, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.14891815185547, + "replay_smoothing_raw_accel_rms_rad_s2": 5.559758730648067, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2394.554443359375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18516.962890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1418.7847252493377, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8159226179122925, + "replay_smoothing_raw_velocity_rms_rad_s": 0.26605211690001246, + "replay_smoothing_rms_deviation_rad": 0.0008960168339860992, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.653593063354492, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.84431457519531, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.466715214536516, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2354.61181640625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16616.451171875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1400.5725159247243, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.773866891860962, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2651283417365849, + "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": 0.9768405736915813, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965278413335281, + "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": 21.302, + "replay_smoothing_wrist_max_deviation_rad": 0.0055042654275894165, + "safety_abort": false, + "safety_path_error_rad": 0.0, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": null, + "stage_planned_to_measured_rms_error_rad": null, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 0, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 0, + "timestamp_count": 0, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "diagnostics_skipped_operator_stop", + "tracking_pass": false, + "tracking_reason": "diagnostics_skipped_operator_stop", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": false, + "tracking_timing_reason": "diagnostics_skipped_operator_stop", + "window_lag_count": 0 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e77ace359f0aab2ccaf92b8951abb45e4f96d67 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154729.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d390dab47322fe2e7dd8da2a47d30f33b7bea02e09520e57ccf8e5e81db66d +size 4089 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.json new file mode 100644 index 0000000000000000000000000000000000000000..37c9e52eb551cc8d1d03192a2486b556942d52d9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.json @@ -0,0 +1,488 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:48:43", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 610, + "actual_playback_duration_s": 20.495057018939406, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 610, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 610, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.9541016255732696, + "image_frame_counts": { + "cam_scene": 610, + "cam_wrist": 610 + }, + "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": 0.006495221983641386, + "leadthrough_capture_egm_poll_duration_median_s": 0.003959229507017881, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004378524102503434, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004939166764961556, + "leadthrough_capture_egm_poll_duration_warn_count": 2494, + "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": 0.0065428209491074085, + "leadthrough_capture_host_loop_dt_median_s": 0.004006008035503328, + "leadthrough_capture_host_loop_dt_p95_s": 0.004432278545573353, + "leadthrough_capture_host_loop_dt_p99_s": 0.0049997591646388185, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006267867982387543, + "leadthrough_capture_host_receive_dt_median_s": 0.004009215044789016, + "leadthrough_capture_host_receive_dt_p95_s": 0.00440720017068088, + "leadthrough_capture_host_receive_dt_p99_s": 0.004965484477579594, + "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": 0.0072153250221163034, + "leadthrough_capture_loop_late_median_s": 0.0027986681670881808, + "leadthrough_capture_loop_late_p95_s": 0.003222985583124682, + "leadthrough_capture_loop_late_p99_s": 0.003895780626917258, + "leadthrough_capture_loop_late_warn_count": 50, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006524650962091982, + "leadthrough_capture_read_duration_median_s": 0.003986531461123377, + "leadthrough_capture_read_duration_p95_s": 0.004409118049079552, + "leadthrough_capture_read_duration_p99_s": 0.004978164951317012, + "leadthrough_capture_read_duration_warn_count": 2909, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003643609583377838, + 0.0036276578903198242, + 0.005472779273986816, + 0.001458480954170227, + 0.003908097743988037, + 0.006987392902374268 + ], + "leadthrough_delta_max_abs_rad": 0.006987392902374268, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013901740312576294, + 0.0023503005504608154, + 0.0032525360584259033, + 0.0003766035661101341, + 0.0016849637031555176, + 0.004764623939990997 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007030765991657972, + 0.000990141648799181, + 0.0013891838025301695, + 0.00016784235776867718, + 0.0007836695294827223, + 0.0015939585864543915 + ], + "leadthrough_delta_samples": 5371, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006987392902374268, + "leadthrough_delta_worst_from_rad": -0.7643796801567078, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 11.581999999999999, + "leadthrough_delta_worst_to_rad": -0.7573922872543335, + "leadthrough_duration_s": 21.481, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5326, + "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": 5327, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6238, + "leadthrough_initial_stillness_first_motion_index": 867, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.464, + "leadthrough_initial_stillness_removed_samples": 866, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 866, + "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": [ + 0.003643609583377838, + 0.0036276578903198242, + 0.005472779273986816, + 0.001458480954170227, + 0.003908097743988037, + 0.006987392902374268 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006987392902374268, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9109023958449644, + 0.906914472580056, + 1.3681948184968549, + 0.36462023854243497, + 0.9770244359975507, + 1.9983649253850373 + ], + "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": 72.962, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.481, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1776, + 4422 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4338723990994275, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08576090633869171, + "rapid_planner_max_dt_s": 2.1959999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00757250189781189, + "rapid_planner_median_dt_s": 0.08199999999999985, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 36, + 58, + 80, + 98, + 116, + 134, + 152, + 167, + 182, + 197, + 212, + 226, + 241, + 250, + 258, + 267, + 276, + 291, + 306, + 320, + 335, + 353, + 371, + 393, + 415, + 435, + 458, + 484, + 509, + 531, + 553, + 596, + 633, + 670, + 719, + 766, + 813, + 848, + 900, + 1066, + 1144, + 1227, + 1776, + 2306, + 2342, + 2384, + 2421, + 2445, + 2469, + 2482, + 2494, + 2507, + 2520, + 2532, + 2544, + 2556, + 2569, + 2586, + 2602, + 2617, + 2632, + 2646, + 2661, + 2678, + 2695, + 2716, + 2738, + 2768, + 2798, + 2814, + 2828, + 2843, + 2852, + 2860, + 2868, + 2877, + 2886, + 2896, + 2905, + 2914, + 2927, + 2940, + 2963, + 2987, + 3043, + 3088, + 3134, + 3192, + 3249, + 3325, + 3403, + 3481, + 3638, + 3863, + 4028, + 4102, + 4422, + 4726, + 4769, + 4797, + 4818, + 4839, + 4856, + 4872, + 4888, + 4903, + 4921, + 4939, + 4971, + 4992, + 5013, + 5029, + 5043, + 5080, + 5124, + 5371 + ], + "rapid_planner_selected_max_joint_step_deg": 4.913737980423784, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5372, + "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": 0.00465083122253418, + "raw_replay_rms_error_rad": 0.000700079497345207, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6762505815614415, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0102770484002446, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9211281575046517, + "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": 0.1560733839957399, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9960175380715883, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9495016599658278, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000544428825378418, + 0.0008866786956787109, + 0.0017147660255432129, + 0.002351328730583191, + 0.003199934959411621, + 0.0074797868728637695 + ], + "replay_smoothing_max_deviation_normalized": 0.8571204455844694, + "replay_smoothing_max_deviation_rad": 0.0074797868728637695, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0024492868687957525, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.651231527328491, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 51.12976837158203, + "replay_smoothing_raw_accel_rms_rad_s2": 2.609935359794539, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 435.65899658203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13713.6923828125, + "replay_smoothing_raw_jerk_rms_rad_s3": 643.0017124992658, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.783807396888733, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2637483240861515, + "replay_smoothing_rms_deviation_rad": 0.0011270901967147255, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.4691474437713623, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.65523147583008, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.404084949173784, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 67.9947738647461, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13659.078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 610.5311933789228, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7450898885726929, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26265657551751936, + "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": 0.9782950175094183, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.995860642631892, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.7150000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.0074797868728637695, + "safety_abort": false, + "safety_path_error_rad": 0.00465083122253418, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.02514272928237915, + "stage_planned_to_measured_rms_error_rad": 0.006799901251349749, + "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": 610, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 610, + "timestamp_count": 610, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.npz new file mode 100644 index 0000000000000000000000000000000000000000..59db4398332c3bab90844cd1eb3905efb4d7b83e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_154842.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ebfc727e7fad69b2162753a2ecfb826a809207b9588e593c8cc4627df9a03ed +size 63653 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.json new file mode 100644 index 0000000000000000000000000000000000000000..72f6a41611c381690c575b8ba9eb06f19d5d1a0c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.json @@ -0,0 +1,485 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:50:12", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 633, + "actual_playback_duration_s": 21.381694621988572, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 633, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 633, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.9849230559670447, + "image_frame_counts": { + "cam_scene": 633, + "cam_wrist": 633 + }, + "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": 22, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006632366916164756, + "leadthrough_capture_egm_poll_duration_median_s": 0.003970326972194016, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004247990401927381, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0048219530773349105, + "leadthrough_capture_egm_poll_duration_warn_count": 2671, + "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": 0.006754204980097711, + "leadthrough_capture_host_loop_dt_median_s": 0.004017775529064238, + "leadthrough_capture_host_loop_dt_p95_s": 0.004304765484994278, + "leadthrough_capture_host_loop_dt_p99_s": 0.00488432556623593, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00677084899507463, + "leadthrough_capture_host_receive_dt_median_s": 0.004018274950794876, + "leadthrough_capture_host_receive_dt_p95_s": 0.004270141141023487, + "leadthrough_capture_host_receive_dt_p99_s": 0.004831004643347112, + "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": 0.016671449993737042, + "leadthrough_capture_loop_late_median_s": 0.013333610258996487, + "leadthrough_capture_loop_late_p95_s": 0.013649529381655156, + "leadthrough_capture_loop_late_p99_s": 0.014315029687713832, + "leadthrough_capture_loop_late_warn_count": 6575, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006725928978994489, + "leadthrough_capture_read_duration_median_s": 0.00399806397035718, + "leadthrough_capture_read_duration_p95_s": 0.004281738982535898, + "leadthrough_capture_read_duration_p99_s": 0.0048576409625820825, + "leadthrough_capture_read_duration_warn_count": 3244, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0037989914417266846, + 0.0026017427444458008, + 0.003748297691345215, + 0.0024567656219005585, + 0.0029019713401794434, + 0.006609320640563965 + ], + "leadthrough_delta_max_abs_rad": 0.006609320640563965, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.00148164969868958, + 0.0020751289557665586, + 0.002959426725283265, + 0.00041165808215737343, + 0.0018010437488555908, + 0.005072087049484253 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007371247629635036, + 0.0008885656716302037, + 0.001242116210050881, + 0.0002618913713376969, + 0.0007076923502609134, + 0.0016039427137002349 + ], + "leadthrough_delta_samples": 5428, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006609320640563965, + "leadthrough_delta_worst_from_rad": -1.0377739667892456, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 14.202000000000002, + "leadthrough_delta_worst_to_rad": -1.0311646461486816, + "leadthrough_duration_s": 21.709, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5427, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.0, + "leadthrough_final_stillness_removed_samples": 250, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5428, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6575, + "leadthrough_initial_stillness_first_motion_index": 897, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.584, + "leadthrough_initial_stillness_removed_samples": 896, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 896, + "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": [ + 0.0037989914417266846, + 0.0026017427444458008, + 0.003748297691345215, + 0.0024567656219005585, + 0.0029019713401794434, + 0.006609320640563965 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006609320640563965, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.949747860431354, + 0.6504356861112329, + 1.080577572186747, + 0.61419140547548, + 0.7254928350446186, + 2.1487673123676756 + ], + "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": 73.418, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.709, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2358, + 4806 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4108085578195869, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08677983283996582, + "rapid_planner_max_dt_s": 2.366999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007169961929321289, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 30, + 61, + 85, + 109, + 124, + 138, + 149, + 160, + 171, + 182, + 193, + 204, + 215, + 226, + 239, + 252, + 264, + 277, + 287, + 297, + 307, + 317, + 334, + 350, + 374, + 394, + 416, + 437, + 458, + 480, + 497, + 514, + 547, + 571, + 599, + 630, + 701, + 769, + 806, + 842, + 897, + 970, + 1552, + 1667, + 1767, + 2009, + 2358, + 2950, + 3019, + 3078, + 3105, + 3133, + 3149, + 3165, + 3178, + 3192, + 3212, + 3228, + 3243, + 3258, + 3274, + 3290, + 3306, + 3322, + 3337, + 3354, + 3371, + 3396, + 3421, + 3454, + 3487, + 3506, + 3522, + 3538, + 3546, + 3554, + 3562, + 3570, + 3582, + 3594, + 3606, + 3617, + 3632, + 3646, + 3672, + 3728, + 3812, + 3877, + 3934, + 3969, + 4029, + 4100, + 4169, + 4232, + 4510, + 4806, + 5058, + 5095, + 5126, + 5154, + 5178, + 5197, + 5214, + 5231, + 5246, + 5261, + 5274, + 5288, + 5306, + 5338, + 5375, + 5400, + 5428 + ], + "rapid_planner_selected_max_joint_step_deg": 4.972118168580822, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5429, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.00472712516784668, + "raw_replay_rms_error_rad": 0.0007428881673192538, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.949158323878686, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.98324240902729, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9850708872859113, + "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": 0.9876618218869525, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9965723892161622, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9931602256396377, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000498354434967041, + 0.0007307529449462891, + 0.0006502270698547363, + 0.002461738884449005, + 0.002674579620361328, + 0.006311066448688507 + ], + "replay_smoothing_max_deviation_normalized": 0.7231949490750696, + "replay_smoothing_max_deviation_rad": 0.006311066448688507, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023289413657039404, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.272891044616699, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.507450103759766, + "replay_smoothing_raw_accel_rms_rad_s2": 4.144372401796367, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 795.6221923828125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17931.130859375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1044.750023292371, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9200206995010376, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25482716925137505, + "replay_smoothing_rms_deviation_rad": 0.0010339269585696864, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.00480842590332, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.44321823120117, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.08250059908079, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 785.8056640625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17869.669921875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1037.604168870068, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9089714288711548, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25387717014537975, + "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": 0.9942452335890158, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962719865829606, + "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": 21.193, + "replay_smoothing_wrist_max_deviation_rad": 0.006311066448688507, + "safety_abort": false, + "safety_path_error_rad": 0.00472712516784668, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.02601182460784912, + "stage_planned_to_measured_rms_error_rad": 0.0065255422794837795, + "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": 633, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 633, + "timestamp_count": 633, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.npz new file mode 100644 index 0000000000000000000000000000000000000000..96ba664adc40c4014668998ed82ba8a759e6dbb3 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155011.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:301ae7c4dbae9172dfc1400b99e4f08b320553c96b1243afc5c679247be2790d +size 65123 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.json new file mode 100644 index 0000000000000000000000000000000000000000..26a578f76e68e94878112238c2e16e3a5fdd34c1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.json @@ -0,0 +1,489 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:59:40", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 1063, + "actual_playback_duration_s": 35.60411654191557, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1063, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1063, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7316335072183051, + "image_frame_counts": { + "cam_scene": 1063, + "cam_wrist": 1063 + }, + "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": 16, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0073807029984891415, + "leadthrough_capture_egm_poll_duration_median_s": 0.003944188007153571, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00439511735457927, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005090882130898532, + "leadthrough_capture_egm_poll_duration_warn_count": 2595, + "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": 0.007422260940074921, + "leadthrough_capture_host_loop_dt_median_s": 0.003991949022747576, + "leadthrough_capture_host_loop_dt_p95_s": 0.00445002288906835, + "leadthrough_capture_host_loop_dt_p99_s": 0.005156359059037635, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007414986030198634, + "leadthrough_capture_host_receive_dt_median_s": 0.003993898455519229, + "leadthrough_capture_host_receive_dt_p95_s": 0.004410828853724524, + "leadthrough_capture_host_receive_dt_p99_s": 0.005118838598718862, + "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": 0.012485318700782955, + "leadthrough_capture_loop_late_median_s": 0.00892886205110699, + "leadthrough_capture_loop_late_p95_s": 0.009370126551948488, + "leadthrough_capture_loop_late_p99_s": 0.010148328826762735, + "leadthrough_capture_loop_late_warn_count": 6853, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0074054739670827985, + "leadthrough_capture_read_duration_median_s": 0.003971675061620772, + "leadthrough_capture_read_duration_p95_s": 0.004427284421399235, + "leadthrough_capture_read_duration_p99_s": 0.0051264516357332444, + "leadthrough_capture_read_duration_warn_count": 3002, + "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": 24, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0034091174602508545, + 0.0026604533195495605, + 0.004290759563446045, + 0.0019899792969226837, + 0.0036479830741882324, + 0.0061928629875183105 + ], + "leadthrough_delta_max_abs_rad": 0.0061928629875183105, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013050734996795654, + 0.0018032193183898926, + 0.0028830021619796753, + 0.0006207842379808426, + 0.0013763904571533203, + 0.004052400588989258 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007034774753265083, + 0.0008412458118982613, + 0.0012230835855007172, + 0.0002748856204561889, + 0.0006750158499926329, + 0.0014446343993768096 + ], + "leadthrough_delta_samples": 5141, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0061928629875183105, + "leadthrough_delta_worst_from_rad": -0.5699032545089722, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.944, + "leadthrough_delta_worst_to_rad": -0.5760961174964905, + "leadthrough_duration_s": 20.561, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5140, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.34800000000000253, + "leadthrough_final_stillness_removed_samples": 87, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5141, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6853, + "leadthrough_initial_stillness_first_motion_index": 1625, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.496, + "leadthrough_initial_stillness_removed_samples": 1624, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1624, + "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": [ + 0.0034091174602508545, + 0.0026604533195495605, + 0.004290759563446045, + 0.0019899792969226837, + 0.0036479830741882324, + 0.0061928629875183105 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0061928629875183105, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1363724867502418, + 0.8546113967895184, + 1.402159531911161, + 0.6615283588568119, + 1.2151996294656928, + 2.050101757049483 + ], + "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": 71.122, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.561, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1807, + 4399 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4352606350482326, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08605610579252243, + "rapid_planner_max_dt_s": 1.5559999999999992, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007596731185913086, + "rapid_planner_median_dt_s": 0.09199999999999964, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 77, + 100, + 122, + 138, + 154, + 170, + 178, + 186, + 194, + 202, + 210, + 218, + 230, + 241, + 252, + 264, + 273, + 282, + 300, + 314, + 329, + 344, + 360, + 376, + 392, + 414, + 428, + 442, + 457, + 478, + 500, + 520, + 541, + 567, + 593, + 626, + 658, + 691, + 724, + 761, + 798, + 834, + 871, + 929, + 975, + 1054, + 1128, + 1223, + 1612, + 1807, + 2062, + 2144, + 2366, + 2429, + 2486, + 2512, + 2536, + 2554, + 2566, + 2579, + 2592, + 2604, + 2618, + 2633, + 2657, + 2678, + 2698, + 2730, + 2761, + 2792, + 2822, + 2847, + 2872, + 2901, + 2930, + 2946, + 2961, + 2984, + 3001, + 3018, + 3042, + 3071, + 3097, + 3136, + 3196, + 3232, + 3269, + 3330, + 3368, + 3407, + 3545, + 3607, + 3667, + 3708, + 3829, + 4042, + 4399, + 4631, + 4683, + 4713, + 4731, + 4749, + 4766, + 4784, + 4798, + 4813, + 4828, + 4846, + 4856, + 4867, + 4883, + 4903, + 4923, + 4965, + 5021, + 5072, + 5141 + ], + "rapid_planner_selected_max_joint_step_deg": 4.930651663242852, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5142, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006009697914123535, + "raw_replay_rms_error_rad": 0.0007633935646838352, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9990626184895193, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9826976665060184, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9926262486545047, + "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": 0.9982219326976481, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9784980798450438, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9971069724111816, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006727445870637894, + 0.0004951953887939453, + 0.0006972551345825195, + 0.0023133307695388794, + 0.0031572580337524414, + 0.007300138473510742 + ], + "replay_smoothing_max_deviation_normalized": 0.8365342552665829, + "replay_smoothing_max_deviation_rad": 0.007300138473510742, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001883209333755076, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 11.813830375671387, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.005252838134766, + "replay_smoothing_raw_accel_rms_rad_s2": 5.339911997866224, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2822.0654296875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16278.796875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1368.3430677225983, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8327598571777344, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24393713049802324, + "replay_smoothing_rms_deviation_rad": 0.0008937063564715953, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 11.802756309509277, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 58.96702194213867, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.300536814587131, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2817.047607421875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15928.771484375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1364.3844134767085, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.797158122062683, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24310898646837148, + "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": 0.980574795450903, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966050923532591, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.6399999999999988, + "replay_smoothing_wrist_max_deviation_rad": 0.007300138473510742, + "safety_abort": false, + "safety_path_error_rad": 0.006009697914123535, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.03567725419998169, + "stage_planned_to_measured_rms_error_rad": 0.00622118244030211, + "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": 1063, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 1063, + "timestamp_count": 1063, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce58c2f624b250c182078483f6d888251fd7bb5c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_155939.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37771a05bee94716f33c81bf33bbe65e0082a1f04e313e3961e437d06581cca5 +size 112941 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.json new file mode 100644 index 0000000000000000000000000000000000000000..a1ae6ec06f26e63d66bf1a2a037e45178081e24d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.json @@ -0,0 +1,490 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:02:53", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 655, + "actual_playback_duration_s": 22.061992733972147, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 655, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 655, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.9689486904990183, + "image_frame_counts": { + "cam_scene": 655, + "cam_wrist": 655 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007234095013700426, + "leadthrough_capture_egm_poll_duration_median_s": 0.00393511401489377, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004345226485747843, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00504552380181849, + "leadthrough_capture_egm_poll_duration_warn_count": 2126, + "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": 0.007358754053711891, + "leadthrough_capture_host_loop_dt_median_s": 0.0040014240657910705, + "leadthrough_capture_host_loop_dt_p95_s": 0.004418038466246799, + "leadthrough_capture_host_loop_dt_p99_s": 0.005127346098888669, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007347404025495052, + "leadthrough_capture_host_receive_dt_median_s": 0.004003514477517456, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043984638992697, + "leadthrough_capture_host_receive_dt_p99_s": 0.005059398604789749, + "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": 0.018673365004360676, + "leadthrough_capture_loop_late_median_s": 0.011978140682913363, + "leadthrough_capture_loop_late_p95_s": 0.012268367561046033, + "leadthrough_capture_loop_late_p99_s": 0.013136267720256, + "leadthrough_capture_loop_late_warn_count": 6155, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007312128087505698, + "leadthrough_capture_read_duration_median_s": 0.00397419894579798, + "leadthrough_capture_read_duration_p95_s": 0.004387448681518435, + "leadthrough_capture_read_duration_p99_s": 0.005092223277315498, + "leadthrough_capture_read_duration_warn_count": 2715, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 7, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.00349300354719162, + 0.0028802156448364258, + 0.004305124282836914, + 0.0011001527309417725, + 0.0026119351387023926, + 0.00727921724319458 + ], + "leadthrough_delta_max_abs_rad": 0.00727921724319458, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014724492793902755, + 0.0021144209895282984, + 0.003729504067450762, + 0.00021236328757368028, + 0.001645326497964561, + 0.003688618540763855 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007138056680560112, + 0.0008973143412731588, + 0.001319329021498561, + 0.00012099417654098943, + 0.0006446669576689601, + 0.0015830236952751875 + ], + "leadthrough_delta_samples": 5693, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00727921724319458, + "leadthrough_delta_worst_from_rad": -0.8649955987930298, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8479999999999999, + "leadthrough_delta_worst_to_rad": -0.8722748160362244, + "leadthrough_duration_s": 22.769, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5674, + "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": 5675, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6155, + "leadthrough_initial_stillness_first_motion_index": 462, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.843, + "leadthrough_initial_stillness_removed_samples": 461, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 461, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0040000000000000036, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.00349300354719162, + 0.0028802156448364258, + 0.004305124282836914, + 0.0011001527309417725, + 0.0026119351387023926, + 0.00727921724319458 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00727921724319458, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8732508867983889, + 0.720053911208866, + 1.0762810707092276, + 0.2750381827354429, + 0.6529837846753801, + 1.8198043107986435 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.538, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.769, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1809, + 4545 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44985845685184234, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08670735359191895, + "rapid_planner_max_dt_s": 2.3949999999999996, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007851511240005493, + "rapid_planner_median_dt_s": 0.08800000000000097, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 59, + 74, + 83, + 92, + 102, + 111, + 122, + 132, + 143, + 154, + 164, + 175, + 186, + 196, + 206, + 215, + 224, + 234, + 249, + 264, + 278, + 293, + 304, + 315, + 329, + 341, + 353, + 370, + 388, + 405, + 422, + 449, + 476, + 514, + 566, + 600, + 629, + 654, + 697, + 738, + 774, + 847, + 955, + 1055, + 1221, + 1809, + 2408, + 2447, + 2479, + 2545, + 2596, + 2669, + 2723, + 2759, + 2788, + 2815, + 2830, + 2845, + 2861, + 2877, + 2893, + 2909, + 2928, + 2946, + 2965, + 2985, + 3005, + 3018, + 3032, + 3059, + 3072, + 3086, + 3100, + 3114, + 3138, + 3159, + 3201, + 3239, + 3283, + 3328, + 3369, + 3425, + 3485, + 3557, + 3616, + 3714, + 3772, + 4050, + 4119, + 4192, + 4545, + 4821, + 4869, + 4897, + 4920, + 4944, + 4969, + 4995, + 5014, + 5032, + 5044, + 5057, + 5082, + 5096, + 5110, + 5138, + 5163, + 5189, + 5215, + 5266, + 5319, + 5338, + 5355, + 5372, + 5390, + 5498, + 5693 + ], + "rapid_planner_selected_max_joint_step_deg": 4.967965413565454, + "rapid_planner_selected_samples": 119, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5694, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 119, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004318833351135254, + "raw_replay_rms_error_rad": 0.0007045019732007039, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6939287846794847, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.5597577881878183, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.7354493795345253, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.7579460144042969, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7579460144042969 + ], + "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": 0.24845743659709862, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8778561149460066, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.5672330042916768, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00034897029399871826, + 0.00037425756454467773, + 0.0006845593452453613, + 0.0013234186917543411, + 0.001536250114440918, + 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": 0.0017790707061067224, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 1.9848830699920654, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 19.21225357055664, + "replay_smoothing_raw_accel_rms_rad_s2": 1.0543904224509046, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 226.05078125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 1855.0489501953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 124.68857044852786, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.819051742553711, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24981853707721557, + "replay_smoothing_rms_deviation_rad": 0.0009022774186956571, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.3773674964904785, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 10.7542085647583, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.7754507819786638, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 56.163997650146484, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 1628.466064453125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 70.72747241635284, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.820877194404602, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24891612305095737, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.001003518376189, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963877219168116, + "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": 21.494, + "replay_smoothing_wrist_max_deviation_rad": 0.008726641535758972, + "safety_abort": false, + "safety_path_error_rad": 0.004318833351135254, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.02590436488389969, + "stage_planned_to_measured_rms_error_rad": 0.006581105748822243, + "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": 655, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 655, + "timestamp_count": 655, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.npz new file mode 100644 index 0000000000000000000000000000000000000000..0fd138ccbea4b9b9f804e5db411ce197c5ef2605 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160252.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5f030f2f41e584e3c38fb3f4262594e75e273915a78eac08b0de3198783cf69 +size 68941 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.json new file mode 100644 index 0000000000000000000000000000000000000000..8e1f9893018beb70562252c51f00443808029dc2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.json @@ -0,0 +1,488 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:08:17", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 685, + "actual_playback_duration_s": 23.161534038023092, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 685, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 685, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.0772305491848329, + "image_frame_counts": { + "cam_scene": 685, + "cam_wrist": 685 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.04740394197870046, + "leadthrough_capture_egm_poll_duration_median_s": 0.003943306510336697, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00441435682005249, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005526456744410092, + "leadthrough_capture_egm_poll_duration_warn_count": 2040, + "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": 0.05008161789737642, + "leadthrough_capture_host_loop_dt_median_s": 0.004017808532807976, + "leadthrough_capture_host_loop_dt_p95_s": 0.004497644572984426, + "leadthrough_capture_host_loop_dt_p99_s": 0.0056138026749249495, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.00727723294403404, + "leadthrough_capture_host_receive_dt_median_s": 0.004017216037027538, + "leadthrough_capture_host_receive_dt_p95_s": 0.004418042604811489, + "leadthrough_capture_host_receive_dt_p99_s": 0.0055218134727329, + "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": 0.10191370639950037, + "leadthrough_capture_loop_late_median_s": 0.09772628347855061, + "leadthrough_capture_loop_late_p95_s": 0.09831540484447032, + "leadthrough_capture_loop_late_p99_s": 0.09925314687192441, + "leadthrough_capture_loop_late_warn_count": 5979, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.050077624968253076, + "leadthrough_capture_read_duration_median_s": 0.003987981006503105, + "leadthrough_capture_read_duration_p95_s": 0.004468326165806501, + "leadthrough_capture_read_duration_p99_s": 0.005581338894553486, + "leadthrough_capture_read_duration_warn_count": 2767, + "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": 30, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003649994730949402, + 0.003128230571746826, + 0.004284381866455078, + 0.002140980213880539, + 0.0034250617027282715, + 0.006427140906453133 + ], + "leadthrough_delta_max_abs_rad": 0.006427140906453133, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016410276293754578, + 0.0022127851843833923, + 0.003530837595462799, + 0.0004261881113052368, + 0.0016794204711914062, + 0.003811269998550415 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007154131890274584, + 0.0010272236540913582, + 0.0013736494584009051, + 0.00024182260676752776, + 0.0007305116159841418, + 0.001402820460498333 + ], + "leadthrough_delta_samples": 5376, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006427140906453133, + "leadthrough_delta_worst_from_rad": -0.026316160336136818, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.252, + "leadthrough_delta_worst_to_rad": -0.03274330124258995, + "leadthrough_duration_s": 21.501, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5375, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5360000000000014, + "leadthrough_final_stillness_removed_samples": 134, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5376, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5978, + "leadthrough_initial_stillness_first_motion_index": 468, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.868, + "leadthrough_initial_stillness_removed_samples": 467, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 467, + "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": [ + 0.003649994730949402, + 0.003128230571746826, + 0.004284381866455078, + 0.002140980213880539, + 0.0034250617027282715, + 0.006427140906453133 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006427140906453133, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.21160596609111, + 0.9913444519042593, + 1.4281272888183052, + 0.7044725740949046, + 1.1412898699442113, + 1.6067852266132818 + ], + "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": 73.00200000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.501, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1935, + 4653 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4007442740775731, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08664056658744812, + "rapid_planner_max_dt_s": 2.2840000000000007, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006994307041168213, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 24, + 38, + 53, + 62, + 70, + 78, + 87, + 98, + 109, + 123, + 137, + 147, + 157, + 166, + 174, + 182, + 190, + 199, + 208, + 216, + 225, + 236, + 246, + 257, + 268, + 291, + 304, + 318, + 331, + 344, + 361, + 378, + 391, + 409, + 424, + 439, + 469, + 486, + 504, + 539, + 571, + 602, + 636, + 665, + 746, + 806, + 929, + 1008, + 1452, + 1935, + 2506, + 2595, + 2651, + 2696, + 2716, + 2740, + 2763, + 2774, + 2786, + 2798, + 2810, + 2826, + 2842, + 2866, + 2891, + 2910, + 2928, + 2947, + 2966, + 2984, + 3002, + 3035, + 3068, + 3100, + 3115, + 3130, + 3144, + 3159, + 3175, + 3191, + 3212, + 3233, + 3267, + 3305, + 3354, + 3382, + 3409, + 3446, + 3484, + 3532, + 3612, + 3655, + 3682, + 3720, + 3789, + 4034, + 4123, + 4194, + 4653, + 4936, + 4976, + 4995, + 5012, + 5034, + 5055, + 5082, + 5094, + 5107, + 5126, + 5147, + 5179, + 5219, + 5245, + 5287, + 5327, + 5376 + ], + "rapid_planner_selected_max_joint_step_deg": 4.964138800082955, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5377, + "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": 0.003918766975402832, + "raw_replay_rms_error_rad": 0.0007049310200884871, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9787848808717785, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9405691705252134, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9822035047285439, + "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": 0.9844860803043269, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9228004641092503, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9881760009132915, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007794499397277832, + 0.0008650422096252441, + 0.001525282859802246, + 0.0021717995405197144, + 0.0022138357162475586, + 0.00628662109375 + ], + "replay_smoothing_max_deviation_normalized": 0.7203937177200188, + "replay_smoothing_max_deviation_rad": 0.00628662109375, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021394086070358753, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 11.086699485778809, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 45.281166076660156, + "replay_smoothing_raw_accel_rms_rad_s2": 4.812431819128823, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2537.618408203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12816.890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1226.7135819194825, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6055119037628174, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2565794366867635, + "replay_smoothing_rms_deviation_rad": 0.0009764085601725024, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.851493835449219, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.59006881713867, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.726787399015492, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2498.25, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11827.4326171875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1212.2089216472136, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.525755524635315, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2555304154871747, + "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": 0.9503233959582744, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959115149166476, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.531, + "replay_smoothing_wrist_max_deviation_rad": 0.00628662109375, + "safety_abort": false, + "safety_path_error_rad": 0.003918766975402832, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.03181330859661102, + "stage_planned_to_measured_rms_error_rad": 0.006705732316897398, + "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": 685, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 685, + "timestamp_count": 685, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.npz new file mode 100644 index 0000000000000000000000000000000000000000..60a82fca043c8117c0253a61714dbc14ff3ced68 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_160816.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbac0541b78dcf37031dc2296ca5f8357d05041fa4d55e868f875c36dd94b223 +size 74634 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.json new file mode 100644 index 0000000000000000000000000000000000000000..b18c990cdd3683897a50db0fc3c982562b092600 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.json @@ -0,0 +1,480 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:10:06", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 526, + "actual_playback_duration_s": 17.737942675943486, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 526, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 526, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.8044418447139904, + "image_frame_counts": { + "cam_scene": 526, + "cam_wrist": 526 + }, + "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": 14, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007106378092430532, + "leadthrough_capture_egm_poll_duration_median_s": 0.003931587911210954, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004383320512715727, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005264867006335411, + "leadthrough_capture_egm_poll_duration_warn_count": 2095, + "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": 0.007219734019599855, + "leadthrough_capture_host_loop_dt_median_s": 0.004000386979896575, + "leadthrough_capture_host_loop_dt_p95_s": 0.004469256952870637, + "leadthrough_capture_host_loop_dt_p99_s": 0.00536206088378094, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007077310001477599, + "leadthrough_capture_host_receive_dt_median_s": 0.004001043445896357, + "leadthrough_capture_host_receive_dt_p95_s": 0.00441541236359626, + "leadthrough_capture_host_receive_dt_p99_s": 0.005311269822996108, + "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": 0.015544974012300372, + "leadthrough_capture_loop_late_median_s": 0.012186426436528563, + "leadthrough_capture_loop_late_p95_s": 0.01258817333728075, + "leadthrough_capture_loop_late_p99_s": 0.013664042921736841, + "leadthrough_capture_loop_late_warn_count": 6383, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0071778439451009035, + "leadthrough_capture_read_duration_median_s": 0.003971913945861161, + "leadthrough_capture_read_duration_p95_s": 0.00443601532606408, + "leadthrough_capture_read_duration_p99_s": 0.005325215468183164, + "leadthrough_capture_read_duration_warn_count": 2704, + "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": [ + 0.0034414753317832947, + 0.0028530359268188477, + 0.00409582257270813, + 0.003366369754076004, + 0.002583801746368408, + 0.004331707954406738 + ], + "leadthrough_delta_max_abs_rad": 0.004331707954406738, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016868142411112785, + 0.0020639270078390837, + 0.002880775835365057, + 0.00047421272029168904, + 0.0014656424755230546, + 0.003116375068202615 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006885835318826139, + 0.0009108288213610649, + 0.0012288341531530023, + 0.0003445166803430766, + 0.0006354142096824944, + 0.0011396126355975866 + ], + "leadthrough_delta_samples": 5513, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.004331707954406738, + "leadthrough_delta_worst_from_rad": -0.6464908123016357, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.052, + "leadthrough_delta_worst_to_rad": -0.6508225202560425, + "leadthrough_duration_s": 22.049999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5483, + "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": 5484, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6383, + "leadthrough_initial_stillness_first_motion_index": 870, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.475, + "leadthrough_initial_stillness_removed_samples": 869, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 869, + "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": [ + 0.0034414753317832947, + 0.0028530359268188477, + 0.00409582257270813, + 0.003366369754076004, + 0.002583801746368408, + 0.004331707954406738 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.004331707954406738, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8603688329455363, + 0.7132589817047905, + 1.0239556431771453, + 0.8415924385194674, + 0.6793141365052018, + 1.4399091402693334 + ], + "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": 74.1, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.049999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2237, + 4577 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4493069190763638, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.0868409276008606, + "rapid_planner_max_dt_s": 1.5570000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007841885089874268, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 23, + 52, + 71, + 95, + 116, + 136, + 154, + 173, + 190, + 207, + 219, + 231, + 243, + 255, + 266, + 276, + 297, + 312, + 328, + 352, + 376, + 400, + 424, + 442, + 466, + 489, + 512, + 539, + 566, + 590, + 613, + 636, + 660, + 692, + 725, + 787, + 859, + 906, + 930, + 959, + 1006, + 1035, + 1339, + 1421, + 1482, + 1848, + 2237, + 2497, + 2565, + 2796, + 2870, + 2914, + 2939, + 2957, + 2975, + 2993, + 3015, + 3032, + 3050, + 3063, + 3076, + 3088, + 3101, + 3123, + 3138, + 3154, + 3170, + 3185, + 3214, + 3244, + 3279, + 3314, + 3343, + 3372, + 3402, + 3440, + 3458, + 3476, + 3516, + 3547, + 3578, + 3611, + 3675, + 3708, + 3751, + 3780, + 3805, + 3838, + 4038, + 4304, + 4577, + 4854, + 4913, + 4936, + 4961, + 4985, + 5006, + 5031, + 5046, + 5060, + 5079, + 5097, + 5118, + 5138, + 5175, + 5217, + 5262, + 5513 + ], + "rapid_planner_selected_max_joint_step_deg": 4.975618640530453, + "rapid_planner_selected_samples": 109, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5514, + "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": 109, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005678415298461914, + "raw_replay_rms_error_rad": 0.0007302141142654965, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.856652101973092, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.994014521294243, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9672560408229494, + "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": 0.7344812664621221, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9987456662664804, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9878965090974893, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006031347438693047, + 0.0005548000335693359, + 0.0010277032852172852, + 0.002114608883857727, + 0.003042936325073242, + 0.005787491798400879 + ], + "replay_smoothing_max_deviation_normalized": 0.6631977131672708, + "replay_smoothing_max_deviation_rad": 0.005787491798400879, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0019705179147422314, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.9374747276306152, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 41.013797760009766, + "replay_smoothing_raw_accel_rms_rad_s2": 2.3459457219654727, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 385.6958923339844, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11658.7978515625, + "replay_smoothing_raw_jerk_rms_rad_s3": 577.1757890828061, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.2850520610809326, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22160523956643355, + "replay_smoothing_rms_deviation_rad": 0.0008952098808512293, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.5163938999176025, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 40.768310546875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.2691301710138587, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 283.2864074707031, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11644.173828125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 570.1899471704929, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.2743090391159058, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22069526341591358, + "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": 0.9916400103230135, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958937065193029, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.7840000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.005787491798400879, + "safety_abort": false, + "safety_path_error_rad": 0.005678415298461914, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.022397398948669434, + "stage_planned_to_measured_rms_error_rad": 0.0064263881510477966, + "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": 526, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 526, + "timestamp_count": 526, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.npz new file mode 100644 index 0000000000000000000000000000000000000000..c7c609aedd392faba56b3576cd72f01c7b7cf6df --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161005.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:488779cd69938e75fc4e76615b4b8b81ddb9f2d1fd29d801f662aa0cb03dbde0 +size 54857 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.json new file mode 100644 index 0000000000000000000000000000000000000000..b0324e88f2555437dca2326857b053894449b927 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.json @@ -0,0 +1,485 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:11:45", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 901, + "actual_playback_duration_s": 30.268436263897456, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 901, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 901, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.326108927224423, + "image_frame_counts": { + "cam_scene": 901, + "cam_wrist": 901 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 31, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007358102942816913, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039137844578363, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004379732575034722, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005293151831720016, + "leadthrough_capture_egm_poll_duration_warn_count": 2053, + "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": 0.007465691072866321, + "leadthrough_capture_host_loop_dt_median_s": 0.00398255093023181, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044735300936736165, + "leadthrough_capture_host_loop_dt_p99_s": 0.005377545088995248, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007362239062786102, + "leadthrough_capture_host_receive_dt_median_s": 0.003988823038525879, + "leadthrough_capture_host_receive_dt_p95_s": 0.004408092494122684, + "leadthrough_capture_host_receive_dt_p99_s": 0.005298311875667423, + "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": 0.01592234300915152, + "leadthrough_capture_loop_late_median_s": 0.012578748865053058, + "leadthrough_capture_loop_late_p95_s": 0.013028958084760234, + "leadthrough_capture_loop_late_p99_s": 0.013969473930774254, + "leadthrough_capture_loop_late_warn_count": 6640, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007429447025060654, + "leadthrough_capture_read_duration_median_s": 0.00395449751522392, + "leadthrough_capture_read_duration_p95_s": 0.004436532565159723, + "leadthrough_capture_read_duration_p99_s": 0.005348177246050906, + "leadthrough_capture_read_duration_warn_count": 2516, + "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": 17, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002233460545539856, + 0.002831876277923584, + 0.0041980743408203125, + 0.0009353687055408955, + 0.002248823642730713, + 0.005278438329696655 + ], + "leadthrough_delta_max_abs_rad": 0.005278438329696655, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0011393085587769747, + 0.001858353614807129, + 0.002745496341958642, + 0.0003653384919743985, + 0.0013294813688844442, + 0.0038451789878308773 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.000586146314162761, + 0.0007751836674287915, + 0.0011180072324350476, + 0.00015844935842324048, + 0.000545613351278007, + 0.0013141079107299447 + ], + "leadthrough_delta_samples": 5707, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005278438329696655, + "leadthrough_delta_worst_from_rad": -0.46510180830955505, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9520000000000004, + "leadthrough_delta_worst_to_rad": -0.4703802466392517, + "leadthrough_duration_s": 22.825, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5664, + "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": 5665, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6640, + "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": [ + 0.002233460545539856, + 0.002831876277923584, + 0.0041980743408203125, + 0.0009353687055408955, + 0.002248823642730713, + 0.005278438329696655 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005278438329696655, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.742355982462537, + 0.943561395009323, + 1.360615094503521, + 0.2780339370171124, + 0.746826330820691, + 1.5006065368651775 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.65, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.825, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2160, + 4500 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4197048792135285, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08491186797618866, + "rapid_planner_max_dt_s": 1.708000000000002, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007325232028961182, + "rapid_planner_median_dt_s": 0.10699999999999932, + "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, + 77, + 96, + 117, + 136, + 154, + 175, + 186, + 196, + 212, + 228, + 244, + 260, + 276, + 292, + 308, + 325, + 336, + 348, + 360, + 371, + 386, + 400, + 414, + 428, + 446, + 463, + 482, + 501, + 521, + 541, + 576, + 610, + 639, + 676, + 717, + 745, + 772, + 799, + 832, + 872, + 894, + 968, + 1041, + 1128, + 1164, + 1254, + 1304, + 1498, + 1919, + 2160, + 2425, + 2487, + 2587, + 2728, + 2807, + 2831, + 2855, + 2872, + 2889, + 2906, + 2924, + 2941, + 2958, + 2982, + 3005, + 3030, + 3056, + 3083, + 3106, + 3129, + 3150, + 3170, + 3192, + 3215, + 3240, + 3266, + 3303, + 3333, + 3360, + 3395, + 3456, + 3517, + 3568, + 3599, + 3639, + 3731, + 3828, + 3944, + 4020, + 4073, + 4500, + 4797, + 4858, + 4906, + 4948, + 4985, + 5022, + 5055, + 5085, + 5100, + 5116, + 5132, + 5148, + 5166, + 5185, + 5219, + 5250, + 5280, + 5316, + 5378, + 5524, + 5707 + ], + "rapid_planner_selected_max_joint_step_deg": 4.865091665607661, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5708, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005214869976043701, + "raw_replay_rms_error_rad": 0.000731333593278668, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9738552284947901, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9763176851442011, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9893884019743159, + "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": 0.9960843730300419, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9682787874705816, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.994143845024876, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00044462084770202637, + 0.0016080737113952637, + 0.0021498501300811768, + 0.0015266276895999908, + 0.0026793479919433594, + 0.004330754280090332 + ], + "replay_smoothing_max_deviation_normalized": 0.4962678885590595, + "replay_smoothing_max_deviation_rad": 0.004330754280090332, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001791626214981079, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.546894073486328, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.95332336425781, + "replay_smoothing_raw_accel_rms_rad_s2": 4.289622076975947, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2269.115478515625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11947.1328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1094.6152645181157, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.33926522731781, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21612071090972687, + "replay_smoothing_rms_deviation_rad": 0.0007604486849775493, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.297292709350586, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.91240692138672, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.244102331812978, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2260.23046875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11568.1552734375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1088.2050278909612, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3092259168624878, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21536448835008698, + "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": 0.977570305087751, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965009250781348, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.8439999999999999, + "replay_smoothing_wrist_max_deviation_rad": 0.004330754280090332, + "safety_abort": false, + "safety_path_error_rad": 0.005214869976043701, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.02967125177383423, + "stage_planned_to_measured_rms_error_rad": 0.006239319566243419, + "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": 901, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 901, + "timestamp_count": 901, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.npz new file mode 100644 index 0000000000000000000000000000000000000000..df91f08218d2824b612e7fc837460d2d7597728c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161144.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7525422c22f278e4448280f538112f1ef802a250e59526fec915a95f820f6e47 +size 92494 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad5cee240541c518847581b213a359840a90023 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.json @@ -0,0 +1,489 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:17:34", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 928, + "actual_playback_duration_s": 30.984606505022384, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 928, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 928, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4115993851946418, + "image_frame_counts": { + "cam_scene": 928, + "cam_wrist": 928 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 8, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007190052070654929, + "leadthrough_capture_egm_poll_duration_median_s": 0.003936732478905469, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004378564259968698, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005251930470112713, + "leadthrough_capture_egm_poll_duration_warn_count": 2308, + "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": 0.007251529023051262, + "leadthrough_capture_host_loop_dt_median_s": 0.003986370982602239, + "leadthrough_capture_host_loop_dt_p95_s": 0.00443976791575551, + "leadthrough_capture_host_loop_dt_p99_s": 0.005321260006166991, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007223802036605775, + "leadthrough_capture_host_receive_dt_median_s": 0.003992106998339295, + "leadthrough_capture_host_receive_dt_p95_s": 0.00440655997954309, + "leadthrough_capture_host_receive_dt_p99_s": 0.005252237175591287, + "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": 0.013907235930673778, + "leadthrough_capture_loop_late_median_s": 0.008303742739371955, + "leadthrough_capture_loop_late_p95_s": 0.008739379578037188, + "leadthrough_capture_loop_late_p99_s": 0.009631837505148727, + "leadthrough_capture_loop_late_warn_count": 6962, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007229214999824762, + "leadthrough_capture_read_duration_median_s": 0.003965881012845784, + "leadthrough_capture_read_duration_p95_s": 0.00441674159374088, + "leadthrough_capture_read_duration_p99_s": 0.005296719855396081, + "leadthrough_capture_read_duration_warn_count": 2776, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 43, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.00382097065448761, + 0.002669289708137512, + 0.004586338996887207, + 0.0023117586970329285, + 0.003283083438873291, + 0.00505375862121582 + ], + "leadthrough_delta_max_abs_rad": 0.00505375862121582, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001489895861595869, + 0.0021874012891203165, + 0.0028672844637185335, + 0.0005057344096712768, + 0.0019020854961127043, + 0.003959971945732832 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006853622035123408, + 0.0009218314662575722, + 0.001272719819098711, + 0.0002531621721573174, + 0.0007678858237341046, + 0.0013204396236687899 + ], + "leadthrough_delta_samples": 5488, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00505375862121582, + "leadthrough_delta_worst_from_rad": -0.472879558801651, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8440000000000003, + "leadthrough_delta_worst_to_rad": -0.4779333174228668, + "leadthrough_duration_s": 21.95, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5487, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4750000000000014, + "leadthrough_final_stillness_removed_samples": 119, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5488, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6962, + "leadthrough_initial_stillness_first_motion_index": 1355, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.415, + "leadthrough_initial_stillness_removed_samples": 1354, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1354, + "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": [ + 0.00382097065448761, + 0.002669289708137512, + 0.004586338996887207, + 0.0023117586970329285, + 0.003283083438873291, + 0.00505375862121582 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00505375862121582, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9552426636215835, + 0.6673224270347479, + 1.146584749221419, + 0.5779396742585524, + 0.8207708597187776, + 1.2634396553038136 + ], + "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": 73.9, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.95, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1922, + 4641 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4393153928572665, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08651793003082275, + "rapid_planner_max_dt_s": 2.404000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00766750006005168, + "rapid_planner_median_dt_s": 0.08699999999999974, + "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, + 61, + 85, + 99, + 113, + 128, + 142, + 160, + 177, + 187, + 197, + 207, + 217, + 227, + 237, + 247, + 257, + 270, + 284, + 298, + 311, + 330, + 350, + 369, + 388, + 404, + 419, + 442, + 458, + 475, + 492, + 508, + 534, + 560, + 586, + 613, + 649, + 691, + 772, + 827, + 856, + 885, + 934, + 970, + 1008, + 1060, + 1156, + 1215, + 1648, + 1922, + 2523, + 2646, + 2748, + 2833, + 2852, + 2870, + 2888, + 2904, + 2921, + 2945, + 2966, + 2987, + 3006, + 3024, + 3045, + 3066, + 3085, + 3104, + 3126, + 3147, + 3180, + 3204, + 3232, + 3260, + 3293, + 3319, + 3342, + 3364, + 3382, + 3410, + 3433, + 3452, + 3473, + 3494, + 3519, + 3562, + 3628, + 3707, + 3823, + 3867, + 3931, + 3998, + 4100, + 4170, + 4272, + 4641, + 4906, + 4952, + 4971, + 4989, + 5012, + 5034, + 5056, + 5074, + 5095, + 5114, + 5132, + 5152, + 5167, + 5182, + 5203, + 5223, + 5242, + 5280, + 5320, + 5377, + 5488 + ], + "rapid_planner_selected_max_joint_step_deg": 4.957112242974304, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5489, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0061179762706160545, + "raw_replay_rms_error_rad": 0.0008148948680247711, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.901782122610278, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9533629023568667, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.92331429025547, + "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": 0.7518884707968485, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9518394679251948, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9617250587177419, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0011880360543727875, + 0.0011990070343017578, + 0.0019979476928710938, + 0.0036075934767723083, + 0.0022929906845092773, + 0.008369214832782745 + ], + "replay_smoothing_max_deviation_normalized": 0.9590413829425629, + "replay_smoothing_max_deviation_rad": 0.008369214832782745, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0019527198746800423, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.0683376789093018, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 32.39439010620117, + "replay_smoothing_raw_accel_rms_rad_s2": 1.7097188358567565, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 392.4643859863281, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 9018.0576171875, + "replay_smoothing_raw_jerk_rms_rad_s3": 383.52208595036075, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.262839913368225, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2364116845528266, + "replay_smoothing_rms_deviation_rad": 0.0009455371753050798, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.766972064971924, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 30.883609771728516, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5786078334654896, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 295.0894470214844, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8583.7431640625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 368.84280063016155, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.2382901906967163, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23543920635188684, + "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": 0.9805599091289171, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958865053443564, + "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": 20.758, + "replay_smoothing_wrist_max_deviation_rad": 0.008369214832782745, + "safety_abort": false, + "safety_path_error_rad": 0.0061179762706160545, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.041445255279541016, + "stage_planned_to_measured_rms_error_rad": 0.006472639824558254, + "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": 928, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 928, + "timestamp_count": 928, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c43ba5093b5093e4b5e62d709affa4f566f5d04 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_161733.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c14ed364aed7da30987ceacd559e40e54f71546232ba8083dcabc52717ab7d21 +size 95926 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.json new file mode 100644 index 0000000000000000000000000000000000000000..a737ccf1f3c55ebecb827569409661fd02a9a538 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.json @@ -0,0 +1,494 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:27:11", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 472, + "actual_playback_duration_s": 16.16662752092816, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 472, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 472, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.6732448057688818, + "image_frame_counts": { + "cam_scene": 472, + "cam_wrist": 472 + }, + "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": 21, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007286840002052486, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039819550001993775, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004326222487725318, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0045570484141353495, + "leadthrough_capture_egm_poll_duration_warn_count": 3099, + "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": 0.007353070075623691, + "leadthrough_capture_host_loop_dt_median_s": 0.004007493960671127, + "leadthrough_capture_host_loop_dt_p95_s": 0.004353000118862837, + "leadthrough_capture_host_loop_dt_p99_s": 0.004598892200738191, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0072591990465298295, + "leadthrough_capture_host_receive_dt_median_s": 0.004009545082226396, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043440396781079475, + "leadthrough_capture_host_receive_dt_p99_s": 0.004538488436955959, + "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": 0.01535351003985852, + "leadthrough_capture_loop_late_median_s": 0.008298664062749594, + "leadthrough_capture_loop_late_p95_s": 0.008583632548106835, + "leadthrough_capture_loop_late_p99_s": 0.008981197613757102, + "leadthrough_capture_loop_late_warn_count": 7028, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007327050087042153, + "leadthrough_capture_read_duration_median_s": 0.00399640656542033, + "leadthrough_capture_read_duration_p95_s": 0.004342039150651544, + "leadthrough_capture_read_duration_p99_s": 0.004587149320868771, + "leadthrough_capture_read_duration_warn_count": 3435, + "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": [ + 0.0029017776250839233, + 0.002370476722717285, + 0.0032441318035125732, + 0.0018917098641395569, + 0.002485513687133789, + 0.006654262542724609 + ], + "leadthrough_delta_max_abs_rad": 0.006654262542724609, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001493159681558609, + 0.0019206099677830935, + 0.0026430864818394184, + 0.00039598860894329846, + 0.0015891375951468945, + 0.003233194351196289 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006097496952861547, + 0.0008575150277465582, + 0.0011461878893896937, + 0.00024279775971081108, + 0.0006174037698656321, + 0.0013668292667716742 + ], + "leadthrough_delta_samples": 6004, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006654262542724609, + "leadthrough_delta_worst_from_rad": -0.41363492608070374, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7149999999999999, + "leadthrough_delta_worst_to_rad": -0.42028918862342834, + "leadthrough_duration_s": 24.013, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6003, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.7439999999999998, + "leadthrough_final_stillness_removed_samples": 186, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6004, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7028, + "leadthrough_initial_stillness_first_motion_index": 838, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.348, + "leadthrough_initial_stillness_removed_samples": 837, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 837, + "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": [ + 0.0029017776250839233, + 0.002370476722717285, + 0.0032441318035125732, + 0.0018917098641395569, + 0.002485513687133789, + 0.006654262542724609 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006654262542724609, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7254444062707386, + 0.7795095443725291, + 1.063267389933228, + 0.528304527203222, + 0.6213784217832398, + 2.2180875142414522 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.02600000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.013, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1950, + 5190 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4434432016739078, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.0812215805053711, + "rapid_planner_max_dt_s": 2.7270000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007739543914794922, + "rapid_planner_median_dt_s": 0.10350000000000037, + "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, + 65, + 82, + 100, + 115, + 124, + 132, + 140, + 147, + 154, + 162, + 170, + 177, + 184, + 192, + 203, + 214, + 226, + 237, + 249, + 261, + 273, + 285, + 294, + 304, + 314, + 323, + 345, + 365, + 404, + 426, + 448, + 477, + 506, + 542, + 579, + 603, + 650, + 697, + 741, + 763, + 785, + 836, + 882, + 941, + 967, + 1008, + 1098, + 1149, + 1217, + 1414, + 1933, + 1950, + 2053, + 2414, + 2492, + 2591, + 2646, + 2677, + 2696, + 2714, + 2737, + 2760, + 2782, + 2811, + 2846, + 2882, + 2898, + 2914, + 2930, + 2945, + 2962, + 2978, + 3007, + 3032, + 3056, + 3082, + 3108, + 3137, + 3171, + 3196, + 3221, + 3243, + 3267, + 3305, + 3331, + 3362, + 3394, + 3441, + 3485, + 3532, + 3566, + 3601, + 3660, + 3713, + 3792, + 3858, + 3964, + 4161, + 4312, + 4401, + 4508, + 5190, + 5480, + 5520, + 5540, + 5558, + 5578, + 5599, + 5619, + 5639, + 5660, + 5674, + 5688, + 5711, + 5738, + 5766, + 5814, + 5846, + 5873, + 5941, + 6004 + ], + "rapid_planner_selected_max_joint_step_deg": 4.653653768339808, + "rapid_planner_selected_samples": 123, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6005, + "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": 0.32256531715393066, + "raw_replay_rms_error_rad": 0.011563950120913852, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9832540566174947, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0049424349097, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.990828159102168, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0047660196549857, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0110900309762436, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.995812883595443, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005516409873962402, + 0.0012896060943603516, + 0.0014007613062858582, + 0.0032100798562169075, + 0.002838730812072754, + 0.004797361791133881 + ], + "replay_smoothing_max_deviation_normalized": 0.5497371711170508, + "replay_smoothing_max_deviation_rad": 0.004797361791133881, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016189751913771033, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.937289714813232, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.097991943359375, + "replay_smoothing_raw_accel_rms_rad_s2": 4.080401681920527, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1691.0740966796875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16368.0751953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1060.4905427456058, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9797264337539673, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22796033436989535, + "replay_smoothing_rms_deviation_rad": 0.000744268928357413, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.804372310638428, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.4049072265625, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.0429768868947065, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1699.1337890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16549.59765625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1056.050145397198, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9738482236862183, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2272142093803049, + "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": 0.9970307967972106, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967269525566682, + "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": 22.809, + "replay_smoothing_wrist_max_deviation_rad": 0.004797361791133881, + "safety_abort": false, + "safety_path_error_rad": 0.32256531715393066, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.48733392357826233, + "stage_planned_to_measured_rms_error_rad": 0.015345584501699138, + "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": 472, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 472, + "timestamp_count": 472, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0b7b5db8ddf71a15cf2c5972901dd6c762045ab --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_162709.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4328a8ef15747019160cc072f3939ee9f72980b46f7d50acedf26e469cdcb6d6 +size 48495 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2404dc054ce016fa5376d9e5b3cdf2af505b49 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.json @@ -0,0 +1,475 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:38:57", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 540, + "actual_playback_duration_s": 18.191544940927997, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 540, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 540, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.8021670756207778, + "image_frame_counts": { + "cam_scene": 540, + "cam_wrist": 540 + }, + "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": 26, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006066143047064543, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971064987126738, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004356360994279385, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004685766418697313, + "leadthrough_capture_egm_poll_duration_warn_count": 2843, + "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": 0.006129482062533498, + "leadthrough_capture_host_loop_dt_median_s": 0.003996141022071242, + "leadthrough_capture_host_loop_dt_p95_s": 0.004382971650920808, + "leadthrough_capture_host_loop_dt_p99_s": 0.004717838247306644, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006122175022028387, + "leadthrough_capture_host_receive_dt_median_s": 0.0039996650302782655, + "leadthrough_capture_host_receive_dt_p95_s": 0.004368858179077506, + "leadthrough_capture_host_receive_dt_p99_s": 0.004678634074516591, + "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": 0.017831044038757682, + "leadthrough_capture_loop_late_median_s": 0.0138246119604446, + "leadthrough_capture_loop_late_p95_s": 0.014179596852045506, + "leadthrough_capture_loop_late_p99_s": 0.014511126279830932, + "leadthrough_capture_loop_late_warn_count": 7046, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00610512204002589, + "leadthrough_capture_read_duration_median_s": 0.0039851300534792244, + "leadthrough_capture_read_duration_p95_s": 0.004371643532067537, + "leadthrough_capture_read_duration_p99_s": 0.004703366878675297, + "leadthrough_capture_read_duration_warn_count": 3181, + "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": [ + 0.002626940608024597, + 0.002239048480987549, + 0.004215255379676819, + 0.0011391006410121918, + 0.0021158456802368164, + 0.006815433502197266 + ], + "leadthrough_delta_max_abs_rad": 0.006815433502197266, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013302816078066826, + 0.001817638985812664, + 0.003022940829396248, + 0.0004569871525745839, + 0.001514820964075625, + 0.003308583050966263 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006372455973178148, + 0.0007786070345900953, + 0.0011850313749164343, + 0.00018731561431195587, + 0.0005876648938283324, + 0.001338084344752133 + ], + "leadthrough_delta_samples": 5670, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006815433502197266, + "leadthrough_delta_worst_from_rad": -0.4912909269332886, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8970000000000002, + "leadthrough_delta_worst_to_rad": -0.49810636043548584, + "leadthrough_duration_s": 22.677999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5669, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4920000000000009, + "leadthrough_final_stillness_removed_samples": 123, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5670, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7046, + "leadthrough_initial_stillness_first_motion_index": 1253, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.007, + "leadthrough_initial_stillness_removed_samples": 1252, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1252, + "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": [ + 0.002626940608024597, + 0.002239048480987549, + 0.004215255379676819, + 0.0011391006410121918, + 0.0021158456802368164, + 0.006815433502197266 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006815433502197266, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.6567351520053467, + 0.7416903972625452, + 1.3627409934997041, + 0.2847751602526999, + 0.6349881490071374, + 2.270201841990067 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.356, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.677999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1923, + 4668 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4383922767826834, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08686590194702148, + "rapid_planner_max_dt_s": 1.9480000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007651388645172119, + "rapid_planner_median_dt_s": 0.11999999999999922, + "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, + 80, + 104, + 118, + 133, + 146, + 158, + 172, + 186, + 196, + 206, + 218, + 230, + 242, + 255, + 264, + 273, + 282, + 291, + 308, + 324, + 341, + 358, + 375, + 389, + 408, + 428, + 447, + 468, + 490, + 577, + 637, + 681, + 725, + 763, + 841, + 1117, + 1332, + 1414, + 1482, + 1923, + 2198, + 2263, + 2473, + 2558, + 2606, + 2654, + 2696, + 2726, + 2769, + 2800, + 2831, + 2871, + 2902, + 2934, + 2966, + 2997, + 3022, + 3048, + 3073, + 3098, + 3130, + 3161, + 3185, + 3209, + 3241, + 3273, + 3293, + 3313, + 3341, + 3369, + 3392, + 3414, + 3436, + 3458, + 3493, + 3536, + 3586, + 3654, + 3695, + 3749, + 3867, + 3939, + 4181, + 4668, + 5037, + 5085, + 5129, + 5172, + 5215, + 5235, + 5257, + 5272, + 5286, + 5308, + 5326, + 5346, + 5381, + 5406, + 5432, + 5468, + 5513, + 5670 + ], + "rapid_planner_selected_max_joint_step_deg": 4.977049565161572, + "rapid_planner_selected_samples": 104, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5671, + "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": 104, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.3787706792354584, + "raw_replay_rms_error_rad": 0.010786101777819124, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.972107720531917, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9831342170269346, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9906134375876456, + "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": 0.9845195608462058, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9782170560874337, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9969294540939406, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00035543739795684814, + 0.0011481642723083496, + 0.001466214656829834, + 0.001565694808959961, + 0.002086639404296875, + 0.004738364368677139 + ], + "replay_smoothing_max_deviation_normalized": 0.5429765644468374, + "replay_smoothing_max_deviation_rad": 0.004738364368677139, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.00182420015335083, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.740007400512695, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.55472564697266, + "replay_smoothing_raw_accel_rms_rad_s2": 4.155691648605148, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1029.745849609375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19093.02734375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1056.0816595745614, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0274832248687744, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2238055517266456, + "replay_smoothing_rms_deviation_rad": 0.000779322995475002, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.5799055099487305, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 65.4322280883789, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.116683989579016, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1013.804931640625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18677.125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1052.8389123582904, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9964405298233032, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22312899897782265, + "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": 0.9846890496233426, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969770510892005, + "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": 21.734, + "replay_smoothing_wrist_max_deviation_rad": 0.004738364368677139, + "safety_abort": false, + "safety_path_error_rad": 0.3787706792354584, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.4697466790676117, + "stage_planned_to_measured_rms_error_rad": 0.014317632512075875, + "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": 540, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 540, + "timestamp_count": 540, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.npz new file mode 100644 index 0000000000000000000000000000000000000000..7dce7519d0a5a095a8b84d45203cba76976856ed --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_163856.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8037cd2a69aeac7f5c0932f754b32a6528e42037bbe08181cde9a08cf804f9a6 +size 54861 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.json new file mode 100644 index 0000000000000000000000000000000000000000..810f76667163e18d76bdbfc6536c3f67cca29242 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.json @@ -0,0 +1,489 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:42:23", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 544, + "actual_playback_duration_s": 18.296905486960895, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 544, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 544, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.8303941856658299, + "image_frame_counts": { + "cam_scene": 544, + "cam_wrist": 544 + }, + "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": 15, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006438829004764557, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039716101018711925, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004367815377190709, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005459484274033457, + "leadthrough_capture_egm_poll_duration_warn_count": 2958, + "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": 0.006485532037913799, + "leadthrough_capture_host_loop_dt_median_s": 0.003995418548583984, + "leadthrough_capture_host_loop_dt_p95_s": 0.004395335318986326, + "leadthrough_capture_host_loop_dt_p99_s": 0.005494740605354308, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00644784898031503, + "leadthrough_capture_host_receive_dt_median_s": 0.003997184510808438, + "leadthrough_capture_host_receive_dt_p95_s": 0.004376311268424615, + "leadthrough_capture_host_receive_dt_p99_s": 0.005423334571532902, + "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": 0.017473257961682975, + "leadthrough_capture_loop_late_median_s": 0.01134579349309206, + "leadthrough_capture_loop_late_p95_s": 0.011716874630656094, + "leadthrough_capture_loop_late_p99_s": 0.012889604163356124, + "leadthrough_capture_loop_late_warn_count": 6895, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006468264036811888, + "leadthrough_capture_read_duration_median_s": 0.003984960960224271, + "leadthrough_capture_read_duration_p95_s": 0.00438190025743097, + "leadthrough_capture_read_duration_p99_s": 0.005480988086201249, + "leadthrough_capture_read_duration_warn_count": 3187, + "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": 19, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002759970724582672, + 0.0021224021911621094, + 0.0033667683601379395, + 0.0011810455471277237, + 0.0019989609718322754, + 0.005539119243621826 + ], + "leadthrough_delta_max_abs_rad": 0.005539119243621826, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013830602401867509, + 0.001744747394695878, + 0.002850727876648307, + 0.0003463424800429493, + 0.0015933274989947677, + 0.004337691236287355 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006478301365859807, + 0.0008068762253969908, + 0.0011882035760208964, + 0.00018180230108555406, + 0.0006243305397219956, + 0.0014711751136928797 + ], + "leadthrough_delta_samples": 5509, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005539119243621826, + "leadthrough_delta_worst_from_rad": -0.7255076169967651, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1520000000000001, + "leadthrough_delta_worst_to_rad": -0.731046736240387, + "leadthrough_duration_s": 22.034, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5470, + "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": 5471, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6895, + "leadthrough_initial_stillness_first_motion_index": 1386, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.539, + "leadthrough_initial_stillness_removed_samples": 1385, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1385, + "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": [ + 0.002759970724582672, + 0.0021224021911621094, + 0.0033667683601379395, + 0.0011810455471277237, + 0.0019989609718322754, + 0.005539119243621826 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005539119243621826, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9143973390260985, + 0.6914734840396899, + 1.1207858721414776, + 0.3914848590890418, + 0.6269812583923102, + 1.8046299616495085 + ], + "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": 74.068, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.034, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1797, + 4258 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.40745835003169567, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08591759204864502, + "rapid_planner_max_dt_s": 2.1319999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007111489772796631, + "rapid_planner_median_dt_s": 0.09999999999999432, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 37, + 76, + 97, + 118, + 137, + 156, + 174, + 193, + 212, + 230, + 246, + 262, + 274, + 286, + 298, + 310, + 322, + 334, + 347, + 360, + 372, + 385, + 396, + 408, + 430, + 445, + 460, + 489, + 511, + 532, + 553, + 576, + 600, + 624, + 647, + 680, + 724, + 766, + 809, + 840, + 872, + 903, + 950, + 983, + 1025, + 1062, + 1091, + 1148, + 1185, + 1262, + 1467, + 1755, + 1797, + 2330, + 2430, + 2471, + 2504, + 2529, + 2554, + 2577, + 2618, + 2660, + 2701, + 2718, + 2736, + 2754, + 2773, + 2792, + 2810, + 2835, + 2860, + 2885, + 2910, + 2934, + 2959, + 2977, + 2995, + 3008, + 3022, + 3036, + 3050, + 3066, + 3082, + 3100, + 3124, + 3152, + 3223, + 3271, + 3305, + 3334, + 3394, + 3503, + 3592, + 3661, + 3858, + 4258, + 4415, + 4552, + 4604, + 4648, + 4674, + 4699, + 4717, + 4735, + 4754, + 4772, + 4785, + 4798, + 4821, + 4848, + 4888, + 4918, + 4948, + 4991, + 5030, + 5365, + 5509 + ], + "rapid_planner_selected_max_joint_step_deg": 4.92271541031412, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5510, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.003390669822692871, + "raw_replay_rms_error_rad": 0.0005842563576557208, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9803760350358527, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.994255881751943, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9943153328086745, + "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": 0.9945099678041291, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.001079667521849, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9977237124279055, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00032025575637817383, + 0.000514686107635498, + 0.0009908080101013184, + 0.0014323554933071136, + 0.0015567541122436523, + 0.0033617019653320312 + ], + "replay_smoothing_max_deviation_normalized": 0.38522267217279527, + "replay_smoothing_max_deviation_rad": 0.0033617019653320312, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016270396299660206, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.724492073059082, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.6263313293457, + "replay_smoothing_raw_accel_rms_rad_s2": 4.5416816134353475, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2423.292724609375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14982.1875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1173.8677800949952, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6114619970321655, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2364219338912255, + "replay_smoothing_rms_deviation_rad": 0.000715151510633192, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.533658981323242, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.324039459228516, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.515863664974005, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2409.98876953125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14998.36328125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1171.1957194558827, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6008800268173218, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2358406428004629, + "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": 0.9934333107238442, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9975412979616771, + "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": 11.883000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.0033617019653320312, + "safety_abort": false, + "safety_path_error_rad": 0.003390669822692871, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.02940666675567627, + "stage_planned_to_measured_rms_error_rad": 0.00677272640210113, + "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": 544, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 544, + "timestamp_count": 544, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.npz new file mode 100644 index 0000000000000000000000000000000000000000..de5d9cd97bb78489c5b8a2762c87106284d666a1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_operator_stop_20260901_164222.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:314783e54de0806a7cdc7a4dfd4d085741d0e44d8e98b4261593b2215edf3885 +size 54072 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8125b2dacac3f11088a8bd709ad59bef1b4e91 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.json @@ -0,0 +1,670 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:51:55", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1129, + "actual_playback_duration_s": 37.645805338048376, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006860211491584778, + "aligned_p95_error_rad": 0.002192063955590129, + "aligned_rms_error_rad": 0.000989637897619019, + "aligned_samples": 1129, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 20.000999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1129, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1129, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7357095918690755, + "image_frame_counts": { + "cam_scene": 1129, + "cam_wrist": 1129 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.006433218717575073, + 0.004673182964324951, + 0.005428016185760498, + 0.004295810125768185, + 0.006074726581573486, + 0.006860211491584778 + ], + "joint_lag_p95_error_rad": [ + 0.0020324557553976774, + 0.0020844638347625732, + 0.0020641207229346037, + 0.0008570661884732544, + 0.0025651196483522654, + 0.0027041900902986526 + ], + "joint_lag_rms_error_rad": [ + 0.000984398924864723, + 0.0009308240232990658, + 0.0010047255672793684, + 0.00042704923067363355, + 0.0010849444644617057, + 0.0012930102098852054 + ], + "joint_lag_samples": [ + 1129, + 1129, + 1129, + 1129, + 1129, + 1129 + ], + "joint_lag_worst_time_s": [ + 20.000999999999998, + 19.957, + 13.118, + 4.850999999999999, + 19.985, + 20.000999999999998 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 31, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006746147992089391, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964576055295765, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004332603479269892, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004850972187705338, + "leadthrough_capture_egm_poll_duration_warn_count": 2538, + "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": 0.006927913054823875, + "leadthrough_capture_host_loop_dt_median_s": 0.004007729992736131, + "leadthrough_capture_host_loop_dt_p95_s": 0.004385472444118931, + "leadthrough_capture_host_loop_dt_p99_s": 0.004905215034959837, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006807425990700722, + "leadthrough_capture_host_receive_dt_median_s": 0.004011764482129365, + "leadthrough_capture_host_receive_dt_p95_s": 0.004362777533242479, + "leadthrough_capture_host_receive_dt_p99_s": 0.0048836142057552935, + "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": 0.012533511966466904, + "leadthrough_capture_loop_late_median_s": 0.008959683706052601, + "leadthrough_capture_loop_late_p95_s": 0.009332564019132406, + "leadthrough_capture_loop_late_p99_s": 0.009972678520716727, + "leadthrough_capture_loop_late_warn_count": 6311, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006780631956644356, + "leadthrough_capture_read_duration_median_s": 0.003989340038970113, + "leadthrough_capture_read_duration_p95_s": 0.004364689462818205, + "leadthrough_capture_read_duration_p99_s": 0.004880923009477555, + "leadthrough_capture_read_duration_warn_count": 2969, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003791011869907379, + 0.0035917162895202637, + 0.005579054355621338, + 0.0014794524759054184, + 0.0037151575088500977, + 0.007873043417930603 + ], + "leadthrough_delta_max_abs_rad": 0.007873043417930603, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017496555810794234, + 0.0021574734710156918, + 0.0028429864905774593, + 0.00034454651176929474, + 0.0016292333602905273, + 0.00473812548443675 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007249731570482254, + 0.0009484152542427182, + 0.0012682985980063677, + 0.00018238565826322883, + 0.0006761240656487644, + 0.0015629199333488941 + ], + "leadthrough_delta_samples": 5423, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.007873043417930603, + "leadthrough_delta_worst_from_rad": -0.1450366973876953, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 19.621000000000002, + "leadthrough_delta_worst_to_rad": -0.1371636539697647, + "leadthrough_duration_s": 21.689, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5380, + "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": 5381, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6311, + "leadthrough_initial_stillness_first_motion_index": 888, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.548, + "leadthrough_initial_stillness_removed_samples": 887, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 887, + "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": [ + 0.003791011869907379, + 0.0035917162895202637, + 0.005579054355621338, + 0.0014794524759054184, + 0.0037151575088500977, + 0.007873043417930603 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007873043417930603, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9477529674756865, + 0.897929072379766, + 1.3947635889054881, + 0.3698631189765596, + 0.9287893772130392, + 2.2136767705280738 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9730151891708374, + "leadthrough_velocity_rms_rad_s": 0.2511429360555623, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006860211491584778, + "measured_wall_accel_p95_abs_rad_s2": 0.5165835022926331, + "measured_wall_accel_peak_abs_rad_s2": 2.4002532958984375, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 51.445726189995185, + "measured_wall_accel_rms_rad_s2": 0.23124570771935551, + "measured_wall_jerk_p95_abs_rad_s3": 8.785243034362793, + "measured_wall_jerk_peak_abs_rad_s3": 53.9697380065918, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 51.411227296921425, + "measured_wall_jerk_rms_rad_s3": 4.05574653759557, + "measured_wall_smoothness_samples": 1129, + "measured_wall_velocity_peak_abs_rad_s": 0.5496783256530762, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 39.045805705944076, + "measured_wall_velocity_rms_rad_s": 0.10086985423947753, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006860211491584778, + "moving_aligned_p95_error_rad": 0.002429097890853882, + "moving_aligned_rms_error_rad": 0.0011496429162954575, + "moving_aligned_samples": 831, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 20.000999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.006433218717575073, + 0.004673182964324951, + 0.005428016185760498, + 0.004295810125768185, + 0.006074726581573486, + 0.006860211491584778 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002367110224440694, + 0.0022970689460635185, + 0.0022669059690088034, + 0.0017935717478394508, + 0.0031288734171539545, + 0.0035769008100032806 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0012088553520689823, + 0.0010881379999250042, + 0.0012262831663078435, + 0.0008983906734571497, + 0.0013522448464608012, + 0.0019147114448160047 + ], + "moving_joint_lag_samples": [ + 698, + 802, + 708, + 154, + 598, + 431 + ], + "moving_joint_lag_worst_time_s": [ + 20.000999999999998, + 19.957, + 13.118, + 4.850999999999999, + 19.985, + 20.000999999999998 + ], + "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": 2.3332536220550537, + "playback_velocity_rms_rad_s": 0.4792843501920695, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.378, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.689, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1948, + 4469 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44607106359621734, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0871816873550415, + "rapid_planner_max_dt_s": 2.1120000000000037, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00778540875762701, + "rapid_planner_median_dt_s": 0.08800000000000052, + "rapid_planner_path_max_error_rad": 0.006860211491584778, + "rapid_planner_path_p95_error_rad": 0.003235349059104914, + "rapid_planner_path_rms_error_rad": 0.001648708395496104, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 22, + 41, + 54, + 66, + 83, + 98, + 112, + 127, + 142, + 156, + 169, + 182, + 189, + 196, + 206, + 217, + 234, + 251, + 268, + 285, + 301, + 316, + 339, + 362, + 385, + 432, + 456, + 487, + 518, + 544, + 569, + 592, + 660, + 732, + 777, + 838, + 877, + 935, + 977, + 1036, + 1074, + 1143, + 1190, + 1263, + 1335, + 1394, + 1905, + 1948, + 2460, + 2525, + 2580, + 2628, + 2670, + 2704, + 2720, + 2735, + 2752, + 2761, + 2770, + 2782, + 2794, + 2806, + 2818, + 2831, + 2844, + 2856, + 2868, + 2892, + 2919, + 2967, + 2993, + 3015, + 3026, + 3036, + 3047, + 3058, + 3068, + 3078, + 3088, + 3098, + 3106, + 3115, + 3133, + 3153, + 3192, + 3247, + 3319, + 3364, + 3393, + 3445, + 3602, + 3664, + 3752, + 3941, + 4469, + 4730, + 4781, + 4811, + 4833, + 4855, + 4871, + 4885, + 4894, + 4903, + 4912, + 4921, + 4939, + 4954, + 4979, + 5018, + 5040, + 5062, + 5084, + 5423 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9951427362729355, + "rapid_planner_selected_samples": 115, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5424, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 115, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006860211491584778, + "raw_replay_rms_error_rad": 0.000989637897619019, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.814647624755655, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0084557099383291, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9676475690463401, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9734687209129333, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9734687209129333 + ], + "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": 0.6943711982655345, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0036539307425543, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9795948367668772, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000832713209092617, + 0.0022037625312805176, + 0.0023790744598954916, + 0.0026627369225025177, + 0.0031572580337524414, + 0.008726646192371845 + ], + "replay_smoothing_max_deviation_normalized": 1.0, + "replay_smoothing_max_deviation_rad": 0.008726646192371845, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.00237722578458488, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.43075704574585, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 64.06529235839844, + "replay_smoothing_raw_accel_rms_rad_s2": 3.6754863261262494, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 805.0255737304688, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18440.650390625, + "replay_smoothing_raw_jerk_rms_rad_s3": 907.8080814519806, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.979262351989746, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25266078511734236, + "replay_smoothing_rms_deviation_rad": 0.0011599948728315858, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.4241533279418945, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 64.60700988769531, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.556575408539129, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 558.986572265625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18508.03125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 889.2841093656049, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9730151891708374, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2511429360555623, + "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": 0.9968436913819795, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9939925419725301, + "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": 19.717, + "replay_smoothing_wrist_max_deviation_rad": 0.008726646192371845, + "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": 0.006860211491584778, + "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": 0.03139901161193848, + "stage_planned_to_measured_rms_error_rad": 0.005979411677588785, + "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": 1129, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8649029731750488, + "target_wall_accel_peak_abs_rad_s2": 3.4464528560638428, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 9.000054104020819, + "target_wall_accel_rms_rad_s2": 0.38102654768550004, + "target_wall_jerk_p95_abs_rad_s3": 20.497718811035156, + "target_wall_jerk_peak_abs_rad_s3": 77.1452865600586, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 9.033388955052942, + "target_wall_jerk_rms_rad_s3": 9.00194786195795, + "target_wall_smoothness_samples": 1129, + "target_wall_velocity_peak_abs_rad_s": 0.5641564130783081, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.83339596306905, + "target_wall_velocity_rms_rad_s": 0.10191120198432474, + "tcp_pose_count": 1129, + "timestamp_count": 1129, + "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": 0.2900000000000018, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0199999999999991, + "window_lag_best_lag_p95_abs_s": 0.7279999999999986, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0199999999999991, + "window_lag_worst_end_s": 18.5, + "window_lag_worst_max_error_rad": 0.10348457098007202, + "window_lag_worst_rms_error_rad": 0.009352006090016126, + "window_lag_worst_start_s": 17.5, + "zero_lag_max_error_rad": 0.006860211491584778, + "zero_lag_p95_error_rad": 0.002192063955590129, + "zero_lag_rms_error_rad": 0.000989637897619019, + "zero_lag_samples": 1129, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 20.000999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.npz new file mode 100644 index 0000000000000000000000000000000000000000..d5aa6c556d12f75fe5e320ff6e377fa9f77fff97 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155154.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e48a36fba4c275e658d3c355ac7610c923db9a15f3808f6f90591cb4fbe1d6bb +size 118094 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.json new file mode 100644 index 0000000000000000000000000000000000000000..149a8b49e263e2f4a79686b9cf86bca2c9daafe4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.json @@ -0,0 +1,675 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T15:55:19", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1118, + "actual_playback_duration_s": 37.286288544069976, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006464719772338867, + "aligned_p95_error_rad": 0.0020046390127390623, + "aligned_rms_error_rad": 0.0008587779584692225, + "aligned_samples": 1118, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 13.105999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1118, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1118, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6947542631730366, + "image_frame_counts": { + "cam_scene": 1118, + "cam_wrist": 1118 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003691375255584717, + 0.0044890642166137695, + 0.00645032525062561, + 0.006425747647881508, + 0.006464719772338867, + 0.004595279693603516 + ], + "joint_lag_p95_error_rad": [ + 0.001685175928287208, + 0.0018244811799377203, + 0.0017607096815481782, + 0.0016129621071740985, + 0.0020542950369417667, + 0.0025362789165228605 + ], + "joint_lag_rms_error_rad": [ + 0.0007132413660693728, + 0.00080281333819902, + 0.0009001364176991059, + 0.0007303108886097092, + 0.0008876097085484202, + 0.0010678597427813917 + ], + "joint_lag_samples": [ + 1118, + 1118, + 1118, + 1118, + 1118, + 1118 + ], + "joint_lag_worst_time_s": [ + 11.579, + 13.105999999999998, + 13.105999999999998, + 13.023, + 13.105999999999998, + 19.954 + ], + "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": 22, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006577029009349644, + "leadthrough_capture_egm_poll_duration_median_s": 0.003942301496863365, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004385174508206546, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004848092244938017, + "leadthrough_capture_egm_poll_duration_warn_count": 2301, + "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": 0.006631072028540075, + "leadthrough_capture_host_loop_dt_median_s": 0.0039853909984230995, + "leadthrough_capture_host_loop_dt_p95_s": 0.004440501052886248, + "leadthrough_capture_host_loop_dt_p99_s": 0.004908268521539864, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005935666966252029, + "leadthrough_capture_host_receive_dt_median_s": 0.003988945041783154, + "leadthrough_capture_host_receive_dt_p95_s": 0.004404156317468732, + "leadthrough_capture_host_receive_dt_p99_s": 0.0048432343383319676, + "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": 0.013719588983803988, + "leadthrough_capture_loop_late_median_s": 0.008008593285921961, + "leadthrough_capture_loop_late_p95_s": 0.008398326463066041, + "leadthrough_capture_loop_late_p99_s": 0.008938755309209227, + "leadthrough_capture_loop_late_warn_count": 6400, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006610064068809152, + "leadthrough_capture_read_duration_median_s": 0.003966653486713767, + "leadthrough_capture_read_duration_p95_s": 0.0044163312297314395, + "leadthrough_capture_read_duration_p99_s": 0.004882763127097861, + "leadthrough_capture_read_duration_warn_count": 2636, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0031969845294952393, + 0.002855837345123291, + 0.004668235778808594, + 0.0021511688828468323, + 0.003226757049560547, + 0.008261322975158691 + ], + "leadthrough_delta_max_abs_rad": 0.008261322975158691, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001520797610282898, + 0.0021068155765533447, + 0.003460228443145752, + 0.0006123939529061317, + 0.001889348030090332, + 0.004374265670776367 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006777514354325831, + 0.0009134317515417933, + 0.0013661561533808708, + 0.0002819701039697975, + 0.0006959903985261917, + 0.0015924121253192425 + ], + "leadthrough_delta_samples": 5501, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008261322975158691, + "leadthrough_delta_worst_from_rad": -0.4123724102973938, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7320000000000002, + "leadthrough_delta_worst_to_rad": -0.4206337332725525, + "leadthrough_duration_s": 22.000999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5468, + "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": 5469, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6400, + "leadthrough_initial_stillness_first_motion_index": 899, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.591, + "leadthrough_initial_stillness_removed_samples": 898, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 898, + "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": [ + 0.0031969845294952393, + 0.002855837345123291, + 0.004668235778808594, + 0.0021511688828468323, + 0.003226757049560547, + 0.008261322975158691 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008261322975158691, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.065661509831706, + 0.7139593362812184, + 1.1670589447027953, + 0.7170562942822503, + 0.8524854977925296, + 2.065330743789442 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.055264949798584, + "leadthrough_velocity_rms_rad_s": 0.25557059950250066, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006464719772338867, + "measured_wall_accel_p95_abs_rad_s2": 0.4429037868976593, + "measured_wall_accel_peak_abs_rad_s2": 2.7203257083892822, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 42.75032246496994, + "measured_wall_accel_rms_rad_s2": 0.21989947756649125, + "measured_wall_jerk_p95_abs_rad_s3": 7.642101764678955, + "measured_wall_jerk_peak_abs_rad_s3": 50.03446960449219, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 42.681365752010606, + "measured_wall_jerk_rms_rad_s3": 3.859467092934116, + "measured_wall_smoothness_samples": 1118, + "measured_wall_velocity_peak_abs_rad_s": 0.5419105291366577, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.649558629025705, + "measured_wall_velocity_rms_rad_s": 0.10381823878076042, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006464719772338867, + "moving_aligned_p95_error_rad": 0.0022351383231580257, + "moving_aligned_rms_error_rad": 0.0009966238642051335, + "moving_aligned_samples": 812, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 13.105999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003691375255584717, + 0.0044890642166137695, + 0.00645032525062561, + 0.004676555749028921, + 0.006464719772338867, + 0.004595279693603516 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001904814038425684, + 0.0019823310431092978, + 0.00204425654374063, + 0.0029885675758123398, + 0.0024523702450096607, + 0.003201863495633006 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008551403471090874, + 0.000914733407398577, + 0.001075489812182376, + 0.0011845997968705185, + 0.0010764509288392916, + 0.0016130931653132404 + ], + "moving_joint_lag_samples": [ + 693, + 783, + 695, + 295, + 634, + 452 + ], + "moving_joint_lag_worst_time_s": [ + 11.579, + 13.105999999999998, + 13.105999999999998, + 12.794, + 13.105999999999998, + 19.954 + ], + "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": 3.048062324523926, + "playback_velocity_rms_rad_s": 0.49289983040227753, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.002, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.000999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1649, + 4547 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44716223967697977, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08536624908447266, + "rapid_planner_max_dt_s": 2.243999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007804453372955322, + "rapid_planner_median_dt_s": 0.07200000000000273, + "rapid_planner_path_max_error_rad": 0.006464719772338867, + "rapid_planner_path_p95_error_rad": 0.003039883379824458, + "rapid_planner_path_rms_error_rad": 0.0014825465035092724, + "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, + 80, + 98, + 115, + 131, + 140, + 149, + 156, + 164, + 172, + 180, + 188, + 196, + 204, + 211, + 218, + 226, + 234, + 242, + 250, + 258, + 266, + 273, + 281, + 289, + 305, + 320, + 334, + 354, + 367, + 380, + 394, + 407, + 432, + 445, + 458, + 471, + 484, + 510, + 530, + 549, + 591, + 625, + 660, + 706, + 751, + 772, + 861, + 931, + 1195, + 1649, + 2210, + 2280, + 2332, + 2357, + 2381, + 2397, + 2414, + 2431, + 2448, + 2466, + 2483, + 2500, + 2516, + 2534, + 2551, + 2570, + 2588, + 2607, + 2626, + 2646, + 2665, + 2694, + 2727, + 2751, + 2769, + 2780, + 2792, + 2804, + 2816, + 2833, + 2850, + 2881, + 2910, + 2954, + 2999, + 3056, + 3112, + 3166, + 3229, + 3342, + 3446, + 3540, + 3761, + 3910, + 4110, + 4293, + 4366, + 4547, + 4795, + 4853, + 4881, + 4929, + 4952, + 4974, + 5002, + 5014, + 5026, + 5040, + 5053, + 5065, + 5076, + 5094, + 5112, + 5134, + 5155, + 5183, + 5237, + 5501 + ], + "rapid_planner_selected_max_joint_step_deg": 4.891125785402811, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5502, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006464719772338867, + "raw_replay_rms_error_rad": 0.0008587779584692225, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8837336421115838, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9082923377505541, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9364503110720881, + "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": 0.7606970355105027, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9242525392006552, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9642260357487747, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007657557725906372, + 0.0005157589912414551, + 0.0010401010513305664, + 0.0023693442344665527, + 0.0033909082412719727, + 0.0056302547454833984 + ], + "replay_smoothing_max_deviation_normalized": 0.6451796739972028, + "replay_smoothing_max_deviation_rad": 0.0056302547454833984, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020839269272983074, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.382982015609741, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 55.85023880004883, + "replay_smoothing_raw_accel_rms_rad_s2": 2.0397860319774983, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 534.3482666015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13850.015625, + "replay_smoothing_raw_jerk_rms_rad_s3": 485.3646422832192, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.064581871032715, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25636997989024896, + "replay_smoothing_rms_deviation_rad": 0.0008751289878201299, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.989655017852783, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 50.72834396362305, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.9101582641658286, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 406.4771423339844, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12800.912109375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 468.0012249213706, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.055264949798584, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25557059950250066, + "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": 0.9954872599799249, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968819267057301, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3359999999999994, + "replay_smoothing_wrist_max_deviation_rad": 0.0056302547454833984, + "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": 0.006464719772338867, + "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": 0.03211677074432373, + "stage_planned_to_measured_rms_error_rad": 0.006158027618948036, + "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": 1118, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7857471108436584, + "target_wall_accel_peak_abs_rad_s2": 3.6824231147766113, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 27.23339319403749, + "target_wall_accel_rms_rad_s2": 0.3733542318437504, + "target_wall_jerk_p95_abs_rad_s3": 20.74056053161621, + "target_wall_jerk_peak_abs_rad_s3": 83.84434509277344, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 27.266729919007048, + "target_wall_jerk_rms_rad_s3": 9.129160361475618, + "target_wall_smoothness_samples": 1118, + "target_wall_velocity_peak_abs_rad_s": 0.5661200284957886, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.10005918808747, + "target_wall_velocity_rms_rad_s": 0.1048353652268524, + "tcp_pose_count": 1118, + "timestamp_count": 1118, + "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": 1.8700000000000037, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.628, + "window_lag_count": 25, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.010000000000001563, + "window_lag_worst_end_s": 14.0, + "window_lag_worst_max_error_rad": 0.006979644298553467, + "window_lag_worst_rms_error_rad": 0.002835402294678101, + "window_lag_worst_start_s": 13.0, + "zero_lag_max_error_rad": 0.006464719772338867, + "zero_lag_p95_error_rad": 0.0020046390127390623, + "zero_lag_rms_error_rad": 0.0008587779584692225, + "zero_lag_samples": 1118, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 13.105999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.npz new file mode 100644 index 0000000000000000000000000000000000000000..f75c3e5d3a104f654d62e7dd08a55ace2d4fc01f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_155518.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:358ab9eeefa6d6f27ba0f15bbb8335e3ed6251aa7f1605c0fd90af8bd4ce0376 +size 117949 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.json new file mode 100644 index 0000000000000000000000000000000000000000..6d0317a13a557578c11a5f01618b9ca86b5e5c19 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.json @@ -0,0 +1,666 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:01:21", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1107, + "actual_playback_duration_s": 36.92265976802446, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004971802234649658, + "aligned_p95_error_rad": 0.002003915375098586, + "aligned_rms_error_rad": 0.0008471782085942724, + "aligned_samples": 1107, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 14.209999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1107, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1107, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8960950941315904, + "image_frame_counts": { + "cam_scene": 1107, + "cam_wrist": 1107 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004434540867805481, + 0.004643887281417847, + 0.003969132900238037, + 0.004371752962470055, + 0.0039528608322143555, + 0.004971802234649658 + ], + "joint_lag_p95_error_rad": [ + 0.001819348894059658, + 0.001625667093321681, + 0.001732143573462963, + 0.001639916212297976, + 0.0020020240917801857, + 0.002452873857691884 + ], + "joint_lag_rms_error_rad": [ + 0.000804483263438404, + 0.0007920195829043639, + 0.0008373336061314035, + 0.0006893399895188289, + 0.000807504945242856, + 0.0010969939544714852 + ], + "joint_lag_samples": [ + 1107, + 1107, + 1107, + 1107, + 1107, + 1107 + ], + "joint_lag_worst_time_s": [ + 2.583, + 13.973999999999998, + 11.046, + 3.567, + 18.661, + 14.209999999999999 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007220608997158706, + "leadthrough_capture_egm_poll_duration_median_s": 0.003966321004554629, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043909374740906055, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005659430371597411, + "leadthrough_capture_egm_poll_duration_warn_count": 2470, + "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": 0.007311891997233033, + "leadthrough_capture_host_loop_dt_median_s": 0.003999445005320013, + "leadthrough_capture_host_loop_dt_p95_s": 0.004431789001682773, + "leadthrough_capture_host_loop_dt_p99_s": 0.005717913411790495, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0067962860921397805, + "leadthrough_capture_host_receive_dt_median_s": 0.004002202476840466, + "leadthrough_capture_host_receive_dt_p95_s": 0.0044047079049050804, + "leadthrough_capture_host_receive_dt_p99_s": 0.0056461426767054936, + "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": 0.016801778925582767, + "leadthrough_capture_loop_late_median_s": 0.011481776018626988, + "leadthrough_capture_loop_late_p95_s": 0.011810338078066706, + "leadthrough_capture_loop_late_p99_s": 0.013324012451339516, + "leadthrough_capture_loop_late_warn_count": 6079, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007276406046003103, + "leadthrough_capture_read_duration_median_s": 0.00398456200491637, + "leadthrough_capture_read_duration_p95_s": 0.004412928794045001, + "leadthrough_capture_read_duration_p99_s": 0.005698850292246795, + "leadthrough_capture_read_duration_warn_count": 2763, + "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": 41, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0035956650972366333, + 0.0029181241989135742, + 0.003960788249969482, + 0.0020954422652721405, + 0.002863645553588867, + 0.00683102011680603 + ], + "leadthrough_delta_max_abs_rad": 0.00683102011680603, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001516643213108182, + 0.002179056406021118, + 0.0033047706820070744, + 0.0006001706933602691, + 0.0016469958936795592, + 0.00507867056876421 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.000721626216545701, + 0.0009915933478623629, + 0.0013585429405793548, + 0.0003173818695358932, + 0.0006625197129324079, + 0.0016472020652145147 + ], + "leadthrough_delta_samples": 4869, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00683102011680603, + "leadthrough_delta_worst_from_rad": -0.256447434425354, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6429999999999998, + "leadthrough_delta_worst_to_rad": -0.26327845454216003, + "leadthrough_duration_s": 19.473, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4868, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6600000000000001, + "leadthrough_final_stillness_removed_samples": 165, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4869, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6079, + "leadthrough_initial_stillness_first_motion_index": 1045, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.176, + "leadthrough_initial_stillness_removed_samples": 1044, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1044, + "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": [ + 0.0035956650972366333, + 0.0029181241989135742, + 0.003960788249969482, + 0.0020954422652721405, + 0.002863645553588867, + 0.00683102011680603 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00683102011680603, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8989162743080598, + 0.9727080663044879, + 1.310944557190668, + 0.6073998908201623, + 0.7159113883976136, + 2.26641694704683 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.0084054470062256, + "leadthrough_velocity_rms_rad_s": 0.26353561072209203, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004971802234649658, + "measured_wall_accel_p95_abs_rad_s2": 0.3715110123157501, + "measured_wall_accel_peak_abs_rad_s2": 2.1164467334747314, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 14.562014164985158, + "measured_wall_accel_rms_rad_s2": 0.18883748750457008, + "measured_wall_jerk_p95_abs_rad_s3": 7.023094654083252, + "measured_wall_jerk_peak_abs_rad_s3": 71.99333190917969, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 16.457834133994766, + "measured_wall_jerk_rms_rad_s3": 3.5524010067866416, + "measured_wall_smoothness_samples": 1107, + "measured_wall_velocity_peak_abs_rad_s": 0.6327363848686218, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.46367636299692, + "measured_wall_velocity_rms_rad_s": 0.10332452315648528, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004643887281417847, + "moving_aligned_p95_error_rad": 0.002224541734904051, + "moving_aligned_rms_error_rad": 0.000982752315008558, + "moving_aligned_samples": 796, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 13.973999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004434540867805481, + 0.003951326012611389, + 0.003969132900238037, + 0.004202798008918762, + 0.0039528608322143555, + 0.00458952784538269 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0022604234982281923, + 0.0017965584993362427, + 0.002067059278488159, + 0.003349035745486617, + 0.002328121103346348, + 0.002936112694442272 + ], + "moving_joint_lag_rms_error_rad": [ + 0.000986762008402987, + 0.0008950900720562177, + 0.0010464826688014177, + 0.0014408855076971448, + 0.0010370375885594958, + 0.0016119012198080975 + ], + "moving_joint_lag_samples": [ + 680, + 781, + 651, + 203, + 574, + 465 + ], + "moving_joint_lag_worst_time_s": [ + 2.583, + 18.661, + 11.046, + 18.677, + 18.661, + 13.973999999999998 + ], + "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": 2.6726200580596924, + "playback_velocity_rms_rad_s": 0.4601596180430041, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 68.946, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.473, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1579, + 4146 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4190966188514272, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08706532418727875, + "rapid_planner_max_dt_s": 1.9960000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00731461588293314, + "rapid_planner_median_dt_s": 0.07199999999999918, + "rapid_planner_path_max_error_rad": 0.004971802234649658, + "rapid_planner_path_p95_error_rad": 0.0029082238674163824, + "rapid_planner_path_rms_error_rad": 0.00142642166920077, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 19, + 36, + 74, + 96, + 116, + 128, + 140, + 153, + 166, + 173, + 180, + 193, + 202, + 210, + 218, + 226, + 239, + 252, + 264, + 277, + 292, + 306, + 320, + 334, + 346, + 357, + 376, + 393, + 408, + 423, + 438, + 453, + 483, + 502, + 522, + 558, + 596, + 698, + 780, + 869, + 1006, + 1183, + 1292, + 1579, + 2078, + 2143, + 2184, + 2209, + 2232, + 2250, + 2269, + 2288, + 2306, + 2326, + 2347, + 2371, + 2395, + 2418, + 2441, + 2467, + 2493, + 2508, + 2524, + 2538, + 2552, + 2569, + 2586, + 2604, + 2614, + 2624, + 2634, + 2643, + 2652, + 2662, + 2672, + 2682, + 2694, + 2707, + 2720, + 2734, + 2771, + 2840, + 2887, + 2926, + 2986, + 3058, + 3130, + 3243, + 3417, + 3795, + 4146, + 4439, + 4474, + 4491, + 4513, + 4532, + 4548, + 4566, + 4577, + 4588, + 4605, + 4622, + 4638, + 4655, + 4683, + 4711, + 4737, + 4760, + 4812, + 4869 + ], + "rapid_planner_selected_max_joint_step_deg": 4.988475617869357, + "rapid_planner_selected_samples": 111, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4870, + "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": 111, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004971802234649658, + "raw_replay_rms_error_rad": 0.0008471782085942724, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8170864170490546, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0106134686228825, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9678006792932198, + "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": 0.4044358902070438, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.011636494164788, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9859200917121035, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004832744598388672, + 0.00047791004180908203, + 0.0008577108383178711, + 0.003113262355327606, + 0.0023741722106933594, + 0.003350496292114258 + ], + "replay_smoothing_max_deviation_normalized": 0.3839385965988859, + "replay_smoothing_max_deviation_rad": 0.003350496292114258, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016510639106854796, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.908571481704712, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.1165657043457, + "replay_smoothing_raw_accel_rms_rad_s2": 2.288007509144523, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 333.18438720703125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16693.5078125, + "replay_smoothing_raw_jerk_rms_rad_s3": 581.4387586015255, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0230085849761963, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2641335273117218, + "replay_smoothing_rms_deviation_rad": 0.0006907178653268373, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.376554250717163, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.76522445678711, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.214335221578057, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 134.75172424316406, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16887.76171875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 573.2521542053876, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0084054470062256, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26353561072209203, + "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": 0.9927814750375157, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9977363093745986, + "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": 10.322, + "replay_smoothing_wrist_max_deviation_rad": 0.003350496292114258, + "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": 0.004971802234649658, + "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": 0.036305367946624756, + "stage_planned_to_measured_rms_error_rad": 0.0061219705689208575, + "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": 1107, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7616034150123596, + "target_wall_accel_peak_abs_rad_s2": 3.4623661041259766, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 8.800060493987985, + "target_wall_accel_rms_rad_s2": 0.3485654874640582, + "target_wall_jerk_p95_abs_rad_s3": 18.972871780395508, + "target_wall_jerk_peak_abs_rad_s3": 96.62736511230469, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 8.833398796035908, + "target_wall_jerk_rms_rad_s3": 8.63841525614312, + "target_wall_smoothness_samples": 1107, + "target_wall_velocity_peak_abs_rad_s": 0.6574466824531555, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.266729397932068, + "target_wall_velocity_rms_rad_s": 0.1040520810964735, + "tcp_pose_count": 1107, + "timestamp_count": 1107, + "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": 1.5800000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.5410000000000026, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.5800000000000032, + "window_lag_worst_end_s": 17.0, + "window_lag_worst_max_error_rad": 0.0035593509674072266, + "window_lag_worst_rms_error_rad": 0.0021299350034546336, + "window_lag_worst_start_s": 16.0, + "zero_lag_max_error_rad": 0.004971802234649658, + "zero_lag_p95_error_rad": 0.002003915375098586, + "zero_lag_rms_error_rad": 0.0008471782085942724, + "zero_lag_samples": 1107, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 14.209999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.npz new file mode 100644 index 0000000000000000000000000000000000000000..c68f4a2ccbe270c1655f22a14339181d86f12f25 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160120.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:251cc0c9a11d44d95d744112694f0d69113e3fe1a4f39dac6bd839f39a902c15 +size 115341 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.json new file mode 100644 index 0000000000000000000000000000000000000000..10fbee447c8e2808f555102d31d7804cc0f6e4e0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:04:39", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1130, + "actual_playback_duration_s": 37.68260663491674, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006377458572387695, + "aligned_p95_error_rad": 0.002040126360952854, + "aligned_rms_error_rad": 0.0009094009545095829, + "aligned_samples": 1130, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 12.811, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1130, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1130, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.795949224807775, + "image_frame_counts": { + "cam_scene": 1130, + "cam_wrist": 1130 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.006235867738723755, + 0.0045035481452941895, + 0.006377458572387695, + 0.0035067275166511536, + 0.0050484538078308105, + 0.006069481372833252 + ], + "joint_lag_p95_error_rad": [ + 0.0019623050466179848, + 0.0018343894043937325, + 0.0019017831655219197, + 0.0010842138435691595, + 0.002605893649160862, + 0.0025231807958334684 + ], + "joint_lag_rms_error_rad": [ + 0.0009353087415957837, + 0.0008776503334244997, + 0.0009733000431242071, + 0.0005008018747057147, + 0.001001398694093739, + 0.0010564436522243067 + ], + "joint_lag_samples": [ + 1130, + 1130, + 1130, + 1130, + 1130, + 1130 + ], + "joint_lag_worst_time_s": [ + 12.838999999999999, + 20.298, + 12.811, + 19.849999999999998, + 12.767, + 12.863 + ], + "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": 4, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007018494070507586, + "leadthrough_capture_egm_poll_duration_median_s": 0.003911014064215124, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004351629537995905, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005285465901251883, + "leadthrough_capture_egm_poll_duration_warn_count": 1894, + "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": 0.0071386529598385096, + "leadthrough_capture_host_loop_dt_median_s": 0.003984963987022638, + "leadthrough_capture_host_loop_dt_p95_s": 0.00444006590405479, + "leadthrough_capture_host_loop_dt_p99_s": 0.0053671750891953664, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007107029086910188, + "leadthrough_capture_host_receive_dt_median_s": 0.003991916077211499, + "leadthrough_capture_host_receive_dt_p95_s": 0.00439961621304974, + "leadthrough_capture_host_receive_dt_p99_s": 0.005290551984217016, + "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": 0.01436897402163595, + "leadthrough_capture_loop_late_median_s": 0.00964360183570534, + "leadthrough_capture_loop_late_p95_s": 0.009996974299428984, + "leadthrough_capture_loop_late_p99_s": 0.011049965429119768, + "leadthrough_capture_loop_late_warn_count": 6200, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007095020962879062, + "leadthrough_capture_read_duration_median_s": 0.003955653519369662, + "leadthrough_capture_read_duration_p95_s": 0.004404464189428836, + "leadthrough_capture_read_duration_p99_s": 0.00533274647081271, + "leadthrough_capture_read_duration_warn_count": 2372, + "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": 17, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003201782703399658, + 0.003142237663269043, + 0.004295557737350464, + 0.002137385308742523, + 0.0040770769119262695, + 0.0076423585414886475 + ], + "leadthrough_delta_max_abs_rad": 0.0076423585414886475, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014527924358844757, + 0.002409938722848892, + 0.003533247858285904, + 0.0004360747989267111, + 0.0018601715564727783, + 0.0043062567710876465 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007022343343123794, + 0.000997148803435266, + 0.0013305714819580317, + 0.00024394637148361653, + 0.0007719990098848939, + 0.0015264189569279552 + ], + "leadthrough_delta_samples": 5246, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0076423585414886475, + "leadthrough_delta_worst_from_rad": -0.4939520061016083, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8039999999999998, + "leadthrough_delta_worst_to_rad": -0.5015943646430969, + "leadthrough_duration_s": 20.982, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5245, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4239999999999995, + "leadthrough_final_stillness_removed_samples": 106, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5246, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6200, + "leadthrough_initial_stillness_first_motion_index": 848, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.387, + "leadthrough_initial_stillness_removed_samples": 847, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 847, + "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": [ + 0.003201782703399658, + 0.003142237663269043, + 0.004295557737350464, + 0.002137385308742523, + 0.0040770769119262695, + 0.0076423585414886475 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0076423585414886475, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8004456758503582, + 0.7855594158173472, + 1.0738894343377343, + 0.5343463271854524, + 1.019269227981227, + 1.9105896353723724 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9057989120483398, + "leadthrough_velocity_rms_rad_s": 0.25455321344992654, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006377458572387695, + "measured_wall_accel_p95_abs_rad_s2": 0.3650169372558594, + "measured_wall_accel_peak_abs_rad_s2": 1.9225232601165771, + "measured_wall_accel_peak_joint": 2, + "measured_wall_accel_peak_time_s": 24.180601019063033, + "measured_wall_accel_rms_rad_s2": 0.1849391347424409, + "measured_wall_jerk_p95_abs_rad_s3": 6.527221202850342, + "measured_wall_jerk_peak_abs_rad_s3": 34.74900436401367, + "measured_wall_jerk_peak_joint": 2, + "measured_wall_jerk_peak_time_s": 23.94607225502841, + "measured_wall_jerk_rms_rad_s3": 3.1884413835351486, + "measured_wall_smoothness_samples": 1130, + "measured_wall_velocity_peak_abs_rad_s": 0.4356812834739685, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.587286052061245, + "measured_wall_velocity_rms_rad_s": 0.09914185223722158, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006377458572387695, + "moving_aligned_p95_error_rad": 0.0024253048468381166, + "moving_aligned_rms_error_rad": 0.0010579842343059385, + "moving_aligned_samples": 829, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 12.811, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.006235867738723755, + 0.0045035481452941895, + 0.006377458572387695, + 0.0035067275166511536, + 0.00485074520111084, + 0.006069481372833252 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002625164343044162, + 0.002194099361076951, + 0.0021445169113576412, + 0.0021808845922350883, + 0.0029250560328364372, + 0.0030362240504473448 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011469154025936688, + 0.0010223772192949493, + 0.0011759661077973913, + 0.0009559969290729557, + 0.001212483052912549, + 0.0016233316505047048 + ], + "moving_joint_lag_samples": [ + 723, + 800, + 720, + 234, + 658, + 412 + ], + "moving_joint_lag_worst_time_s": [ + 12.838999999999999, + 20.298, + 12.811, + 19.849999999999998, + 19.834, + 12.863 + ], + "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": 2.933264970779419, + "playback_velocity_rms_rad_s": 0.4739952277124919, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 71.964, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.982, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1795, + 4459 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.442982163904932, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08662676811218262, + "rapid_planner_max_dt_s": 2.5359999999999996, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007731497287750244, + "rapid_planner_median_dt_s": 0.07599999999999962, + "rapid_planner_path_max_error_rad": 0.006377458572387695, + "rapid_planner_path_p95_error_rad": 0.0031953096389770504, + "rapid_planner_path_rms_error_rad": 0.001532890511428496, + "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, + 71, + 94, + 118, + 130, + 141, + 152, + 163, + 173, + 183, + 190, + 196, + 202, + 208, + 214, + 220, + 232, + 240, + 248, + 263, + 276, + 288, + 300, + 313, + 326, + 338, + 354, + 368, + 385, + 402, + 419, + 442, + 464, + 488, + 513, + 550, + 573, + 605, + 661, + 720, + 780, + 916, + 998, + 1064, + 1366, + 1453, + 1535, + 1795, + 2429, + 2497, + 2549, + 2604, + 2627, + 2650, + 2669, + 2688, + 2705, + 2722, + 2739, + 2756, + 2772, + 2788, + 2804, + 2819, + 2836, + 2853, + 2880, + 2907, + 2949, + 2971, + 2993, + 3015, + 3028, + 3042, + 3054, + 3066, + 3078, + 3090, + 3100, + 3111, + 3137, + 3168, + 3243, + 3266, + 3303, + 3327, + 3391, + 3435, + 3481, + 3535, + 3680, + 3853, + 4459, + 4726, + 4766, + 4794, + 4812, + 4828, + 4845, + 4860, + 4878, + 4895, + 4916, + 4932, + 4948, + 4983, + 5000, + 5016, + 5058, + 5106, + 5146, + 5246 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9633482056865255, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5247, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006377458572387695, + "raw_replay_rms_error_rad": 0.0009094009545095829, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7517823918738533, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9988133049645577, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.871803492895917, + "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": 0.23991681017259742, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9807817702950253, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8978170830566372, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000645563006401062, + 0.0005311667919158936, + 0.0009081363677978516, + 0.0012759938836097717, + 0.002200603485107422, + 0.004742026329040527 + ], + "replay_smoothing_max_deviation_normalized": 0.5433961941972206, + "replay_smoothing_max_deviation_rad": 0.004742026329040527, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001484439242631197, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.4998350143432617, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 15.908032417297363, + "replay_smoothing_raw_accel_rms_rad_s2": 1.199194686553201, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 241.99510192871094, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 4643.52001953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 217.2740996944027, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9089393615722656, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2551684110071658, + "replay_smoothing_rms_deviation_rad": 0.0006862414485263296, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.8793319463729858, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 15.889154434204102, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.045462116399305, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 58.058692932128906, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 4554.27978515625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 195.07239841138562, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9057989120483398, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25455321344992654, + "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": 0.9983548720367214, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9975890528345142, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.464, + "replay_smoothing_wrist_max_deviation_rad": 0.004742026329040527, + "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": 0.006377458572387695, + "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": 0.024811863899230957, + "stage_planned_to_measured_rms_error_rad": 0.005874821853645968, + "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": 1130, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8056610822677612, + "target_wall_accel_peak_abs_rad_s2": 2.6392202377319336, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 1.833447502925992, + "target_wall_accel_rms_rad_s2": 0.35183827839209153, + "target_wall_jerk_p95_abs_rad_s3": 20.33523178100586, + "target_wall_jerk_peak_abs_rad_s3": 64.02860260009766, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 1.8000707239843905, + "target_wall_jerk_rms_rad_s3": 8.936880378776726, + "target_wall_smoothness_samples": 1130, + "target_wall_velocity_peak_abs_rad_s": 0.47497162222862244, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.13339458790142, + "target_wall_velocity_rms_rad_s": 0.10006279750129633, + "tcp_pose_count": 1130, + "timestamp_count": 1130, + "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": 1.0200000000000027, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1799999999999993, + "window_lag_best_lag_p95_abs_s": 1.0539999999999996, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.1799999999999993, + "window_lag_worst_end_s": 18.5, + "window_lag_worst_max_error_rad": 0.32214948534965515, + "window_lag_worst_rms_error_rad": 0.03306065203335696, + "window_lag_worst_start_s": 17.5, + "zero_lag_max_error_rad": 0.006377458572387695, + "zero_lag_p95_error_rad": 0.002040126360952854, + "zero_lag_rms_error_rad": 0.0009094009545095829, + "zero_lag_samples": 1130, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 12.811 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.npz new file mode 100644 index 0000000000000000000000000000000000000000..6bfa22ed6687c2962e2302d13aea7ec7dd7b9569 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160438.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23cfd28dc5a842548f6f866e63a7f0d91cdc2a0a3515c79d4da515a7f26a5450 +size 120377 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.json new file mode 100644 index 0000000000000000000000000000000000000000..bd555381d1c744bc0e00ca033c1bc037d9cfe8ac --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.json @@ -0,0 +1,672 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:06:41", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1161, + "actual_playback_duration_s": 38.71245823893696, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004066057503223419, + "aligned_p95_error_rad": 0.0017727576196193695, + "aligned_rms_error_rad": 0.0007770598681030077, + "aligned_samples": 1161, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 11.563, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1161, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1161, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7604574005883111, + "image_frame_counts": { + "cam_scene": 1161, + "cam_wrist": 1161 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004066057503223419, + 0.003893136978149414, + 0.003550231456756592, + 0.003565501421689987, + 0.004053354263305664, + 0.0038814544677734375 + ], + "joint_lag_p95_error_rad": [ + 0.001422792673110962, + 0.0016477108001708984, + 0.0017435550689697266, + 0.0012053251266479492, + 0.0019470453262329102, + 0.002087712287902832 + ], + "joint_lag_rms_error_rad": [ + 0.0006811169353957429, + 0.0008151294454684464, + 0.0008108244703641048, + 0.0005200429334464919, + 0.0008296006662592767, + 0.0009372607424395298 + ], + "joint_lag_samples": [ + 1161, + 1161, + 1161, + 1161, + 1161, + 1161 + ], + "joint_lag_worst_time_s": [ + 11.563, + 3.328, + 11.539, + 13.823000000000002, + 11.539, + 3.328 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.007999999914318323, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 2, + "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": 2, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007970407954417169, + "leadthrough_capture_egm_poll_duration_median_s": 0.00392485607881099, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0044705820037052035, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005689635989256203, + "leadthrough_capture_egm_poll_duration_warn_count": 2019, + "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": 0.050101698958314955, + "leadthrough_capture_host_loop_dt_median_s": 0.004000433953478932, + "leadthrough_capture_host_loop_dt_p95_s": 0.004571065009804442, + "leadthrough_capture_host_loop_dt_p99_s": 0.005810041662771252, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.008135978016071022, + "leadthrough_capture_host_receive_dt_median_s": 0.004003505047876388, + "leadthrough_capture_host_receive_dt_p95_s": 0.004465018562041223, + "leadthrough_capture_host_receive_dt_p99_s": 0.005722456205403439, + "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": 0.10625143500510603, + "leadthrough_capture_loop_late_median_s": 0.10074221738614142, + "leadthrough_capture_loop_late_p95_s": 0.10149918801616878, + "leadthrough_capture_loop_late_p99_s": 0.10446351218735794, + "leadthrough_capture_loop_late_warn_count": 6103, + "leadthrough_capture_none_reads": 2, + "leadthrough_capture_read_duration_max_s": 0.05009564897045493, + "leadthrough_capture_read_duration_median_s": 0.003969804965890944, + "leadthrough_capture_read_duration_p95_s": 0.004530872276518492, + "leadthrough_capture_read_duration_p99_s": 0.005777149233035738, + "leadthrough_capture_read_duration_warn_count": 2623, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.007999999999999119, + "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": 46, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002837464213371277, + 0.002979278564453125, + 0.004670262336730957, + 0.0015855133533477783, + 0.0028277039527893066, + 0.006247982382774353 + ], + "leadthrough_delta_max_abs_rad": 0.006247982382774353, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015471690567210317, + 0.00205767760053277, + 0.003297817427664995, + 0.000551275908946991, + 0.0018132907571271062, + 0.00416666129603982 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006788087775930762, + 0.0009341569966636598, + 0.0013087375555187464, + 0.00024030593340285122, + 0.0007013540016487241, + 0.0014432522002607584 + ], + "leadthrough_delta_samples": 5497, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006247982382774353, + "leadthrough_delta_worst_from_rad": -0.16725364327430725, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.45999999999999996, + "leadthrough_delta_worst_to_rad": -0.1735016256570816, + "leadthrough_duration_s": 21.99, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5460, + "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": 5461, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6101, + "leadthrough_initial_stillness_first_motion_index": 604, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.411, + "leadthrough_initial_stillness_removed_samples": 603, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 603, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.007999999999999119, + "leadthrough_sample_dt_median_s": 0.0039999999999995595, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.002837464213371277, + 0.002979278564453125, + 0.004670262336730957, + 0.0015855133533477783, + 0.0028277039527893066, + 0.006247982382774353 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006247982382774353, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7093660533432123, + 0.7448196411133633, + 1.1675655841828678, + 0.39637833833716424, + 0.7069259881970906, + 2.08165744940432 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8350203037261963, + "leadthrough_velocity_rms_rad_s": 0.24357390609552854, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004066057503223419, + "measured_wall_accel_p95_abs_rad_s2": 0.4028099477291107, + "measured_wall_accel_peak_abs_rad_s2": 2.173231601715088, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 24.91569208097644, + "measured_wall_accel_rms_rad_s2": 0.19325922464726605, + "measured_wall_jerk_p95_abs_rad_s3": 7.368724346160889, + "measured_wall_jerk_peak_abs_rad_s3": 52.347015380859375, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 25.01393083599396, + "measured_wall_jerk_rms_rad_s3": 3.440495087639528, + "measured_wall_smoothness_samples": 1161, + "measured_wall_velocity_peak_abs_rad_s": 0.44057101011276245, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 16.214880982995965, + "measured_wall_velocity_rms_rad_s": 0.10264940010354744, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004066057503223419, + "moving_aligned_p95_error_rad": 0.001964416354894638, + "moving_aligned_rms_error_rad": 0.0008920337060645073, + "moving_aligned_samples": 861, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 11.563, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004066057503223419, + 0.003356337547302246, + 0.003550231456756592, + 0.003375386353582144, + 0.0037467479705810547, + 0.0037230253219604492 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016952301375567913, + 0.0018017870606854558, + 0.002013099379837513, + 0.0019902000203728676, + 0.0021745681297034025, + 0.0024746297858655453 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007955426057685862, + 0.0009230867187677695, + 0.0010259197900833736, + 0.00094572326314072, + 0.001016234445587516, + 0.0012976439715289801 + ], + "moving_joint_lag_samples": [ + 748, + 805, + 683, + 252, + 649, + 553 + ], + "moving_joint_lag_worst_time_s": [ + 11.563, + 13.823000000000002, + 11.539, + 11.867, + 11.507, + 3.4919999999999995 + ], + "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": 2.088900566101074, + "playback_velocity_rms_rad_s": 0.42461782673144727, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.97999999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.99, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1589, + 4408 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4264940872485212, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08625590801239014, + "rapid_planner_max_dt_s": 2.1560000000000006, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007443726062774658, + "rapid_planner_median_dt_s": 0.09199999999999875, + "rapid_planner_path_max_error_rad": 0.004066057503223419, + "rapid_planner_path_p95_error_rad": 0.0026261210441589355, + "rapid_planner_path_rms_error_rad": 0.0013113829297696548, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 46, + 64, + 77, + 94, + 102, + 109, + 116, + 124, + 132, + 140, + 155, + 164, + 174, + 184, + 194, + 211, + 228, + 238, + 249, + 260, + 270, + 286, + 302, + 318, + 334, + 353, + 370, + 383, + 396, + 415, + 434, + 452, + 470, + 502, + 535, + 569, + 601, + 633, + 664, + 694, + 725, + 761, + 796, + 929, + 1074, + 1157, + 1384, + 1457, + 1589, + 2128, + 2223, + 2261, + 2279, + 2301, + 2324, + 2342, + 2361, + 2381, + 2396, + 2411, + 2434, + 2456, + 2480, + 2504, + 2522, + 2540, + 2564, + 2587, + 2602, + 2616, + 2630, + 2645, + 2670, + 2693, + 2716, + 2738, + 2761, + 2792, + 2823, + 2842, + 2860, + 2913, + 2947, + 2996, + 3034, + 3071, + 3126, + 3181, + 3221, + 3296, + 3401, + 3503, + 3644, + 3733, + 3987, + 4408, + 4696, + 4729, + 4753, + 4779, + 4804, + 4830, + 4849, + 4869, + 4888, + 4907, + 4931, + 4955, + 4975, + 4996, + 5017, + 5052, + 5089, + 5137, + 5307, + 5497 + ], + "rapid_planner_selected_max_joint_step_deg": 4.942099487178616, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5498, + "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": 0.004066057503223419, + "raw_replay_rms_error_rad": 0.0007770598681030077, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.719203383030465, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9745125602896912, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9275037607283942, + "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": 0.1963921776147617, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9767856134215501, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9696629699239152, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00032141804695129395, + 0.0005899667739868164, + 0.0010647773742675781, + 0.001720581203699112, + 0.0036017894744873047, + 0.004857897758483887 + ], + "replay_smoothing_max_deviation_normalized": 0.5566740820465809, + "replay_smoothing_max_deviation_rad": 0.004857897758483887, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016993641620501876, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.235011339187622, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.00153732299805, + "replay_smoothing_raw_accel_rms_rad_s2": 1.657324051156642, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 245.4144744873047, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15335.5283203125, + "replay_smoothing_raw_jerk_rms_rad_s3": 415.38292544472534, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8589452505111694, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24425491204426042, + "replay_smoothing_rms_deviation_rad": 0.0007663320595972621, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.607427716255188, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 50.676151275634766, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5371742901934031, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 48.19748306274414, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14979.5234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 402.7814411424166, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8350203037261963, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24357390609552854, + "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": 0.9871298271003978, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9972119047963773, + "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": 9.419, + "replay_smoothing_wrist_max_deviation_rad": 0.004857897758483887, + "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": 0.004066057503223419, + "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": 0.025702819228172302, + "stage_planned_to_measured_rms_error_rad": 0.006083813322070328, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 1161, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7139478325843811, + "target_wall_accel_peak_abs_rad_s2": 2.409494638442993, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 27.466747095924802, + "target_wall_accel_rms_rad_s2": 0.3137261413762677, + "target_wall_jerk_p95_abs_rad_s3": 17.45772361755371, + "target_wall_jerk_peak_abs_rad_s3": 61.995643615722656, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 3.300063333939761, + "target_wall_jerk_rms_rad_s3": 7.47762593983252, + "target_wall_smoothness_samples": 1161, + "target_wall_velocity_peak_abs_rad_s": 0.4724602997303009, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.9334404049441218, + "target_wall_velocity_rms_rad_s": 0.10337714600186192, + "tcp_pose_count": 1161, + "timestamp_count": 1161, + "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": 0.5700000000000021, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1799999999999993, + "window_lag_best_lag_p95_abs_s": 0.9664999999999994, + "window_lag_count": 28, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 12.5, + "window_lag_worst_max_error_rad": 0.004066057503223419, + "window_lag_worst_rms_error_rad": 0.0013245710963813526, + "window_lag_worst_start_s": 11.5, + "zero_lag_max_error_rad": 0.004066057503223419, + "zero_lag_p95_error_rad": 0.0017727576196193695, + "zero_lag_rms_error_rad": 0.0007770598681030077, + "zero_lag_samples": 1161, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 11.563 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.npz new file mode 100644 index 0000000000000000000000000000000000000000..256e544261ebc459d0a701b9ca2f1f95295a2ca5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_160640.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bc2ad16cd101cd3639339cee72efe56f7afcc7ddc9d2431469d49b14ce9bfdc +size 123329 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.json new file mode 100644 index 0000000000000000000000000000000000000000..755223dac4493ba2d1489bce34a8a6cab99ef9b4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.json @@ -0,0 +1,676 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:13:42", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1177, + "actual_playback_duration_s": 39.25019797903951, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.00599515438079834, + "aligned_p95_error_rad": 0.0020840694196522236, + "aligned_rms_error_rad": 0.0008940679381262095, + "aligned_samples": 1177, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 7.135999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1177, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1177, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7621530923515987, + "image_frame_counts": { + "cam_scene": 1177, + "cam_wrist": 1177 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0034740865230560303, + 0.004595637321472168, + 0.005824923515319824, + 0.004153512418270111, + 0.00599515438079834, + 0.004800200462341309 + ], + "joint_lag_p95_error_rad": [ + 0.0016162156825885177, + 0.002209086436778307, + 0.0022786615882068872, + 0.0019018423045054078, + 0.0018657800974324346, + 0.002367928624153137 + ], + "joint_lag_rms_error_rad": [ + 0.000675331043068544, + 0.0009797995218071539, + 0.0010225323260183506, + 0.0007298066451951964, + 0.0008890564556907414, + 0.0010057108275826536 + ], + "joint_lag_samples": [ + 1177, + 1177, + 1177, + 1177, + 1177, + 1177 + ], + "joint_lag_worst_time_s": [ + 15.986999999999998, + 11.770999999999999, + 7.183999999999999, + 2.153, + 7.135999999999999, + 4.188000000000001 + ], + "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": 23, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007369442959316075, + "leadthrough_capture_egm_poll_duration_median_s": 0.003921035910025239, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004413606808520853, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005188639229163527, + "leadthrough_capture_egm_poll_duration_warn_count": 2063, + "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": 0.007478659972548485, + "leadthrough_capture_host_loop_dt_median_s": 0.003985267481766641, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044927474518772215, + "leadthrough_capture_host_loop_dt_p99_s": 0.005279482254991308, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007479439023882151, + "leadthrough_capture_host_receive_dt_median_s": 0.003991698438767344, + "leadthrough_capture_host_receive_dt_p95_s": 0.004420852434122935, + "leadthrough_capture_host_receive_dt_p99_s": 0.005246303742751479, + "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": 0.01616855978500098, + "leadthrough_capture_loop_late_median_s": 0.012825772748328745, + "leadthrough_capture_loop_late_p95_s": 0.013324500480666756, + "leadthrough_capture_loop_late_p99_s": 0.014167509102262556, + "leadthrough_capture_loop_late_warn_count": 6377, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0074428810039535165, + "leadthrough_capture_read_duration_median_s": 0.00395935692358762, + "leadthrough_capture_read_duration_p95_s": 0.00446041920222342, + "leadthrough_capture_read_duration_p99_s": 0.005247181495651602, + "leadthrough_capture_read_duration_warn_count": 2539, + "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": 14, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003601253032684326, + 0.002794325351715088, + 0.004247993230819702, + 0.0018084198236465454, + 0.003449082374572754, + 0.006781876087188721 + ], + "leadthrough_delta_max_abs_rad": 0.006781876087188721, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016160969389602542, + 0.0021614909637719393, + 0.0024858482647687197, + 0.0004066252149641514, + 0.0014431478921324015, + 0.004285573959350586 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006855761166661978, + 0.0009210853022523224, + 0.0011900989338755608, + 0.00022229224850889295, + 0.0006350573967210948, + 0.001449135015718639 + ], + "leadthrough_delta_samples": 5569, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006781876087188721, + "leadthrough_delta_worst_from_rad": -0.2344599813222885, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 20.318, + "leadthrough_delta_worst_to_rad": -0.2276781052350998, + "leadthrough_duration_s": 22.274, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5519, + "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": 5520, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6377, + "leadthrough_initial_stillness_first_motion_index": 808, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.227, + "leadthrough_initial_stillness_removed_samples": 807, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 807, + "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": [ + 0.003601253032684326, + 0.002794325351715088, + 0.004247993230819702, + 0.0018084198236465454, + 0.003449082374572754, + 0.006781876087188721 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006781876087188721, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9003132581715805, + 0.6985813379285387, + 1.061998307704571, + 0.5960157141089214, + 0.8622705936436663, + 2.1136204401651217 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8599451780319214, + "leadthrough_velocity_rms_rad_s": 0.2369806999693135, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.00599515438079834, + "measured_wall_accel_p95_abs_rad_s2": 0.5319900512695312, + "measured_wall_accel_peak_abs_rad_s2": 2.4605367183685303, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.003194674965926, + "measured_wall_accel_rms_rad_s2": 0.24118944853947205, + "measured_wall_jerk_p95_abs_rad_s3": 9.407147407531738, + "measured_wall_jerk_peak_abs_rad_s3": 48.33457946777344, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 25.365701684961095, + "measured_wall_jerk_rms_rad_s3": 4.257096243460423, + "measured_wall_smoothness_samples": 1177, + "measured_wall_velocity_peak_abs_rad_s": 0.6566487550735474, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 40.86726504098624, + "measured_wall_velocity_rms_rad_s": 0.10316714173208526, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.00599515438079834, + "moving_aligned_p95_error_rad": 0.0023070459719747305, + "moving_aligned_rms_error_rad": 0.0010282998488904715, + "moving_aligned_samples": 883, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 7.135999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0034695863723754883, + 0.004595637321472168, + 0.005824923515319824, + 0.004153512418270111, + 0.00599515438079834, + 0.004800200462341309 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017471371684223413, + 0.0026113458443433046, + 0.0025011347606778145, + 0.0035512603353708982, + 0.0021526634227484465, + 0.0028378842398524284 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007862165268401913, + 0.0011365871715076654, + 0.0012062264228329459, + 0.0016001595900064815, + 0.001067790703867947, + 0.0015411936994234154 + ], + "moving_joint_lag_samples": [ + 749, + 839, + 762, + 172, + 682, + 430 + ], + "moving_joint_lag_worst_time_s": [ + 20.445999999999998, + 11.770999999999999, + 7.183999999999999, + 2.153, + 7.135999999999999, + 4.188000000000001 + ], + "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": 2.2075698375701904, + "playback_velocity_rms_rad_s": 0.4043056496971495, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.548, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.274, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2303, + 4715 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43669668232122777, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08366590738296509, + "rapid_planner_max_dt_s": 2.0809999999999995, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007621794939041138, + "rapid_planner_median_dt_s": 0.08800000000000008, + "rapid_planner_path_max_error_rad": 0.00599515438079834, + "rapid_planner_path_p95_error_rad": 0.0032705307006835956, + "rapid_planner_path_rms_error_rad": 0.0015292732289321946, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 58, + 76, + 93, + 108, + 123, + 136, + 150, + 164, + 177, + 189, + 201, + 212, + 224, + 235, + 246, + 259, + 272, + 291, + 310, + 328, + 347, + 366, + 384, + 420, + 451, + 481, + 512, + 556, + 611, + 638, + 681, + 724, + 752, + 801, + 863, + 938, + 985, + 1028, + 1076, + 1125, + 1182, + 1301, + 1401, + 1487, + 1600, + 1660, + 1716, + 1831, + 2303, + 2823, + 2899, + 2966, + 3005, + 3032, + 3059, + 3081, + 3103, + 3114, + 3126, + 3138, + 3149, + 3160, + 3172, + 3184, + 3195, + 3214, + 3233, + 3255, + 3277, + 3308, + 3339, + 3361, + 3383, + 3405, + 3427, + 3448, + 3470, + 3482, + 3495, + 3512, + 3521, + 3530, + 3544, + 3557, + 3578, + 3604, + 3641, + 3672, + 3690, + 3718, + 3751, + 3793, + 3829, + 3904, + 4092, + 4361, + 4434, + 4715, + 4977, + 5021, + 5038, + 5052, + 5064, + 5072, + 5079, + 5092, + 5106, + 5121, + 5136, + 5150, + 5164, + 5178, + 5191, + 5210, + 5230, + 5269, + 5306, + 5346, + 5462, + 5569 + ], + "rapid_planner_selected_max_joint_step_deg": 4.793703382176334, + "rapid_planner_selected_samples": 121, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5570, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 121, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.00599515438079834, + "raw_replay_rms_error_rad": 0.0008940679381262095, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9473077154020361, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9883215827619294, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9844619227366376, + "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": 0.9124972442218549, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9951581473185275, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9944620835682549, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000871315598487854, + 0.0017794370651245117, + 0.0019123218953609467, + 0.003224896267056465, + 0.0021774768829345703, + 0.005677580833435059 + ], + "replay_smoothing_max_deviation_normalized": 0.6506028442402028, + "replay_smoothing_max_deviation_rad": 0.005677580833435059, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0019376871641725302, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.788598537445068, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.785892486572266, + "replay_smoothing_raw_accel_rms_rad_s2": 3.495825034628632, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 658.6281127929688, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17431.828125, + "replay_smoothing_raw_jerk_rms_rad_s3": 870.0169841565329, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8877358436584473, + "replay_smoothing_raw_velocity_rms_rad_s": 0.237950814486726, + "replay_smoothing_rms_deviation_rad": 0.0008874245362161145, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.536276340484619, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.0643310546875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4415066351413754, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 600.996337890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17347.42578125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 865.1989028040751, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8599451780319214, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2369806999693135, + "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": 0.9852783080218113, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959230460315713, + "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": 3.172, + "replay_smoothing_wrist_max_deviation_rad": 0.005677580833435059, + "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": 0.00599515438079834, + "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": 0.03742659091949463, + "stage_planned_to_measured_rms_error_rad": 0.006118412498914255, + "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": 1177, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.838035523891449, + "target_wall_accel_peak_abs_rad_s2": 3.8278801441192627, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 10.60014657001011, + "target_wall_accel_rms_rad_s2": 0.37514217655229465, + "target_wall_jerk_p95_abs_rad_s3": 19.368877410888672, + "target_wall_jerk_peak_abs_rad_s3": 114.90552520751953, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 10.566729592042975, + "target_wall_jerk_rms_rad_s3": 8.631895996868645, + "target_wall_smoothness_samples": 1177, + "target_wall_velocity_peak_abs_rad_s": 0.6864832043647766, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 25.833400218049064, + "target_wall_velocity_rms_rad_s": 0.10421541717977227, + "tcp_pose_count": 1177, + "timestamp_count": 1177, + "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": 0.5500000000000025, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 0.3575000000000019, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.010000000000001563, + "window_lag_worst_end_s": 7.5, + "window_lag_worst_max_error_rad": 0.0062896013259887695, + "window_lag_worst_rms_error_rad": 0.002022502961860944, + "window_lag_worst_start_s": 6.5, + "zero_lag_max_error_rad": 0.00599515438079834, + "zero_lag_p95_error_rad": 0.0020840694196522236, + "zero_lag_rms_error_rad": 0.0008940679381262095, + "zero_lag_samples": 1177, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 7.135999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.npz new file mode 100644 index 0000000000000000000000000000000000000000..39efb816a95b5a0f3085e73609aec3c4c03d7894 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161341.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8209d424b488d1156ea034288db0922143f01335f5a1af1630c6090fb6dd4a28 +size 123410 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.json new file mode 100644 index 0000000000000000000000000000000000000000..b2dfe46e6dd8469618b1082a02428437e88027f0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.json @@ -0,0 +1,680 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:15:49", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1198, + "actual_playback_duration_s": 39.948532481095754, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0064485203474760056, + "aligned_p95_error_rad": 0.0020142970606684685, + "aligned_rms_error_rad": 0.0009100178171253408, + "aligned_samples": 1198, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 21.961, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1198, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1198, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7106381399004735, + "image_frame_counts": { + "cam_scene": 1198, + "cam_wrist": 1198 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004416286945343018, + 0.004345260560512543, + 0.004464089870452881, + 0.0064485203474760056, + 0.005431413650512695, + 0.006311826407909393 + ], + "joint_lag_p95_error_rad": [ + 0.00163919641636312, + 0.002174708293750882, + 0.001794366748072207, + 0.0012266625417396426, + 0.002061212668195367, + 0.0025184634141623974 + ], + "joint_lag_rms_error_rad": [ + 0.0007473643019440072, + 0.0009085443018457439, + 0.0009059958742876436, + 0.0007669103870714911, + 0.0009374573973157419, + 0.0011388511662506283 + ], + "joint_lag_samples": [ + 1198, + 1198, + 1198, + 1198, + 1198, + 1198 + ], + "joint_lag_worst_time_s": [ + 16.066, + 16.081999999999997, + 16.081999999999997, + 21.961, + 7.027, + 21.968999999999998 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.008999999845400453, + "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": 14, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.008801336982287467, + "leadthrough_capture_egm_poll_duration_median_s": 0.003929471014998853, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004506618395680554, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00529095552396029, + "leadthrough_capture_egm_poll_duration_warn_count": 2717, + "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": 0.008900218992494047, + "leadthrough_capture_host_loop_dt_median_s": 0.003995120991021395, + "leadthrough_capture_host_loop_dt_p95_s": 0.004581037233583629, + "leadthrough_capture_host_loop_dt_p99_s": 0.005370914908125997, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.008909421972930431, + "leadthrough_capture_host_receive_dt_median_s": 0.003997934050858021, + "leadthrough_capture_host_receive_dt_p95_s": 0.004526167595759034, + "leadthrough_capture_host_receive_dt_p99_s": 0.005301031586714089, + "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": 0.01724175119306892, + "leadthrough_capture_loop_late_median_s": 0.01109854510286823, + "leadthrough_capture_loop_late_p95_s": 0.015122616948792711, + "leadthrough_capture_loop_late_p99_s": 0.015908817223971708, + "leadthrough_capture_loop_late_warn_count": 7714, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.008865605923347175, + "leadthrough_capture_read_duration_median_s": 0.003968595061451197, + "leadthrough_capture_read_duration_p95_s": 0.004559851245721801, + "leadthrough_capture_read_duration_p99_s": 0.005333294036099687, + "leadthrough_capture_read_duration_warn_count": 3334, + "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": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 9, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0033731609582901, + 0.0029801130294799805, + 0.004361093044281006, + 0.002845652401447296, + 0.002872645854949951, + 0.006209611892700195 + ], + "leadthrough_delta_max_abs_rad": 0.006209611892700195, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014281210023909807, + 0.002500421367585659, + 0.0031763857696205378, + 0.00022847915533930063, + 0.0016142309177666903, + 0.004351590294390917 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006688397261314094, + 0.001003724872134626, + 0.0013118888018652797, + 0.00026015134062618017, + 0.0006740331882610917, + 0.0014664060436189175 + ], + "leadthrough_delta_samples": 5838, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006209611892700195, + "leadthrough_delta_worst_from_rad": -0.7153378129005432, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 15.581999999999997, + "leadthrough_delta_worst_to_rad": -0.709128201007843, + "leadthrough_duration_s": 23.352999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5837, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.3440000000000012, + "leadthrough_final_stillness_removed_samples": 86, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5838, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7714, + "leadthrough_initial_stillness_first_motion_index": 1790, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.155, + "leadthrough_initial_stillness_removed_samples": 1789, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1789, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.009000000000000341, + "leadthrough_sample_dt_median_s": 0.004000000000000448, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0033731609582901, + 0.0029801130294799805, + 0.004361093044281006, + 0.002845652401447296, + 0.002872645854949951, + 0.006209611892700195 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006209611892700195, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1170630653698816, + 0.8036047220229798, + 1.0902732610698873, + 0.8828366796175304, + 0.9575486183166141, + 1.6783873240152358 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5496760606765747, + "leadthrough_velocity_rms_rad_s": 0.24930009536009287, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0064485203474760056, + "measured_wall_accel_p95_abs_rad_s2": 0.4226781129837036, + "measured_wall_accel_peak_abs_rad_s2": 2.916271209716797, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 16.233117172960192, + "measured_wall_accel_rms_rad_s2": 0.20950753177478912, + "measured_wall_jerk_p95_abs_rad_s3": 7.364212512969971, + "measured_wall_jerk_peak_abs_rad_s3": 57.22013854980469, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 26.266029200982302, + "measured_wall_jerk_rms_rad_s3": 3.5737832101499056, + "measured_wall_smoothness_samples": 1198, + "measured_wall_velocity_peak_abs_rad_s": 0.6328641176223755, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 16.367716426961124, + "measured_wall_velocity_rms_rad_s": 0.1049132290927307, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0064485203474760056, + "moving_aligned_p95_error_rad": 0.0023530935868620872, + "moving_aligned_rms_error_rad": 0.0010451840545630709, + "moving_aligned_samples": 895, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 21.961, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004416286945343018, + 0.004345260560512543, + 0.004464089870452881, + 0.0064485203474760056, + 0.005397677421569824, + 0.006311826407909393 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021066043991595507, + 0.0024395999498665333, + 0.0019511522259563208, + 0.00416714558377862, + 0.00248873233795166, + 0.00372219062410295 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009259432762394331, + 0.0010553800642517383, + 0.0010729637797207289, + 0.0018044110560690443, + 0.0010970747199115565, + 0.0016256341195588053 + ], + "moving_joint_lag_samples": [ + 748, + 843, + 732, + 207, + 781, + 548 + ], + "moving_joint_lag_worst_time_s": [ + 16.066, + 16.081999999999997, + 16.081999999999997, + 21.961, + 21.968999999999998, + 21.968999999999998 + ], + "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": 2.168856620788574, + "playback_velocity_rms_rad_s": 0.4607794091929159, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.70599999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.352999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2900, + 5060 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44011006935894165, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08636564016342163, + "rapid_planner_max_dt_s": 1.963000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007681369781494141, + "rapid_planner_median_dt_s": 0.07950000000000035, + "rapid_planner_path_max_error_rad": 0.0064485203474760056, + "rapid_planner_path_p95_error_rad": 0.0032663635909557336, + "rapid_planner_path_rms_error_rad": 0.001509965407025303, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 42, + 57, + 71, + 90, + 108, + 127, + 146, + 157, + 168, + 179, + 190, + 201, + 212, + 222, + 233, + 253, + 273, + 292, + 310, + 329, + 348, + 365, + 382, + 391, + 400, + 417, + 430, + 446, + 463, + 480, + 498, + 515, + 538, + 560, + 583, + 606, + 630, + 654, + 679, + 709, + 734, + 758, + 778, + 815, + 859, + 883, + 918, + 1039, + 1091, + 1184, + 1294, + 1420, + 1506, + 1572, + 2062, + 2191, + 2410, + 2900, + 3353, + 3400, + 3451, + 3473, + 3495, + 3512, + 3529, + 3544, + 3558, + 3572, + 3586, + 3600, + 3614, + 3628, + 3641, + 3656, + 3670, + 3692, + 3714, + 3736, + 3759, + 3786, + 3807, + 3819, + 3831, + 3847, + 3863, + 3878, + 3892, + 3904, + 3917, + 3934, + 3946, + 3958, + 3991, + 4051, + 4082, + 4122, + 4165, + 4197, + 4230, + 4271, + 4392, + 4730, + 5060, + 5315, + 5363, + 5387, + 5411, + 5426, + 5441, + 5458, + 5476, + 5504, + 5518, + 5531, + 5554, + 5580, + 5595, + 5612, + 5629, + 5653, + 5684, + 5717, + 5778, + 5838 + ], + "rapid_planner_selected_max_joint_step_deg": 4.948386676309613, + "rapid_planner_selected_samples": 125, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5839, + "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": 0.0064485203474760056, + "raw_replay_rms_error_rad": 0.0009100178171253408, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9566161628187564, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0039582512137892, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9809143792002125, + "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": 0.9811052151364914, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0003954597540194, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9930631291967201, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006192531436681747, + 0.0012686848640441895, + 0.002000093460083008, + 0.0025212615728378296, + 0.0022118091583251953, + 0.0056136008352041245 + ], + "replay_smoothing_max_deviation_normalized": 0.6432712764396358, + "replay_smoothing_max_deviation_rad": 0.0056136008352041245, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0019559694919735193, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.827450275421143, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.89823913574219, + "replay_smoothing_raw_accel_rms_rad_s2": 3.322009162288561, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1063.35791015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13480.650390625, + "replay_smoothing_raw_jerk_rms_rad_s3": 846.4372643746555, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5521049499511719, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2502235860601209, + "replay_smoothing_rms_deviation_rad": 0.0009178395269427937, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.5746331214904785, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 50.09574890136719, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2586065551237016, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1043.2659912109375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13485.9814453125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 840.5656384286068, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5496760606765747, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24930009536009287, + "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": 0.9984350998463901, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963093379222606, + "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": 0.0056136008352041245, + "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": 0.0064485203474760056, + "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": 0.03756947070360184, + "stage_planned_to_measured_rms_error_rad": 0.00622576232699477, + "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": 1198, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7953670620918274, + "target_wall_accel_peak_abs_rad_s2": 3.5991687774658203, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.3333962010219693, + "target_wall_accel_rms_rad_s2": 0.366379761049773, + "target_wall_jerk_p95_abs_rad_s3": 20.426715850830078, + "target_wall_jerk_peak_abs_rad_s3": 78.4104995727539, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 27.628550771041773, + "target_wall_jerk_rms_rad_s3": 8.928361245793186, + "target_wall_smoothness_samples": 1198, + "target_wall_velocity_peak_abs_rad_s": 0.6890806555747986, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.5000610620481893, + "target_wall_velocity_rms_rad_s": 0.1059457305582754, + "tcp_pose_count": 1198, + "timestamp_count": 1198, + "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": 1.2400000000000029, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.88, + "window_lag_best_lag_p95_abs_s": 1.643, + "window_lag_count": 28, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.88, + "window_lag_worst_end_s": 12.5, + "window_lag_worst_max_error_rad": 0.2181175947189331, + "window_lag_worst_rms_error_rad": 0.008809422634685614, + "window_lag_worst_start_s": 11.5, + "zero_lag_max_error_rad": 0.0064485203474760056, + "zero_lag_p95_error_rad": 0.0020142970606684685, + "zero_lag_rms_error_rad": 0.0009100178171253408, + "zero_lag_samples": 1198, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 21.961 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.npz new file mode 100644 index 0000000000000000000000000000000000000000..83e3ce4b238a27d9bbfa625a30ccc654bbd9bad2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161548.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:861465d43ea88c61c90b360ee72e1bcef5305e1b270519ee5ab85a93a0a25e6b +size 126356 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.json new file mode 100644 index 0000000000000000000000000000000000000000..72363daa057aac1ad9ca62f3eb3e25509d536e42 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.json @@ -0,0 +1,669 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:19:23", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1150, + "actual_playback_duration_s": 38.36103827599436, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.3651905953884125, + "aligned_p95_error_rad": 0.0024210831616073847, + "aligned_rms_error_rad": 0.008901018801635543, + "aligned_samples": 1150, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 3.3110000000000004, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1150, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1150, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4427409182742623, + "image_frame_counts": { + "cam_scene": 1150, + "cam_wrist": 1150 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0774851143360138, + 0.36371910572052, + 0.23402979969978333, + 0.28638604283332825, + 0.3651905953884125, + 0.3612020015716553 + ], + "joint_lag_p95_error_rad": [ + 0.0025706382002681494, + 0.0024381666444242, + 0.002630113158375025, + 0.0008501762640662491, + 0.00230858544819057, + 0.002809189260005951 + ], + "joint_lag_rms_error_rad": [ + 0.0025303559295637218, + 0.010779156064264519, + 0.007003672276087522, + 0.008468490506425685, + 0.010813761117324341, + 0.010727148798425096 + ], + "joint_lag_samples": [ + 1150, + 1150, + 1150, + 1150, + 1150, + 1150 + ], + "joint_lag_worst_time_s": [ + 3.3110000000000004, + 3.3110000000000004, + 3.3110000000000004, + 3.3110000000000004, + 3.3110000000000004, + 3.3110000000000004 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007207568967714906, + "leadthrough_capture_egm_poll_duration_median_s": 0.003968599019572139, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004406553576700389, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005321650267578663, + "leadthrough_capture_egm_poll_duration_warn_count": 2827, + "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": 0.007256849086843431, + "leadthrough_capture_host_loop_dt_median_s": 0.003994951490312815, + "leadthrough_capture_host_loop_dt_p95_s": 0.004442224145168438, + "leadthrough_capture_host_loop_dt_p99_s": 0.005359993946040047, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007212426047772169, + "leadthrough_capture_host_receive_dt_median_s": 0.004000428016297519, + "leadthrough_capture_host_receive_dt_p95_s": 0.0044093119853641834, + "leadthrough_capture_host_receive_dt_p99_s": 0.0053496251581236715, + "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": 0.017048464971594512, + "leadthrough_capture_loop_late_median_s": 0.011156773194670677, + "leadthrough_capture_loop_late_p95_s": 0.011561800562776624, + "leadthrough_capture_loop_late_p99_s": 0.012625587852671764, + "leadthrough_capture_loop_late_warn_count": 7025, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0072285899659618735, + "leadthrough_capture_read_duration_median_s": 0.003983851056545973, + "leadthrough_capture_read_duration_p95_s": 0.004428342217579484, + "leadthrough_capture_read_duration_p99_s": 0.00534460572525859, + "leadthrough_capture_read_duration_warn_count": 3162, + "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": 33, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0028190910816192627, + 0.003891289234161377, + 0.006553381681442261, + 0.00242201192304492, + 0.004356861114501953, + 0.005563139915466309 + ], + "leadthrough_delta_max_abs_rad": 0.006553381681442261, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013283503940328956, + 0.0019523769151419401, + 0.0028185329865664244, + 0.00029717865982092917, + 0.0015587209491059184, + 0.003382563591003418 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005772450240328908, + 0.0008983702282421291, + 0.0012542554177343845, + 0.00020390981808304787, + 0.0006305942079052329, + 0.0012265352997928858 + ], + "leadthrough_delta_samples": 6648, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006553381681442261, + "leadthrough_delta_worst_from_rad": -0.3875108063220978, + "leadthrough_delta_worst_joint": 2, + "leadthrough_delta_worst_time_s": 14.206000000000001, + "leadthrough_delta_worst_to_rad": -0.3809574246406555, + "leadthrough_duration_s": 26.589, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6610, + "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": 6611, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7025, + "leadthrough_initial_stillness_first_motion_index": 377, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.504, + "leadthrough_initial_stillness_removed_samples": 376, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 376, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0040000000000000036, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0028190910816192627, + 0.003891289234161377, + 0.006553381681442261, + 0.00242201192304492, + 0.004356861114501953, + 0.005563139915466309 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006553381681442261, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8889635403950672, + 1.2747248013813808, + 2.1522343158721107, + 0.8073373076816094, + 1.406153043111112, + 1.8471479415892855 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9009897708892822, + "leadthrough_velocity_rms_rad_s": 0.22439450477114334, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.3651905953884125, + "measured_wall_accel_p95_abs_rad_s2": 0.5568565726280212, + "measured_wall_accel_peak_abs_rad_s2": 261.2942199707031, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.18784665199928, + "measured_wall_accel_rms_rad_s2": 7.397093480745341, + "measured_wall_jerk_p95_abs_rad_s3": 8.953189849853516, + "measured_wall_jerk_peak_abs_rad_s3": 4046.6044921875, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.221088155987673, + "measured_wall_jerk_rms_rad_s3": 94.9870167240525, + "measured_wall_smoothness_samples": 1150, + "measured_wall_velocity_peak_abs_rad_s": 16.41426658630371, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.158259832998738, + "measured_wall_velocity_rms_rad_s": 0.36634211092055424, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.3651905953884125, + "moving_aligned_p95_error_rad": 0.002777914982289076, + "moving_aligned_rms_error_rad": 0.010419835770244358, + "moving_aligned_samples": 839, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 3.3110000000000004, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0774851143360138, + 0.36371910572052, + 0.23402979969978333, + 0.006980635225772858, + 0.3651905953884125, + 0.3612020015716553 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0032990085892379284, + 0.0027029169723391533, + 0.003023153403773904, + 0.003062609815970063, + 0.002900602063164115, + 0.003622320480644703 + ], + "moving_joint_lag_rms_error_rad": [ + 0.003126747486280994, + 0.012784151295497202, + 0.009060257602757952, + 0.0015743779041298726, + 0.015000868157048557, + 0.015516166490045207 + ], + "moving_joint_lag_samples": [ + 743, + 817, + 685, + 140, + 597, + 549 + ], + "moving_joint_lag_worst_time_s": [ + 3.3110000000000004, + 3.3110000000000004, + 3.3110000000000004, + 6.3309999999999995, + 3.3110000000000004, + 3.3110000000000004 + ], + "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": 67.1206283569336, + "playback_velocity_rms_rad_s": 2.2780637671478163, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 83.178, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.589, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2753, + 5762 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4384400881068735, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08720815181732178, + "rapid_planner_max_dt_s": 4.294999999999998, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007652223110198975, + "rapid_planner_median_dt_s": 0.09199999999999875, + "rapid_planner_path_max_error_rad": 0.3651905953884125, + "rapid_planner_path_p95_error_rad": 0.003625053167343138, + "rapid_planner_path_rms_error_rad": 0.010904604692072287, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 684, + 716, + 740, + 758, + 776, + 805, + 834, + 853, + 870, + 888, + 898, + 908, + 918, + 929, + 946, + 964, + 981, + 998, + 1009, + 1020, + 1032, + 1043, + 1059, + 1073, + 1105, + 1137, + 1176, + 1221, + 1280, + 1298, + 1321, + 1344, + 1362, + 1394, + 1412, + 1431, + 1451, + 1485, + 1514, + 1619, + 1722, + 1811, + 1962, + 2021, + 2093, + 2176, + 2394, + 2753, + 3254, + 3313, + 3374, + 3392, + 3415, + 3438, + 3461, + 3481, + 3499, + 3514, + 3529, + 3540, + 3552, + 3561, + 3570, + 3580, + 3590, + 3602, + 3613, + 3631, + 3649, + 3675, + 3698, + 3722, + 3743, + 3762, + 3772, + 3782, + 3801, + 3822, + 3862, + 3898, + 3921, + 3969, + 4021, + 4075, + 4121, + 4171, + 4230, + 4290, + 4336, + 4397, + 4503, + 4688, + 5762, + 6007, + 6027, + 6044, + 6086, + 6119, + 6151, + 6183, + 6198, + 6211, + 6225, + 6235, + 6245, + 6260, + 6276, + 6303, + 6326, + 6359, + 6393, + 6561, + 6648 + ], + "rapid_planner_selected_max_joint_step_deg": 4.996659038268678, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6649, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.3651905953884125, + "raw_replay_rms_error_rad": 0.008901018801635543, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9690719504859526, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8811386112427547, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.979152502755301, + "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": 0.9695355420858811, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.890291508974965, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9877739449178256, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005510970950126648, + 0.0006870627403259277, + 0.0013870000839233398, + 0.0037311632186174393, + 0.0031174421310424805, + 0.008511543273925781 + ], + "replay_smoothing_max_deviation_normalized": 0.9753510210332476, + "replay_smoothing_max_deviation_rad": 0.008511543273925781, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0026217836420983076, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.486843585968018, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 70.96258544921875, + "replay_smoothing_raw_accel_rms_rad_s2": 4.170297600710264, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1211.48876953125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18951.697265625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1059.9553466805392, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9253162145614624, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2257047786509757, + "replay_smoothing_rms_deviation_rad": 0.0010783425249281044, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.286218166351318, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.52787399291992, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.083357332969882, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1174.5814208984375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16872.53515625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1046.9962742273776, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9009897708892822, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22439450477114334, + "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": 0.9873649619277106, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9941947446232029, + "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": 4.239000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.008511543273925781, + "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": 0.3651905953884125, + "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": 0.48618224263191223, + "stage_planned_to_measured_rms_error_rad": 0.011054627942861208, + "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": 1150, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3652", + "target_wall_accel_p95_abs_rad_s2": 0.8608734607696533, + "target_wall_accel_peak_abs_rad_s2": 140.52938842773438, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.03467331500723958, + "target_wall_accel_rms_rad_s2": 3.3640831025917945, + "target_wall_jerk_p95_abs_rad_s3": 18.99028205871582, + "target_wall_jerk_peak_abs_rad_s3": 2148.846435546875, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06672093295492232, + "target_wall_jerk_rms_rad_s3": 42.774142148647314, + "target_wall_smoothness_samples": 1150, + "target_wall_velocity_peak_abs_rad_s": 9.375357627868652, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.368965841829777e-06, + "target_wall_velocity_rms_rad_s": 0.1948826790023524, + "tcp_pose_count": 1150, + "timestamp_count": 1150, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3652", + "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": -0.45999999999999863, + "window_lag_best_lag_p95_abs_s": 0.9900000000000009, + "window_lag_count": 31, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.5, + "window_lag_worst_max_error_rad": 0.3651905953884125, + "window_lag_worst_rms_error_rad": 0.038378880330531835, + "window_lag_worst_start_s": 2.5, + "zero_lag_max_error_rad": 0.3651905953884125, + "zero_lag_p95_error_rad": 0.0024210831616073847, + "zero_lag_rms_error_rad": 0.008901018801635543, + "zero_lag_samples": 1150, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 3.3110000000000004 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.npz new file mode 100644 index 0000000000000000000000000000000000000000..0954aeb2b5e6af10619004ff0e958ee76705fa1c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_161922.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ef78e4db129709d60f17699a26913e9bab00a716c7e7ae8461d44063b69d7fc +size 120674 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.json new file mode 100644 index 0000000000000000000000000000000000000000..717e4c4ae031bbe1fe03f192eafe88c9111de7bc --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.json @@ -0,0 +1,671 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:21:29", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1140, + "actual_playback_duration_s": 38.01457298989408, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006237387657165527, + "aligned_p95_error_rad": 0.001993793062865734, + "aligned_rms_error_rad": 0.0009013284684009755, + "aligned_samples": 1140, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 15.218, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1140, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1140, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.865196653250286, + "image_frame_counts": { + "cam_scene": 1140, + "cam_wrist": 1140 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004413634538650513, + 0.004318833351135254, + 0.004657864570617676, + 0.006177299655973911, + 0.005916953086853027, + 0.006237387657165527 + ], + "joint_lag_p95_error_rad": [ + 0.0015463560121133924, + 0.0018481567967683077, + 0.0017815917963162065, + 0.0012692214222624898, + 0.002332336502149701, + 0.0026539054233580828 + ], + "joint_lag_rms_error_rad": [ + 0.0007227643659737436, + 0.0008748903274236425, + 0.0008907220480735552, + 0.0006051095464861036, + 0.001026398301277283, + 0.0011719640911399781 + ], + "joint_lag_samples": [ + 1140, + 1140, + 1140, + 1140, + 1140, + 1140 + ], + "joint_lag_worst_time_s": [ + 3.595999999999999, + 14.982, + 4.847, + 15.218, + 19.094, + 15.218 + ], + "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": 0.0068747850600630045, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039604289922863245, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00438000459689647, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005714720636606214, + "leadthrough_capture_egm_poll_duration_warn_count": 2512, + "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": 0.006913698045536876, + "leadthrough_capture_host_loop_dt_median_s": 0.003987648990005255, + "leadthrough_capture_host_loop_dt_p95_s": 0.004410966066643596, + "leadthrough_capture_host_loop_dt_p99_s": 0.005748634925112128, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0068075848976150155, + "leadthrough_capture_host_receive_dt_median_s": 0.00399122602539137, + "leadthrough_capture_host_receive_dt_p95_s": 0.004391568771097809, + "leadthrough_capture_host_receive_dt_p99_s": 0.005683049239451066, + "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": 0.01414523704443127, + "leadthrough_capture_loop_late_median_s": 0.009707853430882096, + "leadthrough_capture_loop_late_p95_s": 0.010057225031778217, + "leadthrough_capture_loop_late_p99_s": 0.01155406174249947, + "leadthrough_capture_loop_late_warn_count": 6577, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00689916405826807, + "leadthrough_capture_read_duration_median_s": 0.003975097090005875, + "leadthrough_capture_read_duration_p95_s": 0.004396322020329535, + "leadthrough_capture_read_duration_p99_s": 0.005735844774171709, + "leadthrough_capture_read_duration_warn_count": 2777, + "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": 41, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003663584589958191, + 0.0028218626976013184, + 0.004175305366516113, + 0.0025065019726753235, + 0.0037660598754882812, + 0.006116747856140137 + ], + "leadthrough_delta_max_abs_rad": 0.006116747856140137, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0012438632547855377, + 0.0022794976830482483, + 0.0036173388361930847, + 0.00034289900213479996, + 0.0017488300800323486, + 0.004262639209628105 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007216990343295038, + 0.0009950638050213456, + 0.0014068330638110638, + 0.00027544531621970236, + 0.0007956918561831117, + 0.0014701624168083072 + ], + "leadthrough_delta_samples": 5096, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006116747856140137, + "leadthrough_delta_worst_from_rad": -0.4146134555339813, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7720000000000002, + "leadthrough_delta_worst_to_rad": -0.42073020339012146, + "leadthrough_duration_s": 20.381, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5095, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.2839999999999989, + "leadthrough_final_stillness_removed_samples": 71, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5096, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6577, + "leadthrough_initial_stillness_first_motion_index": 1410, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.636, + "leadthrough_initial_stillness_removed_samples": 1409, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1409, + "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": [ + 0.003663584589958191, + 0.0028218626976013184, + 0.004175305366516113, + 0.0025065019726753235, + 0.0037660598754882812, + 0.006116747856140137 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006116747856140137, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2044136722896395, + 0.9293158849080051, + 1.3705988725025928, + 0.8241149286428775, + 1.2531677881876153, + 2.0279288291930384 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7604707479476929, + "leadthrough_velocity_rms_rad_s": 0.2644412040166619, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006237387657165527, + "measured_wall_accel_p95_abs_rad_s2": 0.4138112962245941, + "measured_wall_accel_peak_abs_rad_s2": 2.1100914478302, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.83250467304606, + "measured_wall_accel_rms_rad_s2": 0.204761127969254, + "measured_wall_jerk_p95_abs_rad_s3": 7.461951732635498, + "measured_wall_jerk_peak_abs_rad_s3": 48.989532470703125, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.898678070050664, + "measured_wall_jerk_rms_rad_s3": 3.518389008147602, + "measured_wall_smoothness_samples": 1140, + "measured_wall_velocity_peak_abs_rad_s": 0.4588446021080017, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.333483802038245, + "measured_wall_velocity_rms_rad_s": 0.10144708075980582, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006237387657165527, + "moving_aligned_p95_error_rad": 0.0022569980937987566, + "moving_aligned_rms_error_rad": 0.0010311153524216405, + "moving_aligned_samples": 844, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 15.218, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004413634538650513, + 0.0040087103843688965, + 0.003962427377700806, + 0.00591259403154254, + 0.005916953086853027, + 0.006237387657165527 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001797463744878769, + 0.002234013518318534, + 0.0020414269529283047, + 0.002199248643592, + 0.0030738324858248234, + 0.003464413806796074 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008531386374714936, + 0.00098223978225419, + 0.0011113119915353406, + 0.0010549206301715447, + 0.0012496667490383845, + 0.0017175416498871519 + ], + "moving_joint_lag_samples": [ + 746, + 807, + 692, + 224, + 668, + 462 + ], + "moving_joint_lag_worst_time_s": [ + 3.595999999999999, + 10.527000000000001, + 1.5830000000000002, + 15.282, + 19.094, + 15.218 + ], + "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": 3.138568639755249, + "playback_velocity_rms_rad_s": 0.4818766125902811, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.762, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.381, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1907, + 4326 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4457176546675221, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08553990721702576, + "rapid_planner_max_dt_s": 2.0760000000000005, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007779240608215332, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.006237387657165527, + "rapid_planner_path_p95_error_rad": 0.0033409997820854184, + "rapid_planner_path_rms_error_rad": 0.0015408441828477757, + "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, + 63, + 86, + 110, + 128, + 146, + 156, + 165, + 174, + 184, + 192, + 200, + 208, + 216, + 224, + 232, + 247, + 260, + 274, + 288, + 302, + 322, + 341, + 360, + 380, + 404, + 423, + 439, + 455, + 487, + 504, + 522, + 552, + 600, + 638, + 677, + 716, + 756, + 807, + 858, + 990, + 1055, + 1138, + 1388, + 1907, + 2406, + 2459, + 2501, + 2525, + 2553, + 2567, + 2583, + 2599, + 2617, + 2657, + 2678, + 2698, + 2722, + 2734, + 2746, + 2766, + 2785, + 2804, + 2824, + 2840, + 2856, + 2872, + 2887, + 2908, + 2928, + 2946, + 2963, + 2980, + 2993, + 3006, + 3018, + 3030, + 3042, + 3054, + 3066, + 3090, + 3116, + 3142, + 3168, + 3188, + 3245, + 3280, + 3316, + 3358, + 3400, + 3470, + 3530, + 3624, + 3988, + 4326, + 4557, + 4600, + 4620, + 4638, + 4652, + 4667, + 4682, + 4697, + 4715, + 4736, + 4750, + 4765, + 4789, + 4804, + 4820, + 4838, + 4854, + 4880, + 4946, + 5096 + ], + "rapid_planner_selected_max_joint_step_deg": 4.901075663476227, + "rapid_planner_selected_samples": 116, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5097, + "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": 116, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006237387657165527, + "raw_replay_rms_error_rad": 0.0009013284684009755, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9792565314380236, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9554159506288654, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9860522172749766, + "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": 0.9958890508250635, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9773362050436861, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9913923160203238, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008127838373184204, + 0.000819087028503418, + 0.0010061860084533691, + 0.0035600329283624887, + 0.003016233444213867, + 0.005543351173400879 + ], + "replay_smoothing_max_deviation_normalized": 0.6352212581101827, + "replay_smoothing_max_deviation_rad": 0.005543351173400879, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0022349832579493523, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 12.463735580444336, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.78464889526367, + "replay_smoothing_raw_accel_rms_rad_s2": 5.5731025985473295, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2990.4775390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15988.8564453125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1421.9423829553696, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.812770962715149, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2655243975625224, + "replay_smoothing_rms_deviation_rad": 0.001004110003843579, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 12.205194473266602, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 58.074623107910156, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.495370174398528, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2978.183837890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15626.48828125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1409.7027522855822, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7604707479476929, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2644412040166619, + "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": 0.9711490222189342, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959205498409786, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3949999999999996, + "replay_smoothing_wrist_max_deviation_rad": 0.005543351173400879, + "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": 0.006237387657165527, + "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": 0.026774704456329346, + "stage_planned_to_measured_rms_error_rad": 0.00601788908975025, + "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": 1140, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8214826583862305, + "target_wall_accel_peak_abs_rad_s2": 2.9749321937561035, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 27.566746427910402, + "target_wall_accel_rms_rad_s2": 0.3707924740787525, + "target_wall_jerk_p95_abs_rad_s3": 19.53162956237793, + "target_wall_jerk_peak_abs_rad_s3": 87.16263580322266, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 27.53339082491584, + "target_wall_jerk_rms_rad_s3": 8.939793398686232, + "target_wall_smoothness_samples": 1140, + "target_wall_velocity_peak_abs_rad_s": 0.5172547101974487, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.600056650931947, + "target_wall_velocity_rms_rad_s": 0.10255724036405449, + "tcp_pose_count": 1140, + "timestamp_count": 1140, + "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": 1.4100000000000028, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.3140000000000025, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.0, + "window_lag_worst_max_error_rad": 0.004413634538650513, + "window_lag_worst_rms_error_rad": 0.0014805266449593414, + "window_lag_worst_start_s": 3.0, + "zero_lag_max_error_rad": 0.006237387657165527, + "zero_lag_p95_error_rad": 0.001993793062865734, + "zero_lag_rms_error_rad": 0.0009013284684009755, + "zero_lag_samples": 1140, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 15.218 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.npz new file mode 100644 index 0000000000000000000000000000000000000000..0293aaeb915aa19815ceb5224fc71e1913f085b6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162128.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca7bab7f1daaef7ba6ab5999f6f11afb2f63a92c6b824f6bd2c9d57ed92bf9c8 +size 118389 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.json new file mode 100644 index 0000000000000000000000000000000000000000..989780e878f614737138e56387cd7900e3ed8d28 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.json @@ -0,0 +1,684 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:23:33", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1224, + "actual_playback_duration_s": 40.81470300501678, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005978148430585861, + "aligned_p95_error_rad": 0.0020608471240848303, + "aligned_rms_error_rad": 0.0008941066276596119, + "aligned_samples": 1224, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 22.294, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1224, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1224, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7393123244275457, + "image_frame_counts": { + "cam_scene": 1224, + "cam_wrist": 1224 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00402948260307312, + 0.004310250282287598, + 0.004535794258117676, + 0.004060924053192139, + 0.005761861801147461, + 0.005978148430585861 + ], + "joint_lag_p95_error_rad": [ + 0.0017227140488103032, + 0.0019451440311968327, + 0.002044640015810728, + 0.0011189775541424751, + 0.002657377626746893, + 0.0023335886653512716 + ], + "joint_lag_rms_error_rad": [ + 0.0007508922236560267, + 0.0008722246443997633, + 0.0009452639350305094, + 0.0005101949228929944, + 0.0010766107529823195, + 0.0010765832658235813 + ], + "joint_lag_samples": [ + 1224, + 1224, + 1224, + 1224, + 1224, + 1224 + ], + "joint_lag_worst_time_s": [ + 14.689999999999998, + 23.285999999999998, + 6.872000000000001, + 23.226, + 22.278, + 22.294 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 19, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006773352040909231, + "leadthrough_capture_egm_poll_duration_median_s": 0.00397991796489805, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00434130197390914, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0056185097666457285, + "leadthrough_capture_egm_poll_duration_warn_count": 3195, + "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": 0.006829392979852855, + "leadthrough_capture_host_loop_dt_median_s": 0.004006933479104191, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043730202072765675, + "leadthrough_capture_host_loop_dt_p99_s": 0.005655713005689904, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006792594096623361, + "leadthrough_capture_host_receive_dt_median_s": 0.004011211509350687, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043504260829649866, + "leadthrough_capture_host_receive_dt_p99_s": 0.005634062024764718, + "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": 0.013987585087306798, + "leadthrough_capture_loop_late_median_s": 0.009801663807593286, + "leadthrough_capture_loop_late_p95_s": 0.01017703558318317, + "leadthrough_capture_loop_late_p99_s": 0.011479564779438074, + "leadthrough_capture_loop_late_warn_count": 7381, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006807624944485724, + "leadthrough_capture_read_duration_median_s": 0.003994670929387212, + "leadthrough_capture_read_duration_p95_s": 0.00436051597353071, + "leadthrough_capture_read_duration_p99_s": 0.005634186672978101, + "leadthrough_capture_read_duration_warn_count": 3556, + "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": 35, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0028762072324752808, + 0.0029816627502441406, + 0.004726573824882507, + 0.0021397769451141357, + 0.003700733184814453, + 0.006076037883758545 + ], + "leadthrough_delta_max_abs_rad": 0.006076037883758545, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014860305236652493, + 0.002212315332144499, + 0.003675823099911213, + 0.00048781640361994505, + 0.00211828900501132, + 0.004723967518657446 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006635174504481256, + 0.000996398157440126, + 0.0014209933578968048, + 0.00026041382807306945, + 0.0008361107902601361, + 0.001473501673899591 + ], + "leadthrough_delta_samples": 5867, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006076037883758545, + "leadthrough_delta_worst_from_rad": -0.7436589598655701, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 14.107, + "leadthrough_delta_worst_to_rad": -0.7375829219818115, + "leadthrough_duration_s": 23.465999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5866, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.343, + "leadthrough_final_stillness_removed_samples": 336, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5867, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7381, + "leadthrough_initial_stillness_first_motion_index": 1178, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.707, + "leadthrough_initial_stillness_removed_samples": 1177, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1177, + "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": [ + 0.0028762072324752808, + 0.0029816627502441406, + 0.004726573824882507, + 0.0021397769451141357, + 0.003700733184814453, + 0.006076037883758545 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006076037883758545, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7190518081192188, + 0.7454156875607862, + 1.181643456220757, + 0.5349442362783553, + 0.9251832962033043, + 1.846770445505708 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.671790361404419, + "leadthrough_velocity_rms_rad_s": 0.2583397864192911, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005978148430585861, + "measured_wall_accel_p95_abs_rad_s2": 0.4882630705833435, + "measured_wall_accel_peak_abs_rad_s2": 2.1825661659240723, + "measured_wall_accel_peak_joint": 2, + "measured_wall_accel_peak_time_s": 26.12808410904836, + "measured_wall_accel_rms_rad_s2": 0.23639198310805043, + "measured_wall_jerk_p95_abs_rad_s3": 8.277193069458008, + "measured_wall_jerk_peak_abs_rad_s3": 43.810482025146484, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 44.66325327195227, + "measured_wall_jerk_rms_rad_s3": 4.094397389887989, + "measured_wall_smoothness_samples": 1224, + "measured_wall_velocity_peak_abs_rad_s": 0.6519685983657837, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 41.4606333670672, + "measured_wall_velocity_rms_rad_s": 0.106211598034847, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005978148430585861, + "moving_aligned_p95_error_rad": 0.002270480850711465, + "moving_aligned_rms_error_rad": 0.0010194383749129135, + "moving_aligned_samples": 928, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 22.294, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.00402948260307312, + 0.004310250282287598, + 0.004535794258117676, + 0.004060924053192139, + 0.005761861801147461, + 0.005978148430585861 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002088199369609356, + 0.0020940322428941727, + 0.002328775590285659, + 0.0018552475376054645, + 0.0030147123616188765, + 0.0028949612751603127 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008941593817262716, + 0.0009712849978451629, + 0.001189886990129398, + 0.0008971426225164831, + 0.001298534208769844, + 0.001600044925706719 + ], + "moving_joint_lag_samples": [ + 780, + 888, + 713, + 291, + 710, + 534 + ], + "moving_joint_lag_worst_time_s": [ + 14.689999999999998, + 23.285999999999998, + 6.872000000000001, + 23.226, + 22.278, + 22.294 + ], + "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": 2.3252904415130615, + "playback_velocity_rms_rad_s": 0.46181639764381077, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.93199999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.465999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2389, + 5030 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.405874599917899, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0865459069609642, + "rapid_planner_max_dt_s": 2.136, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0070838481187820435, + "rapid_planner_median_dt_s": 0.07200000000000095, + "rapid_planner_path_max_error_rad": 0.005978148430585861, + "rapid_planner_path_p95_error_rad": 0.0030709810554981226, + "rapid_planner_path_rms_error_rad": 0.001534678017129352, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 51, + 64, + 82, + 97, + 112, + 122, + 133, + 144, + 154, + 165, + 176, + 188, + 199, + 212, + 224, + 236, + 248, + 260, + 272, + 284, + 296, + 310, + 324, + 338, + 352, + 371, + 387, + 398, + 409, + 428, + 448, + 463, + 478, + 505, + 533, + 606, + 657, + 688, + 725, + 759, + 793, + 838, + 1044, + 1091, + 1148, + 1282, + 1334, + 1659, + 1805, + 1855, + 2389, + 2889, + 2939, + 2991, + 3015, + 3040, + 3064, + 3087, + 3099, + 3111, + 3131, + 3151, + 3165, + 3179, + 3196, + 3214, + 3226, + 3238, + 3250, + 3262, + 3286, + 3298, + 3311, + 3328, + 3346, + 3367, + 3388, + 3416, + 3432, + 3448, + 3466, + 3484, + 3494, + 3503, + 3510, + 3518, + 3526, + 3533, + 3544, + 3556, + 3573, + 3587, + 3602, + 3648, + 3697, + 3739, + 3781, + 3839, + 3895, + 3959, + 4041, + 4129, + 4423, + 4701, + 5030, + 5258, + 5318, + 5347, + 5380, + 5398, + 5415, + 5437, + 5459, + 5472, + 5486, + 5508, + 5531, + 5559, + 5586, + 5609, + 5632, + 5647, + 5662, + 5682, + 5707, + 5727, + 5745, + 5867 + ], + "rapid_planner_selected_max_joint_step_deg": 4.958715202995141, + "rapid_planner_selected_samples": 129, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5868, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 129, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005978148430585861, + "raw_replay_rms_error_rad": 0.0008941066276596119, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7684985387901092, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9956623645822092, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9427062152982371, + "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": 0.6343295205608963, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0022220716647763, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9742949466004371, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00042068958282470703, + 0.0006346702575683594, + 0.0010804533958435059, + 0.0023350119590759277, + 0.0024129152297973633, + 0.00418245792388916 + ], + "replay_smoothing_max_deviation_normalized": 0.4792743777724298, + "replay_smoothing_max_deviation_rad": 0.00418245792388916, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002054773038253188, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.074521541595459, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 51.68390655517578, + "replay_smoothing_raw_accel_rms_rad_s2": 2.029956679804053, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 439.4777526855469, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13750.98046875, + "replay_smoothing_raw_jerk_rms_rad_s3": 488.398029274855, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6522389650344849, + "replay_smoothing_raw_velocity_rms_rad_s": 0.259110767340163, + "replay_smoothing_rms_deviation_rad": 0.0008542241828827803, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.362765312194824, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.459720611572266, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.913652778837454, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 278.7737121582031, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13781.5361328125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 475.8437318521036, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.671790361404419, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2583397864192911, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0118332739898348, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970245122239181, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5520000000000005, + "replay_smoothing_wrist_max_deviation_rad": 0.00418245792388916, + "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": 0.005978148430585861, + "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": 0.0385282039642334, + "stage_planned_to_measured_rms_error_rad": 0.006301332098995302, + "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": 1224, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8662998080253601, + "target_wall_accel_peak_abs_rad_s2": 3.3277270793914795, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 11.333388044964522, + "target_wall_accel_rms_rad_s2": 0.3909311844924413, + "target_wall_jerk_p95_abs_rad_s3": 21.030336380004883, + "target_wall_jerk_peak_abs_rad_s3": 85.54195404052734, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 18.866814114968292, + "target_wall_jerk_rms_rad_s3": 9.388280110136337, + "target_wall_smoothness_samples": 1224, + "target_wall_velocity_peak_abs_rad_s": 0.669095516204834, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 26.300072775920853, + "target_wall_velocity_rms_rad_s": 0.10725106983630046, + "tcp_pose_count": 1224, + "timestamp_count": 1224, + "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": 1.9800000000000035, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.89, + "window_lag_best_lag_p95_abs_s": 1.89, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.9800000000000035, + "window_lag_worst_end_s": 9.5, + "window_lag_worst_max_error_rad": 0.06601572036743164, + "window_lag_worst_rms_error_rad": 0.009061064707248738, + "window_lag_worst_start_s": 8.5, + "zero_lag_max_error_rad": 0.005978148430585861, + "zero_lag_p95_error_rad": 0.0020608471240848303, + "zero_lag_rms_error_rad": 0.0008941066276596119, + "zero_lag_samples": 1224, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 22.294 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.npz new file mode 100644 index 0000000000000000000000000000000000000000..69dfe9096b7b217f9379c44b788fe15abf7a4323 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162331.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb9dbad1959968043e6f76c709f0c96c587fa971d1ed69d12294c4d69d505689 +size 130058 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.json new file mode 100644 index 0000000000000000000000000000000000000000..5621c30f50c255bbe03e06f480d2792af5a9313b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.json @@ -0,0 +1,680 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:25:42", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1200, + "actual_playback_duration_s": 40.020085282973014, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.3965938091278076, + "aligned_p95_error_rad": 0.002203246345743537, + "aligned_rms_error_rad": 0.008687889290451377, + "aligned_samples": 1200, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 0.3650000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1200, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1200, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.582196777218827, + "image_frame_counts": { + "cam_scene": 1200, + "cam_wrist": 1200 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.05605897307395935, + 0.39633649587631226, + 0.29524844884872437, + 0.2887512445449829, + 0.3965938091278076, + 0.22100035846233368 + ], + "joint_lag_p95_error_rad": [ + 0.0013491867575794458, + 0.0019259984837844968, + 0.0022871438413858414, + 0.0020364003721624613, + 0.002420528791844845, + 0.0028783439192920923 + ], + "joint_lag_rms_error_rad": [ + 0.0017670550890163535, + 0.011471851393610748, + 0.008579605707928798, + 0.008380032974192477, + 0.011496434796876375, + 0.006492154038778145 + ], + "joint_lag_samples": [ + 1200, + 1200, + 1200, + 1200, + 1200, + 1200 + ], + "joint_lag_worst_time_s": [ + 0.3650000000000002, + 0.3650000000000002, + 0.3650000000000002, + 0.3650000000000002, + 0.3650000000000002, + 0.3650000000000002 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 20, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006739535019733012, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971988917328417, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004359995014965534, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004743515630252659, + "leadthrough_capture_egm_poll_duration_warn_count": 3213, + "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": 0.006835453095845878, + "leadthrough_capture_host_loop_dt_median_s": 0.003995307546574622, + "leadthrough_capture_host_loop_dt_p95_s": 0.004387886985205113, + "leadthrough_capture_host_loop_dt_p99_s": 0.0047810415097046645, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006630003917962313, + "leadthrough_capture_host_receive_dt_median_s": 0.003997539461124688, + "leadthrough_capture_host_receive_dt_p95_s": 0.004370966437272727, + "leadthrough_capture_host_receive_dt_p99_s": 0.00476763119804673, + "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": 0.028053872985765338, + "leadthrough_capture_loop_late_median_s": 0.021442781551741064, + "leadthrough_capture_loop_late_p95_s": 0.021801207098178566, + "leadthrough_capture_loop_late_p99_s": 0.02229392100125551, + "leadthrough_capture_loop_late_warn_count": 7481, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006817591027356684, + "leadthrough_capture_read_duration_median_s": 0.003985116025432944, + "leadthrough_capture_read_duration_p95_s": 0.0043748170137405396, + "leadthrough_capture_read_duration_p99_s": 0.004768430208787322, + "leadthrough_capture_read_duration_warn_count": 3467, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003207385540008545, + 0.002141594886779785, + 0.0027252137660980225, + 0.0027036406099796295, + 0.0029709339141845703, + 0.006554782390594482 + ], + "leadthrough_delta_max_abs_rad": 0.006554782390594482, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001223118626512587, + 0.0017251998651772738, + 0.002353308256715536, + 0.00040467752842232585, + 0.0014073466882109642, + 0.0030764727853238583 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005828379071317613, + 0.0008218699367716908, + 0.0010732783703133464, + 0.00027363933622837067, + 0.0006334774661809206, + 0.0012371019693091512 + ], + "leadthrough_delta_samples": 6324, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006554782390594482, + "leadthrough_delta_worst_from_rad": -0.4933575987815857, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8680000000000003, + "leadthrough_delta_worst_to_rad": -0.4999123811721802, + "leadthrough_duration_s": 25.294, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6323, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.684000000000001, + "leadthrough_final_stillness_removed_samples": 171, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6324, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7481, + "leadthrough_initial_stillness_first_motion_index": 986, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.939, + "leadthrough_initial_stillness_removed_samples": 985, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 985, + "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": [ + 0.003207385540008545, + 0.002141594886779785, + 0.0027252137660980225, + 0.0027036406099796295, + 0.0029709339141845703, + 0.006554782390594482 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006554782390594482, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8018463850018684, + 0.6062686443328628, + 0.9018778800964014, + 0.6759101524946817, + 0.986695289611779, + 2.182126045226968 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9378407001495361, + "leadthrough_velocity_rms_rad_s": 0.21147569838152683, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.3965938091278076, + "measured_wall_accel_p95_abs_rad_s2": 0.5870448350906372, + "measured_wall_accel_peak_abs_rad_s2": 190.72157287597656, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 15.365215946920216, + "measured_wall_accel_rms_rad_s2": 5.901816391857779, + "measured_wall_jerk_p95_abs_rad_s3": 9.84829044342041, + "measured_wall_jerk_peak_abs_rad_s3": 3128.99267578125, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 15.394074030919, + "measured_wall_jerk_rms_rad_s3": 80.26488987466928, + "measured_wall_smoothness_samples": 1200, + "measured_wall_velocity_peak_abs_rad_s": 12.46180248260498, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 15.328724353923462, + "measured_wall_velocity_rms_rad_s": 0.29654918628410665, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.3965938091278076, + "moving_aligned_p95_error_rad": 0.0025040735490620136, + "moving_aligned_rms_error_rad": 0.010020415952937373, + "moving_aligned_samples": 902, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 0.3650000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.05605897307395935, + 0.39633649587631226, + 0.29524844884872437, + 0.005428439937531948, + 0.3965938091278076, + 0.22100035846233368 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017197781708091497, + 0.002140539698302746, + 0.0028098009061068296, + 0.004011403303593397, + 0.002957463264465332, + 0.0037272211629897356 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0022477031526329503, + 0.013524934224042285, + 0.011118668699395075, + 0.0018175235015801606, + 0.015223762028584022, + 0.010029489643889469 + ], + "moving_joint_lag_samples": [ + 738, + 863, + 714, + 211, + 684, + 500 + ], + "moving_joint_lag_worst_time_s": [ + 0.3650000000000002, + 0.3650000000000002, + 0.3650000000000002, + 2.5439999999999996, + 0.3650000000000002, + 0.3650000000000002 + ], + "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": 72.82799530029297, + "playback_velocity_rms_rad_s": 2.4222981451232704, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 80.588, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 25.294, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2314, + 5507 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4410526621448298, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0856482982635498, + "rapid_planner_max_dt_s": 2.915000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007697821129113436, + "rapid_planner_median_dt_s": 0.10800000000000054, + "rapid_planner_path_max_error_rad": 0.3965938091278076, + "rapid_planner_path_p95_error_rad": 0.0032520353794097895, + "rapid_planner_path_rms_error_rad": 0.011557881294687346, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 31, + 74, + 93, + 116, + 131, + 146, + 160, + 175, + 187, + 199, + 209, + 219, + 229, + 239, + 250, + 262, + 273, + 284, + 296, + 307, + 320, + 334, + 348, + 361, + 382, + 400, + 439, + 474, + 498, + 540, + 578, + 608, + 658, + 716, + 752, + 789, + 846, + 898, + 951, + 988, + 1025, + 1062, + 1099, + 1122, + 1151, + 1197, + 1220, + 1280, + 1337, + 1383, + 1446, + 1585, + 2314, + 2805, + 2853, + 2907, + 2936, + 2963, + 2990, + 3014, + 3052, + 3146, + 3179, + 3206, + 3240, + 3270, + 3301, + 3325, + 3348, + 3370, + 3392, + 3424, + 3456, + 3493, + 3513, + 3542, + 3571, + 3598, + 3626, + 3660, + 3694, + 3727, + 3750, + 3773, + 3796, + 3819, + 3838, + 3856, + 3881, + 3897, + 3913, + 3928, + 3942, + 3961, + 3979, + 4013, + 4047, + 4070, + 4094, + 4124, + 4154, + 4194, + 4254, + 4331, + 4477, + 4734, + 4837, + 5507, + 5860, + 5898, + 5920, + 5942, + 5964, + 5985, + 6000, + 6016, + 6040, + 6058, + 6092, + 6111, + 6127, + 6154, + 6185, + 6324 + ], + "rapid_planner_selected_max_joint_step_deg": 4.907286012979061, + "rapid_planner_selected_samples": 125, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6325, + "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": 0.3965938091278076, + "raw_replay_rms_error_rad": 0.008687889290451377, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.948980922082375, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0238379455416948, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9878985054361845, + "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": 0.9808203721842313, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0135120834866809, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9970004757157828, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008548498153686523, + 0.001016378402709961, + 0.0019924044609069824, + 0.003346172161400318, + 0.002276897430419922, + 0.006355017423629761 + ], + "replay_smoothing_max_deviation_normalized": 0.7282313598533217, + "replay_smoothing_max_deviation_rad": 0.006355017423629761, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021645305678248405, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.102539539337158, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.880714416503906, + "replay_smoothing_raw_accel_rms_rad_s2": 3.613170658458189, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 974.4588623046875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17921.458984375, + "replay_smoothing_raw_jerk_rms_rad_s3": 910.6943340071604, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9479436874389648, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21266919769645776, + "replay_smoothing_rms_deviation_rad": 0.001010007934066994, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.842212677001953, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.3558235168457, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.5694458933767197, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 955.7691040039062, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18163.615234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 907.9626842368068, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9378407001495361, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21147569838152683, + "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": 0.9948135116253225, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9943880010464213, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 24.462, + "replay_smoothing_wrist_max_deviation_rad": 0.006355017423629761, + "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": 0.3965938091278076, + "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": 0.4572215676307678, + "stage_planned_to_measured_rms_error_rad": 0.011082108575162251, + "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": 1200, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3966", + "target_wall_accel_p95_abs_rad_s2": 0.7939369082450867, + "target_wall_accel_peak_abs_rad_s2": 43.03681564331055, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 6.714952178299427e-06, + "target_wall_accel_rms_rad_s2": 1.1732686763891713, + "target_wall_jerk_p95_abs_rad_s3": 17.014474868774414, + "target_wall_jerk_peak_abs_rad_s3": 633.7387084960938, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672088103368878, + "target_wall_jerk_rms_rad_s3": 15.472932530613965, + "target_wall_smoothness_samples": 1200, + "target_wall_velocity_peak_abs_rad_s": 2.8711652755737305, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.714952178299427e-06, + "target_wall_velocity_rms_rad_s": 0.11532996616882416, + "tcp_pose_count": 1200, + "timestamp_count": 1200, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3966", + "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": -1.89, + "window_lag_best_lag_p95_abs_s": 1.5679999999999994, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.3965938091278076, + "window_lag_worst_rms_error_rad": 0.03265013898715646, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.3965938091278076, + "zero_lag_p95_error_rad": 0.002203246345743537, + "zero_lag_rms_error_rad": 0.008687889290451377, + "zero_lag_samples": 1200, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 0.3650000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.npz new file mode 100644 index 0000000000000000000000000000000000000000..d8afa35575b26e88a263f3bbe640a986159cd39f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162541.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0757d42802ba36d9023ccffa0df6abafeca1cff6f5f957e94c57614b270e873 +size 128331 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.json new file mode 100644 index 0000000000000000000000000000000000000000..ef032262e96de2b9135ba2800a9795422d4dbe1b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.json @@ -0,0 +1,674 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:29:17", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1102, + "actual_playback_duration_s": 36.749901814968325, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005655407905578613, + "aligned_p95_error_rad": 0.0021910814102739096, + "aligned_rms_error_rad": 0.000937382078970603, + "aligned_samples": 1102, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 16.634, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1102, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1102, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5448275175487967, + "image_frame_counts": { + "cam_scene": 1102, + "cam_wrist": 1102 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0052225589752197266, + 0.005607932806015015, + 0.005231231451034546, + 0.005093294195830822, + 0.005655407905578613, + 0.0050014927983284 + ], + "joint_lag_p95_error_rad": [ + 0.0017841685330495238, + 0.002101876772940159, + 0.002412360394373536, + 0.0011963186552748084, + 0.0030251957941800356, + 0.0024980315938591957 + ], + "joint_lag_rms_error_rad": [ + 0.0008264064750089461, + 0.0009126438306344101, + 0.0009605385681839411, + 0.0006583079667643118, + 0.0011213846974951573, + 0.0010689888626497538 + ], + "joint_lag_samples": [ + 1102, + 1102, + 1102, + 1102, + 1102, + 1102 + ], + "joint_lag_worst_time_s": [ + 21.825000000000003, + 16.634, + 16.734, + 21.838, + 16.634, + 22.365000000000002 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006625241017900407, + "leadthrough_capture_egm_poll_duration_median_s": 0.003974335500970483, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004346937424270436, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004761291927425191, + "leadthrough_capture_egm_poll_duration_warn_count": 2816, + "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": 0.006656690966337919, + "leadthrough_capture_host_loop_dt_median_s": 0.003998672938905656, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043725824216380715, + "leadthrough_capture_host_loop_dt_p99_s": 0.0047921714372932914, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006542415940202773, + "leadthrough_capture_host_receive_dt_median_s": 0.004001036984845996, + "leadthrough_capture_host_receive_dt_p95_s": 0.004364985355641692, + "leadthrough_capture_host_receive_dt_p99_s": 0.004764674506150187, + "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": 0.016551104024983943, + "leadthrough_capture_loop_late_median_s": 0.012534435547422618, + "leadthrough_capture_loop_late_p95_s": 0.012863770546391606, + "leadthrough_capture_loop_late_p99_s": 0.013319244130980224, + "leadthrough_capture_loop_late_warn_count": 6880, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006643855012953281, + "leadthrough_capture_read_duration_median_s": 0.003987741016317159, + "leadthrough_capture_read_duration_p95_s": 0.004361956927459687, + "leadthrough_capture_read_duration_p99_s": 0.004780323727754876, + "leadthrough_capture_read_duration_warn_count": 3148, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 7, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003407508134841919, + 0.002052485942840576, + 0.0032525062561035156, + 0.002162553369998932, + 0.003125488758087158, + 0.005385637283325195 + ], + "leadthrough_delta_max_abs_rad": 0.005385637283325195, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0011531432392075658, + 0.0017100110417231917, + 0.0024955160915851593, + 0.0003796902019530535, + 0.0014051198959350586, + 0.0036468505859375 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006002815789543092, + 0.0007464395021088421, + 0.0010713201481848955, + 0.00021666650718543679, + 0.0006113899289630353, + 0.001270381617359817 + ], + "leadthrough_delta_samples": 5948, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005385637283325195, + "leadthrough_delta_worst_from_rad": -1.0762583017349243, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 14.261999999999999, + "leadthrough_delta_worst_to_rad": -1.0708726644515991, + "leadthrough_duration_s": 23.789, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5947, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.2680000000000007, + "leadthrough_final_stillness_removed_samples": 67, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5948, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6880, + "leadthrough_initial_stillness_first_motion_index": 865, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.455, + "leadthrough_initial_stillness_removed_samples": 864, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 864, + "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": [ + 0.003407508134841919, + 0.002052485942840576, + 0.0032525062561035156, + 0.002162553369998932, + 0.003125488758087158, + 0.005385637283325195 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005385637283325195, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1129329601923204, + 0.6780425707498929, + 1.084168752034464, + 0.716656446456882, + 1.0418295860290132, + 1.5713373819986383 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.421878695487976, + "leadthrough_velocity_rms_rad_s": 0.21057162166661295, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005655407905578613, + "measured_wall_accel_p95_abs_rad_s2": 0.49460679292678833, + "measured_wall_accel_peak_abs_rad_s2": 2.501878261566162, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 38.980045191943645, + "measured_wall_accel_rms_rad_s2": 0.24445656010548317, + "measured_wall_jerk_p95_abs_rad_s3": 8.769968032836914, + "measured_wall_jerk_peak_abs_rad_s3": 56.08749771118164, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 24.37962487200275, + "measured_wall_jerk_rms_rad_s3": 4.329436589049587, + "measured_wall_smoothness_samples": 1102, + "measured_wall_velocity_peak_abs_rad_s": 0.5281898379325867, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.67979035899043, + "measured_wall_velocity_rms_rad_s": 0.10528468429736638, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005655407905578613, + "moving_aligned_p95_error_rad": 0.0026372065767645836, + "moving_aligned_rms_error_rad": 0.00110360657392403, + "moving_aligned_samples": 788, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 16.634, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0052225589752197266, + 0.005607932806015015, + 0.005231231451034546, + 0.005093294195830822, + 0.00549924373626709, + 0.0050014927983284 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0023038163781166077, + 0.002560947323217988, + 0.002895915415138006, + 0.003836830612272024, + 0.0033971776720136404, + 0.0038205727469176054 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010543168510636896, + 0.0010912395118089545, + 0.0012387264328373785, + 0.0015022054488863, + 0.001399672790063823, + 0.0016862030321890904 + ], + "moving_joint_lag_samples": [ + 644, + 730, + 626, + 198, + 629, + 397 + ], + "moving_joint_lag_worst_time_s": [ + 21.825000000000003, + 16.634, + 16.734, + 21.838, + 16.734, + 22.365000000000002 + ], + "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": 1.513892412185669, + "playback_velocity_rms_rad_s": 0.3525521483258414, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.578, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.789, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2371, + 5006 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4452361263310362, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08540737628936768, + "rapid_planner_max_dt_s": 1.9639999999999986, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007770836353302002, + "rapid_planner_median_dt_s": 0.1120000000000001, + "rapid_planner_path_max_error_rad": 0.005655407905578613, + "rapid_planner_path_p95_error_rad": 0.0035295881330966957, + "rapid_planner_path_rms_error_rad": 0.0015486972335302742, + "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, + 62, + 90, + 118, + 132, + 145, + 162, + 179, + 196, + 213, + 230, + 247, + 264, + 281, + 298, + 316, + 344, + 373, + 390, + 407, + 424, + 441, + 459, + 477, + 493, + 508, + 547, + 586, + 631, + 654, + 676, + 702, + 728, + 754, + 781, + 831, + 880, + 917, + 956, + 1020, + 1066, + 1094, + 1145, + 1212, + 1279, + 1402, + 1494, + 1561, + 1629, + 1739, + 1794, + 1893, + 2170, + 2371, + 2862, + 2938, + 2986, + 3005, + 3024, + 3041, + 3058, + 3083, + 3108, + 3125, + 3142, + 3177, + 3206, + 3234, + 3266, + 3282, + 3299, + 3332, + 3365, + 3397, + 3429, + 3468, + 3513, + 3528, + 3542, + 3556, + 3570, + 3584, + 3598, + 3610, + 3622, + 3645, + 3675, + 3712, + 3768, + 3812, + 3850, + 3883, + 3972, + 4023, + 4068, + 4364, + 4529, + 4885, + 5006, + 5290, + 5338, + 5370, + 5390, + 5411, + 5428, + 5446, + 5473, + 5490, + 5515, + 5530, + 5544, + 5578, + 5610, + 5635, + 5676, + 5742, + 5805, + 5948 + ], + "rapid_planner_selected_max_joint_step_deg": 4.893482200666465, + "rapid_planner_selected_samples": 119, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5949, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 119, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005655407905578613, + "raw_replay_rms_error_rad": 0.000937382078970603, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9873206707234329, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9532856420655399, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9921921765242716, + "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": 0.9828564307031282, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9627882059978198, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9972330437257632, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005879700183868408, + 0.0003555417060852051, + 0.0007302761077880859, + 0.0024657701142132282, + 0.0020176172256469727, + 0.004923105239868164 + ], + "replay_smoothing_max_deviation_normalized": 0.5641463090564574, + "replay_smoothing_max_deviation_rad": 0.004923105239868164, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001507377834059298, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.681395530700684, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 40.59623718261719, + "replay_smoothing_raw_accel_rms_rad_s2": 3.6382696025221613, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1666.1051025390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10964.921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 932.6099715978743, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3976472616195679, + "replay_smoothing_raw_velocity_rms_rad_s": 0.211183986520395, + "replay_smoothing_rms_deviation_rad": 0.0006835678621207905, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.584000587463379, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 38.69981002807617, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.6098626357085597, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1637.5421142578125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10556.8974609375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 930.0294805855457, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.421878695487976, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21057162166661295, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.017337302861617, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9971003253425046, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.9989999999999997, + "replay_smoothing_wrist_max_deviation_rad": 0.004923105239868164, + "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": 0.005655407905578613, + "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": 0.030520141124725342, + "stage_planned_to_measured_rms_error_rad": 0.006244916181844981, + "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": 1102, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7259415984153748, + "target_wall_accel_peak_abs_rad_s2": 2.941366672515869, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 9.033401363063604, + "target_wall_accel_rms_rad_s2": 0.3432774932231394, + "target_wall_jerk_p95_abs_rad_s3": 16.809736251831055, + "target_wall_jerk_peak_abs_rad_s3": 78.16812896728516, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 9.96672127302736, + "target_wall_jerk_rms_rad_s3": 7.666321242151832, + "target_wall_smoothness_samples": 1102, + "target_wall_velocity_peak_abs_rad_s": 0.564392626285553, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.666721530957147, + "target_wall_velocity_rms_rad_s": 0.10610937055360029, + "tcp_pose_count": 1102, + "timestamp_count": 1102, + "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": 1.9700000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2099999999999993, + "window_lag_best_lag_p95_abs_s": 1.9300000000000033, + "window_lag_count": 33, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.9300000000000033, + "window_lag_worst_end_s": 9.5, + "window_lag_worst_max_error_rad": 0.031516969203948975, + "window_lag_worst_rms_error_rad": 0.006598734813293139, + "window_lag_worst_start_s": 8.5, + "zero_lag_max_error_rad": 0.005655407905578613, + "zero_lag_p95_error_rad": 0.0021910814102739096, + "zero_lag_rms_error_rad": 0.000937382078970603, + "zero_lag_samples": 1102, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 16.634 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.npz new file mode 100644 index 0000000000000000000000000000000000000000..14604ef5cecb18eae657558212fad7fb4a5a0570 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_162916.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac901f0985c103c3a6d5f7fd8390c3b10b36c836908aaa44f78cb3b92eeb4219 +size 114121 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.json new file mode 100644 index 0000000000000000000000000000000000000000..83c13032b1937241e6c3e77225bc6127fee82ace --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:31:15", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1135, + "actual_playback_duration_s": 37.84425331593957, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006457328796386719, + "aligned_p95_error_rad": 0.0018510563531890512, + "aligned_rms_error_rad": 0.000855228663891797, + "aligned_samples": 1135, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 4.24, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1135, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1135, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9422249584777809, + "image_frame_counts": { + "cam_scene": 1135, + "cam_wrist": 1135 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003863587975502014, + 0.006296992301940918, + 0.00481770932674408, + 0.0024809730239212513, + 0.006457328796386719, + 0.004912078380584717 + ], + "joint_lag_p95_error_rad": [ + 0.0013053781585767865, + 0.0018063327297568321, + 0.001912037841975689, + 0.0010996749624609947, + 0.0020810719579458237, + 0.0025885293725878 + ], + "joint_lag_rms_error_rad": [ + 0.0006082388046184368, + 0.0009089102476038894, + 0.000923401591386904, + 0.00042125380167638675, + 0.0009822867668116812, + 0.001094263024575828 + ], + "joint_lag_samples": [ + 1135, + 1135, + 1135, + 1135, + 1135, + 1135 + ], + "joint_lag_worst_time_s": [ + 2.8160000000000003, + 4.24, + 19.130000000000003, + 2.855, + 4.24, + 13.078000000000001 + ], + "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": 15, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006796539993956685, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964802483096719, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043453876918647435, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004554669754579663, + "leadthrough_capture_egm_poll_duration_warn_count": 2308, + "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": 0.006848930031992495, + "leadthrough_capture_host_loop_dt_median_s": 0.003988726995885372, + "leadthrough_capture_host_loop_dt_p95_s": 0.00436980698723346, + "leadthrough_capture_host_loop_dt_p99_s": 0.0045932217640802285, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006731612025760114, + "leadthrough_capture_host_receive_dt_median_s": 0.0039906579768285155, + "leadthrough_capture_host_receive_dt_p95_s": 0.004365591937676072, + "leadthrough_capture_host_receive_dt_p99_s": 0.004555926304310563, + "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": 0.015646169893443584, + "leadthrough_capture_loop_late_median_s": 0.009569327638018876, + "leadthrough_capture_loop_late_p95_s": 0.009866580594098196, + "leadthrough_capture_loop_late_p99_s": 0.01009784685797058, + "leadthrough_capture_loop_late_warn_count": 6030, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0068300890270620584, + "leadthrough_capture_read_duration_median_s": 0.003978126507718116, + "leadthrough_capture_read_duration_p95_s": 0.004358707222854719, + "leadthrough_capture_read_duration_p99_s": 0.004584492282010615, + "leadthrough_capture_read_duration_warn_count": 2562, + "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": [ + 0.0036603808403015137, + 0.002732798457145691, + 0.0037890076637268066, + 0.0022764019668102264, + 0.004095017910003662, + 0.006108969449996948 + ], + "leadthrough_delta_max_abs_rad": 0.006108969449996948, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014254630077630281, + 0.0021799206733703613, + 0.0030627292580902576, + 0.0003441564622335136, + 0.0016634810017421842, + 0.0038212211802601814 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007220240659080446, + 0.0010130992159247398, + 0.0013553022872656584, + 0.00026257993886247277, + 0.000826633011456579, + 0.0014211551751941442 + ], + "leadthrough_delta_samples": 4872, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006108969449996948, + "leadthrough_delta_worst_from_rad": -0.49006372690200806, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9919999999999995, + "leadthrough_delta_worst_to_rad": -0.496172696352005, + "leadthrough_duration_s": 19.485000000000003, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4871, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.0359999999999978, + "leadthrough_final_stillness_removed_samples": 259, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4872, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6030, + "leadthrough_initial_stillness_first_motion_index": 899, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.592, + "leadthrough_initial_stillness_removed_samples": 898, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 898, + "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": [ + 0.0036603808403015137, + 0.002732798457145691, + 0.0037890076637268066, + 0.0022764019668102264, + 0.004095017910003662, + 0.006108969449996948 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006108969449996948, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9150952100758856, + 0.8181234200795181, + 1.1424943804740473, + 0.5691004917023665, + 1.0237544775005736, + 1.7331192890807494 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5245810747146606, + "leadthrough_velocity_rms_rad_s": 0.25521918975790686, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006457328796386719, + "measured_wall_accel_p95_abs_rad_s2": 0.4206145703792572, + "measured_wall_accel_peak_abs_rad_s2": 2.4576265811920166, + "measured_wall_accel_peak_joint": 2, + "measured_wall_accel_peak_time_s": 30.2253079789225, + "measured_wall_accel_rms_rad_s2": 0.19344200834480438, + "measured_wall_jerk_p95_abs_rad_s3": 7.616369247436523, + "measured_wall_jerk_peak_abs_rad_s3": 34.58274841308594, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 29.483238519984297, + "measured_wall_jerk_rms_rad_s3": 3.4128783561950473, + "measured_wall_smoothness_samples": 1135, + "measured_wall_velocity_peak_abs_rad_s": 0.4610668122768402, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.683960154885426, + "measured_wall_velocity_rms_rad_s": 0.10241994258028549, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006457328796386719, + "moving_aligned_p95_error_rad": 0.002107725478708744, + "moving_aligned_rms_error_rad": 0.0009895194973141975, + "moving_aligned_samples": 839, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 4.24, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003863587975502014, + 0.006296992301940918, + 0.004619717597961426, + 0.0024809730239212513, + 0.006457328796386719, + 0.004912078380584717 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0015678817871958017, + 0.001994907855987549, + 0.002131715416908264, + 0.001815231516957283, + 0.0022209137678146362, + 0.002913600066676736 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007511025814106507, + 0.0010135296153240471, + 0.0010758476103389268, + 0.0008967183938815153, + 0.0011263346353095462, + 0.0013989675803653485 + ], + "moving_joint_lag_samples": [ + 673, + 805, + 712, + 218, + 670, + 619 + ], + "moving_joint_lag_worst_time_s": [ + 2.8160000000000003, + 4.24, + 19.102, + 2.855, + 4.24, + 13.078000000000001 + ], + "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": 1.7631053924560547, + "playback_velocity_rms_rad_s": 0.4203878025388499, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 68.97, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.485000000000003, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1763, + 4096 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.40735931228873046, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08588272333145142, + "rapid_planner_max_dt_s": 2.0279999999999987, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0071097612380981445, + "rapid_planner_median_dt_s": 0.0799999999999983, + "rapid_planner_path_max_error_rad": 0.006457328796386719, + "rapid_planner_path_p95_error_rad": 0.002983257174491879, + "rapid_planner_path_rms_error_rad": 0.001453808464923214, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 46, + 90, + 115, + 132, + 149, + 163, + 177, + 188, + 200, + 210, + 221, + 234, + 248, + 261, + 274, + 283, + 292, + 311, + 328, + 344, + 361, + 378, + 392, + 406, + 420, + 435, + 453, + 470, + 493, + 520, + 547, + 570, + 593, + 630, + 665, + 740, + 783, + 824, + 851, + 878, + 926, + 959, + 989, + 1193, + 1283, + 1602, + 1763, + 2270, + 2316, + 2355, + 2379, + 2406, + 2424, + 2443, + 2458, + 2473, + 2490, + 2506, + 2533, + 2553, + 2570, + 2589, + 2608, + 2625, + 2642, + 2660, + 2677, + 2704, + 2730, + 2752, + 2774, + 2796, + 2842, + 2859, + 2878, + 2900, + 2912, + 2924, + 2936, + 2947, + 2965, + 2981, + 3005, + 3047, + 3079, + 3119, + 3191, + 3312, + 3455, + 3741, + 3848, + 4096, + 4350, + 4395, + 4423, + 4442, + 4462, + 4482, + 4503, + 4519, + 4535, + 4550, + 4566, + 4582, + 4599, + 4618, + 4637, + 4663, + 4707, + 4753, + 4872 + ], + "rapid_planner_selected_max_joint_step_deg": 4.920717579981892, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4873, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006457328796386719, + "raw_replay_rms_error_rad": 0.000855228663891797, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9759988540476219, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9565919574366055, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9762660963313321, + "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": 0.9871132522931028, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9839649240644691, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9895454874478194, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005281791090965271, + 0.0007544755935668945, + 0.0014832019805908203, + 0.00240419153124094, + 0.002820611000061035, + 0.006362222600728273 + ], + "replay_smoothing_max_deviation_normalized": 0.7290570123364957, + "replay_smoothing_max_deviation_rad": 0.006362222600728273, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002083325292915106, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.4146833419799805, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.30461502075195, + "replay_smoothing_raw_accel_rms_rad_s2": 3.2603327387393244, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1422.1512451171875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13698.8505859375, + "replay_smoothing_raw_jerk_rms_rad_s3": 820.9839576367013, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.541905403137207, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25617572539939126, + "replay_smoothing_rms_deviation_rad": 0.0009586584763550033, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.26072359085083, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 47.164398193359375, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.1829523155902812, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1403.8243408203125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13479.1884765625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 812.4009705464496, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5245810747146606, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25521918975790686, + "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": 0.9887643376906925, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962660957044501, + "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": 18.634, + "replay_smoothing_wrist_max_deviation_rad": 0.006362222600728273, + "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": 0.006457328796386719, + "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": 0.02840512990951538, + "stage_planned_to_measured_rms_error_rad": 0.006069214993868844, + "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": 1135, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7364327907562256, + "target_wall_accel_peak_abs_rad_s2": 2.321411371231079, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 23.46672096196562, + "target_wall_accel_rms_rad_s2": 0.3328852018571742, + "target_wall_jerk_p95_abs_rad_s3": 18.586711883544922, + "target_wall_jerk_peak_abs_rad_s3": 64.4592056274414, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 37.40005435002968, + "target_wall_jerk_rms_rad_s3": 8.076558459003381, + "target_wall_smoothness_samples": 1135, + "target_wall_velocity_peak_abs_rad_s": 0.5068002939224243, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.63338923698757, + "target_wall_velocity_rms_rad_s": 0.10323513173851094, + "tcp_pose_count": 1135, + "timestamp_count": 1135, + "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": -1.1299999999999992, + "window_lag_best_lag_p95_abs_s": 1.1175000000000002, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.009999999999998233, + "window_lag_worst_end_s": 5.0, + "window_lag_worst_max_error_rad": 0.006748318672180176, + "window_lag_worst_rms_error_rad": 0.002256028290953435, + "window_lag_worst_start_s": 4.0, + "zero_lag_max_error_rad": 0.006457328796386719, + "zero_lag_p95_error_rad": 0.0018510563531890512, + "zero_lag_rms_error_rad": 0.000855228663891797, + "zero_lag_samples": 1135, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 4.24 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.npz new file mode 100644 index 0000000000000000000000000000000000000000..64169b09ee08420a4450d7d0331a7812ef97d8d6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163114.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5efd8eed846e32c30b8d420c7a8a5711690ca488bd19b8c5304bfb5d1a4bff9 +size 120466 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.json new file mode 100644 index 0000000000000000000000000000000000000000..40a325f9680e39b5dc658b40d34a6e5dc9ca66c6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.json @@ -0,0 +1,689 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:33:12", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1151, + "actual_playback_duration_s": 38.37755479000043, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006010860204696655, + "aligned_p95_error_rad": 0.001877669245004654, + "aligned_rms_error_rad": 0.0008167424982591337, + "aligned_samples": 1151, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 14.071000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1151, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1151, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5223751354675088, + "image_frame_counts": { + "cam_scene": 1151, + "cam_wrist": 1151 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003322094678878784, + 0.005950570106506348, + 0.005113065242767334, + 0.004067115485668182, + 0.0054177045822143555, + 0.006010860204696655 + ], + "joint_lag_p95_error_rad": [ + 0.0017173737287521362, + 0.001775309443473816, + 0.002017199993133545, + 0.0012570256367325783, + 0.0018980205059051514, + 0.002107873558998108 + ], + "joint_lag_rms_error_rad": [ + 0.000685635538665359, + 0.0008140231886357168, + 0.0009530433419697048, + 0.0005741619374517189, + 0.0008813156156741183, + 0.0009246671026567798 + ], + "joint_lag_samples": [ + 1151, + 1151, + 1151, + 1151, + 1151, + 1151 + ], + "joint_lag_worst_time_s": [ + 23.061, + 14.071000000000002, + 14.071000000000002, + 5.191999999999999, + 3.3440000000000003, + 14.071000000000002 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 39, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005908388993702829, + "leadthrough_capture_egm_poll_duration_median_s": 0.003991476551163942, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0042295875027775764, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004470891861710698, + "leadthrough_capture_egm_poll_duration_warn_count": 3500, + "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": 0.005962244002148509, + "leadthrough_capture_host_loop_dt_median_s": 0.0040162940276786685, + "leadthrough_capture_host_loop_dt_p95_s": 0.004257281369064003, + "leadthrough_capture_host_loop_dt_p99_s": 0.004507824848406021, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005907024024054408, + "leadthrough_capture_host_receive_dt_median_s": 0.004018028965219855, + "leadthrough_capture_host_receive_dt_p95_s": 0.004243126208893955, + "leadthrough_capture_host_receive_dt_p99_s": 0.004473446311894805, + "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": 0.00829933607019484, + "leadthrough_capture_loop_late_median_s": 0.0052699894295074046, + "leadthrough_capture_loop_late_p95_s": 0.005545091844396666, + "leadthrough_capture_loop_late_p99_s": 0.005872643192997203, + "leadthrough_capture_loop_late_warn_count": 7484, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0059413869166746736, + "leadthrough_capture_read_duration_median_s": 0.004005341499578208, + "leadthrough_capture_read_duration_p95_s": 0.0042450878652744, + "leadthrough_capture_read_duration_p99_s": 0.004494124214397744, + "leadthrough_capture_read_duration_warn_count": 3882, + "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": [ + 0.0027216151356697083, + 0.002774357795715332, + 0.004470497369766235, + 0.0024663545191287994, + 0.0029990077018737793, + 0.00548398494720459 + ], + "leadthrough_delta_max_abs_rad": 0.00548398494720459, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014795749448239803, + 0.0016780613223090768, + 0.0027729361318051815, + 0.0005218518199399114, + 0.0017396803013980389, + 0.00399744464084506 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005936331581324339, + 0.0008044516434893012, + 0.0012133045820519328, + 0.00033323944080621004, + 0.0007185253780335188, + 0.0013085758546367288 + ], + "leadthrough_delta_samples": 6303, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00548398494720459, + "leadthrough_delta_worst_from_rad": -0.4924839437007904, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.96, + "leadthrough_delta_worst_to_rad": -0.497967928647995, + "leadthrough_duration_s": 25.209, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6302, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6159999999999997, + "leadthrough_final_stillness_removed_samples": 154, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6303, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7484, + "leadthrough_initial_stillness_first_motion_index": 1027, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.104, + "leadthrough_initial_stillness_removed_samples": 1026, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1026, + "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": [ + 0.0027216151356697083, + 0.002774357795715332, + 0.004470497369766235, + 0.0024663545191287994, + 0.0029990077018737793, + 0.00548398494720459 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00548398494720459, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8930911620457629, + 0.9038845698038395, + 1.4765957991281586, + 0.7833689451217355, + 0.8033514022826844, + 1.7035603523253748 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.527300238609314, + "leadthrough_velocity_rms_rad_s": 0.22801183128892236, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006010860204696655, + "measured_wall_accel_p95_abs_rad_s2": 0.5446199774742126, + "measured_wall_accel_peak_abs_rad_s2": 3.707733392715454, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 40.507122145965695, + "measured_wall_accel_rms_rad_s2": 0.2799623673341656, + "measured_wall_jerk_p95_abs_rad_s3": 9.399388313293457, + "measured_wall_jerk_peak_abs_rad_s3": 75.49223327636719, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 40.406302631949075, + "measured_wall_jerk_rms_rad_s3": 4.586223085047084, + "measured_wall_smoothness_samples": 1151, + "measured_wall_velocity_peak_abs_rad_s": 1.1543723344802856, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 40.406302631949075, + "measured_wall_velocity_rms_rad_s": 0.11579159587445545, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006010860204696655, + "moving_aligned_p95_error_rad": 0.0020836107432842255, + "moving_aligned_rms_error_rad": 0.0009419688171907921, + "moving_aligned_samples": 846, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 14.071000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003322094678878784, + 0.005950570106506348, + 0.005113065242767334, + 0.004067115485668182, + 0.0054177045822143555, + 0.006010860204696655 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019461733754724264, + 0.0019517175387591124, + 0.0025737725663930178, + 0.002671607304364443, + 0.0023424625396728516, + 0.002738524228334427 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008126312351325803, + 0.0009378893954872489, + 0.001190763091173177, + 0.0012653179106269859, + 0.0011142754789663998, + 0.001394561920204763 + ], + "moving_joint_lag_samples": [ + 724, + 819, + 702, + 195, + 676, + 416 + ], + "moving_joint_lag_worst_time_s": [ + 23.061, + 14.071000000000002, + 14.071000000000002, + 5.191999999999999, + 3.3440000000000003, + 14.071000000000002 + ], + "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": 1.823199987411499, + "playback_velocity_rms_rad_s": 0.38093978467378203, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 80.418, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 25.209, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2096, + 5228 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4292773893353014, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0871586799621582, + "rapid_planner_max_dt_s": 2.896, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0074923038482666016, + "rapid_planner_median_dt_s": 0.08900000000000219, + "rapid_planner_path_max_error_rad": 0.006010860204696655, + "rapid_planner_path_p95_error_rad": 0.002844676375389099, + "rapid_planner_path_rms_error_rad": 0.001375930753189503, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 45, + 68, + 94, + 120, + 150, + 165, + 180, + 196, + 213, + 226, + 238, + 250, + 263, + 272, + 282, + 292, + 302, + 318, + 334, + 350, + 365, + 384, + 404, + 422, + 440, + 464, + 488, + 505, + 522, + 545, + 568, + 590, + 613, + 656, + 697, + 753, + 777, + 816, + 856, + 910, + 951, + 988, + 1025, + 1074, + 1122, + 1174, + 1239, + 1326, + 1372, + 2096, + 2622, + 2716, + 2748, + 2778, + 2814, + 2851, + 2875, + 2899, + 2918, + 2937, + 2950, + 2964, + 2977, + 2990, + 3002, + 3013, + 3024, + 3036, + 3048, + 3060, + 3072, + 3083, + 3098, + 3113, + 3128, + 3143, + 3160, + 3178, + 3196, + 3214, + 3246, + 3279, + 3302, + 3327, + 3342, + 3357, + 3366, + 3376, + 3386, + 3396, + 3405, + 3414, + 3424, + 3433, + 3444, + 3454, + 3474, + 3496, + 3547, + 3624, + 3694, + 3778, + 3838, + 3909, + 4116, + 4483, + 4560, + 4651, + 5228, + 5451, + 5523, + 5546, + 5577, + 5610, + 5641, + 5665, + 5686, + 5719, + 5736, + 5753, + 5775, + 5799, + 5816, + 5834, + 5849, + 5864, + 5889, + 5914, + 5942, + 5969, + 5998, + 6056, + 6303 + ], + "rapid_planner_selected_max_joint_step_deg": 4.993824509763122, + "rapid_planner_selected_samples": 134, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6304, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 134, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006010860204696655, + "raw_replay_rms_error_rad": 0.0008167424982591337, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9909480027593159, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.005537145695718, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9837963370027961, + "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": 0.9877863300124171, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0027868189261682, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9892838631242981, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005356073379516602, + 0.0006827116012573242, + 0.0009445846080780029, + 0.003560125594958663, + 0.0022273659706115723, + 0.0030166804790496826 + ], + "replay_smoothing_max_deviation_normalized": 0.4079603454154756, + "replay_smoothing_max_deviation_rad": 0.003560125594958663, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0015083614271134138, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.598106384277344, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.56220245361328, + "replay_smoothing_raw_accel_rms_rad_s2": 3.9845802829353505, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1713.7080078125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14268.8310546875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1015.9627282535986, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.521674633026123, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2286284822632106, + "replay_smoothing_rms_deviation_rad": 0.0006885089944188711, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.529328346252441, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.83663558959961, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.920015486845363, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1692.77734375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14308.595703125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1005.0755325970215, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.527300238609314, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22801183128892236, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0036969832190759, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.997302825229018, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 3, + "replay_smoothing_worst_time_s": 23.074, + "replay_smoothing_wrist_max_deviation_rad": 0.003560125594958663, + "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": 0.006010860204696655, + "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": 0.06739664077758789, + "stage_planned_to_measured_rms_error_rad": 0.006877957032996378, + "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": 1151, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8345125913619995, + "target_wall_accel_peak_abs_rad_s2": 4.286945343017578, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 24.60005883697886, + "target_wall_accel_rms_rad_s2": 0.3914275912801275, + "target_wall_jerk_p95_abs_rad_s3": 18.749881744384766, + "target_wall_jerk_peak_abs_rad_s3": 116.10277557373047, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 24.566805631038733, + "target_wall_jerk_rms_rad_s3": 8.716490134953943, + "target_wall_smoothness_samples": 1151, + "target_wall_velocity_peak_abs_rad_s": 1.1534613370895386, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.90005654899869, + "target_wall_velocity_rms_rad_s": 0.11678404494279002, + "tcp_pose_count": 1151, + "timestamp_count": 1151, + "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": -1.2199999999999993, + "window_lag_best_lag_p95_abs_s": 1.115499999999999, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0299999999999991, + "window_lag_worst_end_s": 21.5, + "window_lag_worst_max_error_rad": 0.11336016654968262, + "window_lag_worst_rms_error_rad": 0.006343749071790271, + "window_lag_worst_start_s": 20.5, + "zero_lag_max_error_rad": 0.006010860204696655, + "zero_lag_p95_error_rad": 0.001877669245004654, + "zero_lag_rms_error_rad": 0.0008167424982591337, + "zero_lag_samples": 1151, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 14.071000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.npz new file mode 100644 index 0000000000000000000000000000000000000000..61b8ce3d8a58db34aba8661fb1d134f66375bb7b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163311.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ac1fea327938daff252903180b7d06211b84951be542e83524976af058e3179 +size 122701 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.json new file mode 100644 index 0000000000000000000000000000000000000000..47ce1fb5c9fc43e5d29dc1b4d6978557dcdcacf3 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.json @@ -0,0 +1,676 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:35:12", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1125, + "actual_playback_duration_s": 37.51597712095827, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.40392836928367615, + "aligned_p95_error_rad": 0.0019652575720101595, + "aligned_rms_error_rad": 0.008590647372474967, + "aligned_samples": 1125, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 0.49599999999999955, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1125, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1125, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5312018742483275, + "image_frame_counts": { + "cam_scene": 1125, + "cam_wrist": 1125 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.03482808172702789, + 0.40392836928367615, + 0.2620973587036133, + 0.27817296981811523, + 0.4028993546962738, + 0.14238043129444122 + ], + "joint_lag_p95_error_rad": [ + 0.002042251406237483, + 0.001747212721966207, + 0.001729142270050943, + 0.0012904061004519463, + 0.0023297308944165707, + 0.002412853529676795 + ], + "joint_lag_rms_error_rad": [ + 0.0013379524703224053, + 0.012070417175217969, + 0.00785257297347603, + 0.008312051981480714, + 0.012059369202999697, + 0.004373642652499922 + ], + "joint_lag_samples": [ + 1125, + 1125, + 1125, + 1125, + 1125, + 1125 + ], + "joint_lag_worst_time_s": [ + 0.49599999999999955, + 0.49599999999999955, + 0.49599999999999955, + 0.49599999999999955, + 0.49599999999999955, + 0.49599999999999955 + ], + "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": 32, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005364769953303039, + "leadthrough_capture_egm_poll_duration_median_s": 0.003963097522500902, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004353682236978784, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004568181647919119, + "leadthrough_capture_egm_poll_duration_warn_count": 2943, + "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": 0.005444925976917148, + "leadthrough_capture_host_loop_dt_median_s": 0.003987675067037344, + "leadthrough_capture_host_loop_dt_p95_s": 0.004380772239528596, + "leadthrough_capture_host_loop_dt_p99_s": 0.004610840883105993, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005475418991409242, + "leadthrough_capture_host_receive_dt_median_s": 0.003991006989963353, + "leadthrough_capture_host_receive_dt_p95_s": 0.00437330799177289, + "leadthrough_capture_host_receive_dt_p99_s": 0.004569353614933789, + "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": 0.034885343979112804, + "leadthrough_capture_loop_late_median_s": 0.028746802010573447, + "leadthrough_capture_loop_late_p95_s": 0.02904732910101302, + "leadthrough_capture_loop_late_p99_s": 0.029349026659037915, + "leadthrough_capture_loop_late_warn_count": 7674, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005416354048065841, + "leadthrough_capture_read_duration_median_s": 0.003976486506871879, + "leadthrough_capture_read_duration_p95_s": 0.004369020333979279, + "leadthrough_capture_read_duration_p99_s": 0.0045948091556783765, + "leadthrough_capture_read_duration_warn_count": 3251, + "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": [ + 0.0026437193155288696, + 0.00232774019241333, + 0.003924012184143066, + 0.001610085368156433, + 0.0026682615280151367, + 0.00561213493347168 + ], + "leadthrough_delta_max_abs_rad": 0.00561213493347168, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013035833835601807, + 0.001601986587047577, + 0.0023079589009284973, + 0.0004031187854707241, + 0.0013557076454162598, + 0.003283977508544922 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0005568417254835367, + 0.000769037869758904, + 0.0011032689362764359, + 0.00022036339214537293, + 0.0005720026092603803, + 0.0011955907102674246 + ], + "leadthrough_delta_samples": 6126, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00561213493347168, + "leadthrough_delta_worst_from_rad": -1.1233971118927002, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.7119999999999997, + "leadthrough_delta_worst_to_rad": -1.1290092468261719, + "leadthrough_duration_s": 24.500999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6107, + "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": 6108, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7674, + "leadthrough_initial_stillness_first_motion_index": 1548, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.187, + "leadthrough_initial_stillness_removed_samples": 1547, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1547, + "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": [ + 0.0026437193155288696, + 0.00232774019241333, + 0.003924012184143066, + 0.001610085368156433, + 0.0026682615280151367, + 0.00561213493347168 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00561213493347168, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8787090579668347, + 0.7759133974710806, + 1.27232074737544, + 0.5348970492680665, + 0.8834600448608063, + 1.403033733367763 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.3568252325057983, + "leadthrough_velocity_rms_rad_s": 0.20571589762991432, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.40392836928367615, + "measured_wall_accel_p95_abs_rad_s2": 0.5390408039093018, + "measured_wall_accel_peak_abs_rad_s2": 222.79437255859375, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.197977620991878, + "measured_wall_accel_rms_rad_s2": 6.9710164768696306, + "measured_wall_jerk_p95_abs_rad_s3": 8.741533279418945, + "measured_wall_jerk_peak_abs_rad_s3": 3462.88330078125, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.227261097053997, + "measured_wall_jerk_rms_rad_s3": 88.44686323064323, + "measured_wall_smoothness_samples": 1125, + "measured_wall_velocity_peak_abs_rad_s": 13.97165584564209, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.164544366067275, + "measured_wall_velocity_rms_rad_s": 0.33556468164619074, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.40392836928367615, + "moving_aligned_p95_error_rad": 0.002200990915298462, + "moving_aligned_rms_error_rad": 0.010025254577580267, + "moving_aligned_samples": 826, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 0.49599999999999955, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.010000000000001563, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.03482808172702789, + 0.40392836928367615, + 0.2620973587036133, + 0.0041243527084589005, + 0.399179607629776, + 0.14238043129444122 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002253052545711398, + 0.0020681137684732676, + 0.0018870356725528836, + 0.0022065266966819763, + 0.004619585815817118, + 0.002846367424353957 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0016958101008544338, + 0.014465216274762334, + 0.010429877047907597, + 0.0009815490756828115, + 0.016572323777372985, + 0.006705365849948003 + ], + "moving_joint_lag_samples": [ + 667, + 783, + 637, + 231, + 594, + 474 + ], + "moving_joint_lag_worst_time_s": [ + 0.49599999999999955, + 0.49599999999999955, + 0.49599999999999955, + 16.494, + 0.49599999999999955, + 0.49599999999999955 + ], + "moving_lag_velocity_threshold_rad_s": 0.03, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "playback_velocity_peak_abs_rad_s": 75.96086883544922, + "playback_velocity_rms_rad_s": 2.330791113210809, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 79.002, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.500999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2414, + 5233 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.38907489588060634, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08615231513977051, + "rapid_planner_max_dt_s": 1.9199999999999982, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006790637969970703, + "rapid_planner_median_dt_s": 0.1014999999999997, + "rapid_planner_path_max_error_rad": 0.40392836928367615, + "rapid_planner_path_p95_error_rad": 0.0028693348169326776, + "rapid_planner_path_rms_error_rad": 0.012125572999052222, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 43, + 65, + 83, + 114, + 132, + 150, + 168, + 185, + 209, + 221, + 233, + 249, + 265, + 281, + 297, + 309, + 321, + 339, + 357, + 375, + 393, + 408, + 424, + 440, + 455, + 467, + 480, + 498, + 531, + 564, + 598, + 631, + 650, + 687, + 711, + 752, + 794, + 826, + 887, + 918, + 950, + 994, + 1042, + 1096, + 1211, + 1268, + 1310, + 1355, + 1419, + 1497, + 1607, + 1872, + 1945, + 2414, + 2894, + 2947, + 2989, + 3019, + 3037, + 3055, + 3070, + 3084, + 3098, + 3113, + 3126, + 3140, + 3167, + 3190, + 3212, + 3231, + 3250, + 3274, + 3298, + 3322, + 3346, + 3369, + 3395, + 3421, + 3443, + 3467, + 3490, + 3513, + 3536, + 3560, + 3582, + 3604, + 3636, + 3669, + 3691, + 3718, + 3776, + 3837, + 3881, + 3946, + 4012, + 4061, + 4158, + 4270, + 4373, + 4451, + 4791, + 5233, + 5317, + 5467, + 5509, + 5562, + 5603, + 5628, + 5654, + 5686, + 5706, + 5726, + 5746, + 5759, + 5774, + 5816, + 5877, + 5946, + 6008, + 6126 + ], + "rapid_planner_selected_max_joint_step_deg": 4.936164052789875, + "rapid_planner_selected_samples": 121, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6127, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 121, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.40392836928367615, + "raw_replay_rms_error_rad": 0.008590647372474967, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.977008125628715, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9267913347523568, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.982706054712299, + "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": 0.9899719934498884, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.954028125148544, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9905880299079716, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005015134811401367, + 0.0005879402160644531, + 0.0010119080543518066, + 0.0021919608116149902, + 0.002313852310180664, + 0.006233662366867065 + ], + "replay_smoothing_max_deviation_normalized": 0.7143250945954527, + "replay_smoothing_max_deviation_rad": 0.006233662366867065, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002199089154601097, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.428068161010742, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 41.856136322021484, + "replay_smoothing_raw_accel_rms_rad_s2": 3.7666509884380184, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1870.4207763671875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11566.5361328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 953.3442349904594, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4023780822753906, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20681363313911688, + "replay_smoothing_rms_deviation_rad": 0.00096370951980202, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.234291076660156, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 38.79190444946289, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.7015107323261063, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1851.6641845703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11034.80078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 944.3713875633215, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3568252325057983, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20571589762991432, + "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": 0.9675174260455627, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9946921511288178, + "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": 14.725999999999999, + "replay_smoothing_wrist_max_deviation_rad": 0.006233662366867065, + "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": 0.40392836928367615, + "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": 0.4684232175350189, + "stage_planned_to_measured_rms_error_rad": 0.011554137089827459, + "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": 1125, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.4039", + "target_wall_accel_p95_abs_rad_s2": 0.7608130574226379, + "target_wall_accel_peak_abs_rad_s2": 68.52803802490234, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 6.375950761139393e-06, + "target_wall_accel_rms_rad_s2": 2.0533274478462897, + "target_wall_jerk_p95_abs_rad_s3": 16.36644172668457, + "target_wall_jerk_peak_abs_rad_s3": 1022.079345703125, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.0667235879227519, + "target_wall_jerk_rms_rad_s3": 25.84203996724476, + "target_wall_smoothness_samples": 1125, + "target_wall_velocity_peak_abs_rad_s": 4.571999549865723, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.375950761139393e-06, + "target_wall_velocity_rms_rad_s": 0.1472437758231657, + "tcp_pose_count": 1125, + "timestamp_count": 1125, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4039", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.010000000000001563, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1899999999999993, + "window_lag_best_lag_p95_abs_s": 0.7884999999999984, + "window_lag_count": 32, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.40392836928367615, + "window_lag_worst_rms_error_rad": 0.033556192522795424, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.40392836928367615, + "zero_lag_p95_error_rad": 0.0019652575720101595, + "zero_lag_rms_error_rad": 0.008590647372474967, + "zero_lag_samples": 1125, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 0.49599999999999955 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc557d166415317cc089227799b587fc5a0e47e2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163511.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc7290ff8a7a80e9d7879eb78d9f37b72ba5125a1df18c46d17a0f8cde17cfb +size 119107 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.json new file mode 100644 index 0000000000000000000000000000000000000000..8932bef1a211e91861e85f5602b67f20ffb961c6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:37:10", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1117, + "actual_playback_duration_s": 37.246961614931934, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.3806654214859009, + "aligned_p95_error_rad": 0.0018568638479337096, + "aligned_rms_error_rad": 0.008436883117593542, + "aligned_samples": 1117, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 0.6159999999999997, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1117, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1117, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.617674771549704, + "image_frame_counts": { + "cam_scene": 1117, + "cam_wrist": 1117 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.011741697788238525, + 0.3806654214859009, + 0.2821091413497925, + 0.1403161585330963, + 0.28966304659843445, + 0.3802872896194458 + ], + "joint_lag_p95_error_rad": [ + 0.0015721323434263468, + 0.001857429975643754, + 0.002288005780428648, + 0.001671203994192183, + 0.0017126189777627587, + 0.001954388339072466 + ], + "joint_lag_rms_error_rad": [ + 0.0007259488520227623, + 0.011423207223435592, + 0.008495510441106536, + 0.004245775480033379, + 0.008697374599623607, + 0.01141160301738211 + ], + "joint_lag_samples": [ + 1117, + 1117, + 1117, + 1117, + 1117, + 1117 + ], + "joint_lag_worst_time_s": [ + 0.6159999999999997, + 0.6159999999999997, + 0.6159999999999997, + 0.6159999999999997, + 0.6159999999999997, + 0.6159999999999997 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00582515902351588, + "leadthrough_capture_egm_poll_duration_median_s": 0.003989888005889952, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0042273132130503654, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004560066522099077, + "leadthrough_capture_egm_poll_duration_warn_count": 3405, + "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": 0.0058623660588636994, + "leadthrough_capture_host_loop_dt_median_s": 0.004015681042801589, + "leadthrough_capture_host_loop_dt_p95_s": 0.004255070991348475, + "leadthrough_capture_host_loop_dt_p99_s": 0.0046002252609469, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00585835799574852, + "leadthrough_capture_host_receive_dt_median_s": 0.004015998507384211, + "leadthrough_capture_host_receive_dt_p95_s": 0.004243872768711299, + "leadthrough_capture_host_receive_dt_p99_s": 0.004546068614581603, + "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": 0.014698414015583694, + "leadthrough_capture_loop_late_median_s": 0.008781714946962893, + "leadthrough_capture_loop_late_p95_s": 0.009053926612250508, + "leadthrough_capture_loop_late_p99_s": 0.00941595213022083, + "leadthrough_capture_loop_late_warn_count": 7397, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005848371074534953, + "leadthrough_capture_read_duration_median_s": 0.004004502901807427, + "leadthrough_capture_read_duration_p95_s": 0.004243267164565623, + "leadthrough_capture_read_duration_p99_s": 0.004587374087423086, + "leadthrough_capture_read_duration_warn_count": 3836, + "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": [ + 0.0029533132910728455, + 0.0024340152740478516, + 0.003464639186859131, + 0.0020594894886016846, + 0.0024992823600769043, + 0.004942893981933594 + ], + "leadthrough_delta_max_abs_rad": 0.004942893981933594, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014197909040376544, + 0.0019061382627114654, + 0.0029761670157313347, + 0.00035545212449505925, + 0.0014656782150268555, + 0.0035945528652518988 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006283826660364866, + 0.0008796161855570972, + 0.0012541764881461859, + 0.00022613264445681125, + 0.0006105060456320643, + 0.0012960148742422462 + ], + "leadthrough_delta_samples": 5757, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.004942893981933594, + "leadthrough_delta_worst_from_rad": -0.2371995747089386, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6159999999999997, + "leadthrough_delta_worst_to_rad": -0.2421424686908722, + "leadthrough_duration_s": 23.025, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5706, + "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": 5707, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7397, + "leadthrough_initial_stillness_first_motion_index": 1640, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.556, + "leadthrough_initial_stillness_removed_samples": 1639, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1639, + "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": [ + 0.0029533132910728455, + 0.0024340152740478516, + 0.003464639186859131, + 0.0020594894886016846, + 0.0024992823600769043, + 0.004942893981933594 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.004942893981933594, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9776478012402482, + 0.8032123247782085, + 1.1534194151560029, + 0.6789068380991361, + 0.8279085159301444, + 1.3460293412208046 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.2045949697494507, + "leadthrough_velocity_rms_rad_s": 0.22975303814381692, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.3806654214859009, + "measured_wall_accel_p95_abs_rad_s2": 0.43668487668037415, + "measured_wall_accel_peak_abs_rad_s2": 274.8963623046875, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.409743594005704, + "measured_wall_accel_rms_rad_s2": 7.5581433104774955, + "measured_wall_jerk_p95_abs_rad_s3": 7.558916091918945, + "measured_wall_jerk_peak_abs_rad_s3": 4182.1728515625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.441298505058512, + "measured_wall_jerk_rms_rad_s3": 93.42382020665396, + "measured_wall_smoothness_samples": 1117, + "measured_wall_velocity_peak_abs_rad_s": 17.27880096435547, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.378437443054281, + "measured_wall_velocity_rms_rad_s": 0.36712134541435354, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.3806654214859009, + "moving_aligned_p95_error_rad": 0.002062787301838398, + "moving_aligned_rms_error_rad": 0.009882099444678027, + "moving_aligned_samples": 814, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 0.6159999999999997, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.011741697788238525, + 0.3806654214859009, + 0.2821091413497925, + 0.004553459584712982, + 0.28966304659843445, + 0.3802872896194458 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019421587930992246, + 0.0020560442935675383, + 0.0025524944067001343, + 0.0033317813649773598, + 0.0021203511860221624, + 0.0022253096103668213 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009026833592584434, + 0.013709334200049246, + 0.010864142353181474, + 0.001376777680976823, + 0.011621000604727733, + 0.01695051683900519 + ], + "moving_joint_lag_samples": [ + 691, + 775, + 682, + 192, + 625, + 506 + ], + "moving_joint_lag_worst_time_s": [ + 0.6159999999999997, + 0.6159999999999997, + 0.6159999999999997, + 21.160999999999998, + 0.6159999999999997, + 0.6159999999999997 + ], + "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": 72.70677947998047, + "playback_velocity_rms_rad_s": 2.417633362832404, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.05, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.025, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2149, + 4658 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.413526973109252, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08671414852142334, + "rapid_planner_max_dt_s": 3.0079999999999982, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0072174072265625, + "rapid_planner_median_dt_s": 0.08000000000000185, + "rapid_planner_path_max_error_rad": 0.3806654214859009, + "rapid_planner_path_p95_error_rad": 0.0026896715164184573, + "rapid_planner_path_rms_error_rad": 0.011468539558907557, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 27, + 53, + 68, + 83, + 98, + 112, + 126, + 140, + 154, + 169, + 184, + 198, + 212, + 226, + 239, + 252, + 264, + 277, + 293, + 309, + 325, + 341, + 356, + 372, + 388, + 403, + 420, + 436, + 460, + 484, + 505, + 526, + 574, + 622, + 665, + 708, + 742, + 777, + 822, + 883, + 939, + 1035, + 1136, + 1197, + 1397, + 2149, + 2641, + 2756, + 2787, + 2821, + 2840, + 2858, + 2876, + 2894, + 2912, + 2928, + 2944, + 2962, + 2982, + 3003, + 3023, + 3043, + 3062, + 3080, + 3104, + 3128, + 3154, + 3179, + 3199, + 3218, + 3237, + 3254, + 3274, + 3294, + 3315, + 3333, + 3353, + 3386, + 3432, + 3479, + 3531, + 3570, + 3603, + 3687, + 3745, + 3800, + 4045, + 4160, + 4658, + 4951, + 5000, + 5048, + 5077, + 5092, + 5108, + 5122, + 5135, + 5155, + 5176, + 5196, + 5215, + 5236, + 5256, + 5275, + 5314, + 5339, + 5364, + 5401, + 5430, + 5466, + 5757 + ], + "rapid_planner_selected_max_joint_step_deg": 4.968354734348146, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5758, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.3806654214859009, + "raw_replay_rms_error_rad": 0.008436883117593542, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9775640655533633, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9998171348518115, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9830604016084162, + "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": 0.9941702211989293, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9914630167686147, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9893695873820167, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0003630220890045166, + 0.0004951953887939453, + 0.0006152987480163574, + 0.0017960816621780396, + 0.0030126571655273438, + 0.008266329765319824 + ], + "replay_smoothing_max_deviation_normalized": 0.9472516225701468, + "replay_smoothing_max_deviation_rad": 0.008266329765319824, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001975676277652383, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.075754165649414, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.38502502441406, + "replay_smoothing_raw_accel_rms_rad_s2": 4.355599758375003, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2399.830078125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11308.677734375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1117.2875735340313, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.2351255416870117, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23077856839915775, + "replay_smoothing_rms_deviation_rad": 0.0009959237040300236, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.849695205688477, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 39.37782287597656, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.281817647713651, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2385.839599609375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11212.1357421875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1105.4103456144192, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.2045949697494507, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22975303814381692, + "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": 0.9752814018436858, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9955562153693273, + "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": 11.675, + "replay_smoothing_wrist_max_deviation_rad": 0.008266329765319824, + "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": 0.3806654214859009, + "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": 0.5427921414375305, + "stage_planned_to_measured_rms_error_rad": 0.011605439026515707, + "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": 1117, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3807", + "target_wall_accel_p95_abs_rad_s2": 0.7452298998832703, + "target_wall_accel_peak_abs_rad_s2": 170.8061065673828, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.08398113399744e-06, + "target_wall_accel_rms_rad_s2": 4.074472589355334, + "target_wall_jerk_p95_abs_rad_s3": 17.931652069091797, + "target_wall_jerk_peak_abs_rad_s3": 2560.57373046875, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06693855999037623, + "target_wall_jerk_rms_rad_s3": 50.32265354755013, + "target_wall_smoothness_samples": 1117, + "target_wall_velocity_peak_abs_rad_s": 11.432475090026855, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.08398113399744e-06, + "target_wall_velocity_rms_rad_s": 0.22749271447298758, + "tcp_pose_count": 1117, + "timestamp_count": 1117, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3807", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.010000000000001563, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2399999999999993, + "window_lag_best_lag_p95_abs_s": 1.1949999999999994, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 1.0, + "window_lag_worst_max_error_rad": 0.3806654214859009, + "window_lag_worst_rms_error_rad": 0.029433972941441313, + "window_lag_worst_start_s": 0.0, + "zero_lag_max_error_rad": 0.3806654214859009, + "zero_lag_p95_error_rad": 0.0018568638479337096, + "zero_lag_rms_error_rad": 0.008436883117593542, + "zero_lag_samples": 1117, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 0.6159999999999997 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab106143d7a1230b80eb5c09fbefa0d57da987c1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_163709.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb30ef6202f949dc7618a306b84b3ce0748581f3284ac440d415a9514ee72264 +size 118739 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff850a22f5d7586eda64f7608e8ad9e2517ab73 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.json @@ -0,0 +1,672 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:40:47", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1174, + "actual_playback_duration_s": 39.149391120066866, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006908684968948364, + "aligned_p95_error_rad": 0.0022406161297112703, + "aligned_rms_error_rad": 0.000985922241579455, + "aligned_samples": 1174, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 14.445999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1174, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1174, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7662707475780224, + "image_frame_counts": { + "cam_scene": 1174, + "cam_wrist": 1174 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005238920450210571, + 0.00675278902053833, + 0.00647011399269104, + 0.00577404722571373, + 0.005424857139587402, + 0.006908684968948364 + ], + "joint_lag_p95_error_rad": [ + 0.0016576579073444009, + 0.0020055302884429693, + 0.0020224391482770443, + 0.00175605365075171, + 0.0025226587895303965, + 0.0028091834392398596 + ], + "joint_lag_rms_error_rad": [ + 0.0007235806380737616, + 0.0009368969976754694, + 0.001002230426589938, + 0.0008319582167370239, + 0.0010884612619691697, + 0.0012448063517717873 + ], + "joint_lag_samples": [ + 1174, + 1174, + 1174, + 1174, + 1174, + 1174 + ], + "joint_lag_worst_time_s": [ + 14.105999999999998, + 14.445999999999998, + 14.445999999999998, + 14.05, + 4.016, + 14.445999999999998 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 33, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0064648870611563325, + "leadthrough_capture_egm_poll_duration_median_s": 0.003965903481002897, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00435371155035682, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004632239553611726, + "leadthrough_capture_egm_poll_duration_warn_count": 2505, + "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": 0.006500437972135842, + "leadthrough_capture_host_loop_dt_median_s": 0.0039893899811431766, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043787768110632895, + "leadthrough_capture_host_loop_dt_p99_s": 0.004659889969043434, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0064302789978682995, + "leadthrough_capture_host_receive_dt_median_s": 0.003992542042396963, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043727676151320335, + "leadthrough_capture_host_receive_dt_p99_s": 0.004655044353567064, + "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": 0.010326655930839479, + "leadthrough_capture_loop_late_median_s": 0.0058622839278541505, + "leadthrough_capture_loop_late_p95_s": 0.006151476386003196, + "leadthrough_capture_loop_late_p99_s": 0.006524677072884515, + "leadthrough_capture_loop_late_warn_count": 6530, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00648810004349798, + "leadthrough_capture_read_duration_median_s": 0.003978589491453022, + "leadthrough_capture_read_duration_p95_s": 0.004368242435157299, + "leadthrough_capture_read_duration_p99_s": 0.004652350336546079, + "leadthrough_capture_read_duration_warn_count": 2801, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 5, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0033719614148139954, + 0.002712845802307129, + 0.003824561834335327, + 0.0024501755833625793, + 0.0030338168144226074, + 0.00618743896484375 + ], + "leadthrough_delta_max_abs_rad": 0.00618743896484375, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013936449540778995, + 0.001977787120267749, + 0.003280053846538067, + 0.0003990151744801551, + 0.0016584149561822414, + 0.0044105215929448605 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006808865000493824, + 0.0009105970384553075, + 0.0013302628649398685, + 0.0002777522895485163, + 0.0007525450200773776, + 0.0015176240121945739 + ], + "leadthrough_delta_samples": 5542, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00618743896484375, + "leadthrough_delta_worst_from_rad": -0.4880629777908325, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.0230000000000001, + "leadthrough_delta_worst_to_rad": -0.49425041675567627, + "leadthrough_duration_s": 22.165, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5532, + "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": 5533, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6530, + "leadthrough_initial_stillness_first_motion_index": 988, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.948, + "leadthrough_initial_stillness_removed_samples": 987, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 987, + "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": [ + 0.0033719614148139954, + 0.002712845802307129, + 0.003824561834335327, + 0.0024501755833625793, + 0.0030338168144226074, + 0.00618743896484375 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00618743896484375, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1179943879444971, + 0.9042819341028775, + 1.2632707754770436, + 0.8139287432034502, + 1.0016957918802518, + 2.0624796549478384 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8224077224731445, + "leadthrough_velocity_rms_rad_s": 0.25783527570638914, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006908684968948364, + "measured_wall_accel_p95_abs_rad_s2": 0.4893513023853302, + "measured_wall_accel_peak_abs_rad_s2": 2.8242805004119873, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 53.28471403103322, + "measured_wall_accel_rms_rad_s2": 0.24083373240771272, + "measured_wall_jerk_p95_abs_rad_s3": 8.392312049865723, + "measured_wall_jerk_peak_abs_rad_s3": 60.54594802856445, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 42.15034576097969, + "measured_wall_jerk_rms_rad_s3": 4.173260406039133, + "measured_wall_smoothness_samples": 1174, + "measured_wall_velocity_peak_abs_rad_s": 0.4386947751045227, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.98396965698339, + "measured_wall_velocity_rms_rad_s": 0.10375753057672758, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006908684968948364, + "moving_aligned_p95_error_rad": 0.0025241896510124207, + "moving_aligned_rms_error_rad": 0.0011375211233991954, + "moving_aligned_samples": 871, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 14.445999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0046881139278411865, + 0.00675278902053833, + 0.00647011399269104, + 0.005481287837028503, + 0.005424857139587402, + 0.006908684968948364 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001839231699705124, + 0.0022863484919071198, + 0.0024509334471076727, + 0.003960275091230869, + 0.0031192780006676912, + 0.0031382080633193254 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007956520928701758, + 0.0010692174494210734, + 0.0012544681714506962, + 0.001634239553155393, + 0.0013481058948050606, + 0.001666781148563727 + ], + "moving_joint_lag_samples": [ + 702, + 796, + 690, + 237, + 697, + 564 + ], + "moving_joint_lag_worst_time_s": [ + 14.05, + 14.445999999999998, + 14.445999999999998, + 14.026, + 4.016, + 14.445999999999998 + ], + "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": 2.5438554286956787, + "playback_velocity_rms_rad_s": 0.4466170685114416, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.33, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.165, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2180, + 4508 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4476710887701457, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08659689128398895, + "rapid_planner_max_dt_s": 2.1639999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007813334465026855, + "rapid_planner_median_dt_s": 0.08800000000000008, + "rapid_planner_path_max_error_rad": 0.006908684968948364, + "rapid_planner_path_p95_error_rad": 0.0034370839595794637, + "rapid_planner_path_rms_error_rad": 0.0016397130902591221, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 49, + 101, + 122, + 144, + 156, + 168, + 180, + 192, + 206, + 220, + 232, + 245, + 258, + 270, + 280, + 290, + 300, + 311, + 321, + 331, + 341, + 351, + 368, + 385, + 402, + 419, + 435, + 449, + 462, + 482, + 512, + 543, + 567, + 587, + 609, + 631, + 653, + 675, + 714, + 753, + 791, + 821, + 904, + 1077, + 1206, + 1234, + 1297, + 1367, + 1405, + 1531, + 1639, + 2180, + 2704, + 2749, + 2792, + 2810, + 2828, + 2853, + 2872, + 2894, + 2916, + 2933, + 2950, + 2968, + 2985, + 3006, + 3028, + 3050, + 3072, + 3094, + 3116, + 3134, + 3152, + 3174, + 3195, + 3216, + 3238, + 3252, + 3266, + 3287, + 3308, + 3333, + 3367, + 3413, + 3466, + 3488, + 3574, + 3647, + 3682, + 3764, + 3843, + 4092, + 4277, + 4508, + 4798, + 4855, + 4874, + 4897, + 4922, + 4944, + 4962, + 4979, + 4990, + 5000, + 5022, + 5037, + 5051, + 5079, + 5111, + 5145, + 5177, + 5267, + 5346, + 5425, + 5484, + 5542 + ], + "rapid_planner_selected_max_joint_step_deg": 4.961636389525792, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5543, + "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": 0.006908684968948364, + "raw_replay_rms_error_rad": 0.000985922241579455, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.986238563320713, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9901093523011317, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.988740521025543, + "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": 0.9936037836717273, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9923281970911404, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9938193190435837, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00037857890129089355, + 0.0005383491516113281, + 0.001090407371520996, + 0.0020285993814468384, + 0.0028231143951416016, + 0.007733821868896484 + ], + "replay_smoothing_max_deviation_normalized": 0.8862307120525625, + "replay_smoothing_max_deviation_rad": 0.007733821868896484, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.00217428058385849, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 12.895227432250977, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.08815383911133, + "replay_smoothing_raw_accel_rms_rad_s2": 5.67292423702769, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2980.735595703125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16240.8603515625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1451.2656173160237, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.840024471282959, + "replay_smoothing_raw_velocity_rms_rad_s": 0.258920570928276, + "replay_smoothing_rms_deviation_rad": 0.0010944267622757186, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 12.71777057647705, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.49384307861328, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.609050065857189, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2961.670166015625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16116.263671875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1442.2958075523768, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8224077224731445, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25783527570638914, + "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": 0.9904258073276976, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958083854905933, + "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": 11.414, + "replay_smoothing_wrist_max_deviation_rad": 0.007733821868896484, + "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": 0.006908684968948364, + "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": 0.024896442890167236, + "stage_planned_to_measured_rms_error_rad": 0.006153723033928676, + "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": 1174, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8637127876281738, + "target_wall_accel_peak_abs_rad_s2": 3.8699429035186768, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 38.76672551501542, + "target_wall_accel_rms_rad_s2": 0.39966018696525313, + "target_wall_jerk_p95_abs_rad_s3": 21.00787925720215, + "target_wall_jerk_peak_abs_rad_s3": 91.08032989501953, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 38.83338756207377, + "target_wall_jerk_rms_rad_s3": 9.421241824591105, + "target_wall_smoothness_samples": 1174, + "target_wall_velocity_peak_abs_rad_s": 0.45921581983566284, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.866721144062467, + "target_wall_velocity_rms_rad_s": 0.1049074122416512, + "tcp_pose_count": 1174, + "timestamp_count": 1174, + "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": 0.0, + "window_lag_best_lag_p95_abs_s": 0.7200000000000024, + "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": 0.006908684968948364, + "window_lag_worst_rms_error_rad": 0.0026343645366458486, + "window_lag_worst_start_s": 14.0, + "zero_lag_max_error_rad": 0.006908684968948364, + "zero_lag_p95_error_rad": 0.0022406161297112703, + "zero_lag_rms_error_rad": 0.000985922241579455, + "zero_lag_samples": 1174, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 14.445999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9750fb92ce1592e08c31d14404a677ca83bfd8c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164046.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:623cb3d3949a59e16a2807de813daaa1604043514e4240e78670216ff4f4a961 +size 126013 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.json new file mode 100644 index 0000000000000000000000000000000000000000..189e3eacb282cbff48895ab565dca2f492117385 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.json @@ -0,0 +1,664 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:44:07", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1128, + "actual_playback_duration_s": 37.61339334899094, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.17627424001693726, + "aligned_p95_error_rad": 0.0018988639349117875, + "aligned_rms_error_rad": 0.0033953542228017295, + "aligned_samples": 1128, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 19.306, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1128, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1128, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.911443914472555, + "image_frame_counts": { + "cam_scene": 1128, + "cam_wrist": 1128 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004684090614318848, + 0.09812983870506287, + 0.1321885883808136, + 0.11974984407424927, + 0.17627424001693726, + 0.007306009531021118 + ], + "joint_lag_p95_error_rad": [ + 0.0016223503043875098, + 0.002053508535027504, + 0.0017124951118603349, + 0.001049891347065568, + 0.002481932984665036, + 0.0023856572806835175 + ], + "joint_lag_rms_error_rad": [ + 0.0007555637566466288, + 0.00305883634215358, + 0.0040237469900605526, + 0.0035989177081802944, + 0.005361665404932866, + 0.0011631943116344682 + ], + "joint_lag_samples": [ + 1128, + 1128, + 1128, + 1128, + 1128, + 1128 + ], + "joint_lag_worst_time_s": [ + 12.622, + 19.306, + 19.306, + 19.306, + 19.306, + 18.154 + ], + "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": 0.004000000189989805, + "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": 0.006050384021364152, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039907710161060095, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004232829192187637, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005127048096619542, + "leadthrough_capture_egm_poll_duration_warn_count": 2719, + "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": 0.0061835909727960825, + "leadthrough_capture_host_loop_dt_median_s": 0.004014670557808131, + "leadthrough_capture_host_loop_dt_p95_s": 0.004257216100813821, + "leadthrough_capture_host_loop_dt_p99_s": 0.005160651409532874, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006045402958989143, + "leadthrough_capture_host_receive_dt_median_s": 0.004016460501588881, + "leadthrough_capture_host_receive_dt_p95_s": 0.004245565470773727, + "leadthrough_capture_host_receive_dt_p99_s": 0.005139304102631285, + "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": 0.013557728030718863, + "leadthrough_capture_loop_late_median_s": 0.00875132333021611, + "leadthrough_capture_loop_late_p95_s": 0.009037917084060609, + "leadthrough_capture_loop_late_p99_s": 0.010061204344965496, + "leadthrough_capture_loop_late_warn_count": 5823, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006157706957310438, + "leadthrough_capture_read_duration_median_s": 0.004004178917966783, + "leadthrough_capture_read_duration_p95_s": 0.004246537154540419, + "leadthrough_capture_read_duration_p99_s": 0.00514969021081924, + "leadthrough_capture_read_duration_warn_count": 2999, + "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": 0.004000000000001336, + "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": [ + 0.0029904618859291077, + 0.002787947654724121, + 0.0037382841110229492, + 0.0017478913068771362, + 0.00338137149810791, + 0.005860865116119385 + ], + "leadthrough_delta_max_abs_rad": 0.005860865116119385, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014660884626209736, + 0.0019074827432632446, + 0.0032952656038105488, + 0.0006250371807254851, + 0.0018606482772156596, + 0.0037710657343268394 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006981432670727372, + 0.0009381756535731256, + 0.001344991265796125, + 0.0002827289863489568, + 0.0007992470054887235, + 0.001388103817589581 + ], + "leadthrough_delta_samples": 4920, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005860865116119385, + "leadthrough_delta_worst_from_rad": -0.2522451877593994, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7919999999999998, + "leadthrough_delta_worst_to_rad": -0.2581060528755188, + "leadthrough_duration_s": 19.678, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4919, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.907, + "leadthrough_final_stillness_removed_samples": 227, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4920, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5823, + "leadthrough_initial_stillness_first_motion_index": 676, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.7, + "leadthrough_initial_stillness_removed_samples": 675, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 675, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0040000000000000036, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0029904618859291077, + 0.002787947654724121, + 0.0037382841110229492, + 0.0017478913068771362, + 0.00338137149810791, + 0.005860865116119385 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005860865116119385, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7476154714820272, + 0.6969869136814165, + 0.9345710277554252, + 0.4369728267191381, + 0.8453428745266952, + 1.4652162790298449 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.430038332939148, + "leadthrough_velocity_rms_rad_s": 0.24729777231148312, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.17627424001693726, + "measured_wall_accel_p95_abs_rad_s2": 0.4216008186340332, + "measured_wall_accel_peak_abs_rad_s2": 245.1522216796875, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.135445178020746, + "measured_wall_accel_rms_rad_s2": 7.082124964655449, + "measured_wall_jerk_p95_abs_rad_s3": 7.4072418212890625, + "measured_wall_jerk_peak_abs_rad_s3": 3825.533447265625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.166063060984015, + "measured_wall_jerk_rms_rad_s3": 90.35843789973634, + "measured_wall_smoothness_samples": 1128, + "measured_wall_velocity_peak_abs_rad_s": 15.422146797180176, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.103150762035511, + "measured_wall_velocity_rms_rad_s": 0.34331420109923894, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.17627424001693726, + "moving_aligned_p95_error_rad": 0.0022594179026782513, + "moving_aligned_rms_error_rad": 0.003981157402932142, + "moving_aligned_samples": 820, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 19.306, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004684090614318848, + 0.09812983870506287, + 0.1321885883808136, + 0.005202623084187508, + 0.007024407386779785, + 0.007306009531021118 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0022148042917251587, + 0.00254933163523674, + 0.002048676600679755, + 0.0017485875869169831, + 0.0034064678475260735, + 0.003539532423019409 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009326633048217476, + 0.0036551994142045656, + 0.0051848000331396775, + 0.0010286063131234272, + 0.0013649673929657148, + 0.0017080570184716776 + ], + "moving_joint_lag_samples": [ + 691, + 788, + 678, + 212, + 670, + 491 + ], + "moving_joint_lag_worst_time_s": [ + 12.622, + 19.306, + 19.306, + 2.548, + 18.150000000000002, + 18.154 + ], + "moving_lag_velocity_threshold_rad_s": 0.03, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "playback_velocity_peak_abs_rad_s": 14.798730850219727, + "playback_velocity_rms_rad_s": 0.5775792568786812, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 69.356, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.678, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1784, + 4142 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4405301259928974, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0866628885269165, + "rapid_planner_max_dt_s": 2.047999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007688701152801514, + "rapid_planner_median_dt_s": 0.09200000000000119, + "rapid_planner_path_max_error_rad": 0.17627424001693726, + "rapid_planner_path_p95_error_rad": 0.003004880994558331, + "rapid_planner_path_rms_error_rad": 0.005461286774588084, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 45, + 89, + 113, + 136, + 155, + 173, + 184, + 194, + 204, + 215, + 226, + 236, + 246, + 257, + 266, + 274, + 290, + 307, + 324, + 340, + 356, + 380, + 404, + 421, + 437, + 456, + 473, + 490, + 517, + 544, + 569, + 616, + 663, + 703, + 792, + 871, + 928, + 984, + 1027, + 1105, + 1174, + 1505, + 1784, + 2296, + 2378, + 2438, + 2467, + 2494, + 2509, + 2524, + 2546, + 2567, + 2587, + 2600, + 2614, + 2627, + 2640, + 2654, + 2667, + 2680, + 2694, + 2722, + 2750, + 2768, + 2787, + 2814, + 2837, + 2860, + 2878, + 2896, + 2914, + 2932, + 2958, + 2983, + 3006, + 3030, + 3054, + 3077, + 3136, + 3190, + 3245, + 3300, + 3406, + 3479, + 3607, + 3867, + 4142, + 4401, + 4443, + 4481, + 4500, + 4519, + 4556, + 4582, + 4594, + 4607, + 4620, + 4632, + 4648, + 4663, + 4684, + 4712, + 4735, + 4758, + 4786, + 4810, + 4855, + 4920 + ], + "rapid_planner_selected_max_joint_step_deg": 4.96541775300504, + "rapid_planner_selected_samples": 109, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4921, + "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": 109, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.17627424001693726, + "raw_replay_rms_error_rad": 0.0033953542228017295, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.94676976933153, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9625085368030448, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9676073774302428, + "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": 0.9707637398360184, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9758580866791384, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9848198207148053, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005744695663452148, + 0.0009337067604064941, + 0.0013420581817626953, + 0.0021461271680891514, + 0.0026835203170776367, + 0.0026503801345825195 + ], + "replay_smoothing_max_deviation_normalized": 0.30750877919438985, + "replay_smoothing_max_deviation_rad": 0.0026835203170776367, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0015431642532348633, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.341403007507324, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 27.526153564453125, + "replay_smoothing_raw_accel_rms_rad_s2": 2.2892236685948437, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 877.3819580078125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 7793.1318359375, + "replay_smoothing_raw_jerk_rms_rad_s3": 570.2847080569, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4647711515426636, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24781321786203211, + "replay_smoothing_rms_deviation_rad": 0.0006590018342395099, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.11030912399292, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 26.494157791137695, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.215069710320296, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 851.7305908203125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 7604.99072265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 561.6276839449913, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.430038332939148, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24729777231148312, + "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": 0.9762878873147277, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9979200239801738, + "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": 10.279, + "replay_smoothing_wrist_max_deviation_rad": 0.0026835203170776367, + "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": 0.17627424001693726, + "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": 0.49450528621673584, + "stage_planned_to_measured_rms_error_rad": 0.011213806501821693, + "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": 1128, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.1763", + "target_wall_accel_p95_abs_rad_s2": 0.7055733799934387, + "target_wall_accel_peak_abs_rad_s2": 266.343017578125, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.03384654293768108, + "target_wall_accel_rms_rad_s2": 6.164273510311486, + "target_wall_jerk_p95_abs_rad_s3": 17.251354217529297, + "target_wall_jerk_peak_abs_rad_s3": 4018.172119140625, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672095297835767, + "target_wall_jerk_rms_rad_s3": 76.30330806634245, + "target_wall_smoothness_samples": 1128, + "target_wall_velocity_peak_abs_rad_s": 17.768747329711914, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 7.179914973676205e-06, + "target_wall_velocity_rms_rad_s": 0.32110293523490024, + "tcp_pose_count": 1128, + "timestamp_count": 1128, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.1763", + "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": 1.2000000000000028, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0999999999999992, + "window_lag_best_lag_p95_abs_s": 1.1700000000000017, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.0999999999999992, + "window_lag_worst_end_s": 17.5, + "window_lag_worst_max_error_rad": 0.24553579092025757, + "window_lag_worst_rms_error_rad": 0.015446512166611456, + "window_lag_worst_start_s": 16.5, + "zero_lag_max_error_rad": 0.17627424001693726, + "zero_lag_p95_error_rad": 0.0018988639349117875, + "zero_lag_rms_error_rad": 0.0033953542228017295, + "zero_lag_samples": 1128, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 19.306 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.npz new file mode 100644 index 0000000000000000000000000000000000000000..11a4490e58d94ac072304a22b34734ce562f1ed5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164406.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:098b9335206fde42d7afa303f2657330e4173a31eb90c9f61837a9f34ba2c5e8 +size 118740 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7fc1be7b0043c247bc56d3e647353582df5cec --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.json @@ -0,0 +1,673 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:46:30", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1188, + "actual_playback_duration_s": 39.61115479504224, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006915390491485596, + "aligned_p95_error_rad": 0.0020672876853495836, + "aligned_rms_error_rad": 0.0009057472887072339, + "aligned_samples": 1188, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 3.8800000000000003, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1188, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1188, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7578394779019366, + "image_frame_counts": { + "cam_scene": 1188, + "cam_wrist": 1188 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004418268799781799, + 0.0051326751708984375, + 0.006915390491485596, + 0.0040779560804367065, + 0.004141867160797119, + 0.0068312883377075195 + ], + "joint_lag_p95_error_rad": [ + 0.0018967611249536276, + 0.0019184857374057174, + 0.002098366618156433, + 0.001817447249777615, + 0.0022236229851841927, + 0.002326266374439001 + ], + "joint_lag_rms_error_rad": [ + 0.0008442749233797997, + 0.0008748142440466691, + 0.000984576754857734, + 0.0007094216731671248, + 0.000915363415365061, + 0.0010647103453117668 + ], + "joint_lag_samples": [ + 1188, + 1188, + 1188, + 1188, + 1188, + 1188 + ], + "joint_lag_worst_time_s": [ + 21.054000000000002, + 3.956, + 3.8800000000000003, + 21.986, + 21.998, + 3.8800000000000003 + ], + "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": 45, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006906468071974814, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971062018536031, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043761841487139465, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005272540315054355, + "leadthrough_capture_egm_poll_duration_warn_count": 2758, + "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": 0.00695897894911468, + "leadthrough_capture_host_loop_dt_median_s": 0.003995103936176747, + "leadthrough_capture_host_loop_dt_p95_s": 0.004404870269354433, + "leadthrough_capture_host_loop_dt_p99_s": 0.005315212765708566, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006939811981283128, + "leadthrough_capture_host_receive_dt_median_s": 0.003997582534793764, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043847452907357365, + "leadthrough_capture_host_receive_dt_p99_s": 0.005242761992849406, + "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": 0.015225064940750599, + "leadthrough_capture_loop_late_median_s": 0.009912191890180111, + "leadthrough_capture_loop_late_p95_s": 0.010280130757018923, + "leadthrough_capture_loop_late_p99_s": 0.011201725853607056, + "leadthrough_capture_loop_late_warn_count": 6857, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006942040985450149, + "leadthrough_capture_read_duration_median_s": 0.003983841044828296, + "leadthrough_capture_read_duration_p95_s": 0.004393555200658738, + "leadthrough_capture_read_duration_p99_s": 0.005299378149211407, + "leadthrough_capture_read_duration_warn_count": 3057, + "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": 13, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002399243414402008, + 0.0027391910552978516, + 0.003999531269073486, + 0.0017089471220970154, + 0.0021895170211791992, + 0.005150817334651947 + ], + "leadthrough_delta_max_abs_rad": 0.005150817334651947, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001316540758125484, + 0.0017945737345144153, + 0.003075434360653162, + 0.00046558678150177, + 0.0015442075673490763, + 0.0035475704353302717 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006297886720858514, + 0.0009052985697053373, + 0.0012486911145970225, + 0.00023381091887131333, + 0.0006218125927262008, + 0.0013240438420325518 + ], + "leadthrough_delta_samples": 5634, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005150817334651947, + "leadthrough_delta_worst_from_rad": -0.0849405974149704, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.472, + "leadthrough_delta_worst_to_rad": -0.09009141474962234, + "leadthrough_duration_s": 22.534, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5633, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9600000000000009, + "leadthrough_final_stillness_removed_samples": 240, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5634, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6857, + "leadthrough_initial_stillness_first_motion_index": 983, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.927, + "leadthrough_initial_stillness_removed_samples": 982, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 982, + "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": [ + 0.002399243414402008, + 0.0027391910552978516, + 0.003999531269073486, + 0.0017089471220970154, + 0.0021895170211791992, + 0.005150817334651947 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005150817334651947, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.5998108536003017, + 0.6847977638242342, + 1.0980243484178762, + 0.42723678052449066, + 0.5473792552947385, + 1.7169391115505839 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.4941182136535645, + "leadthrough_velocity_rms_rad_s": 0.22989540248276993, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006915390491485596, + "measured_wall_accel_p95_abs_rad_s2": 0.42320218682289124, + "measured_wall_accel_peak_abs_rad_s2": 2.507917642593384, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 15.243396851001307, + "measured_wall_accel_rms_rad_s2": 0.2107497388306513, + "measured_wall_jerk_p95_abs_rad_s3": 7.130717754364014, + "measured_wall_jerk_peak_abs_rad_s3": 46.9656867980957, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 42.81727411900647, + "measured_wall_jerk_rms_rad_s3": 3.580320861437016, + "measured_wall_smoothness_samples": 1188, + "measured_wall_velocity_peak_abs_rad_s": 0.5866987109184265, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 15.409742220072076, + "measured_wall_velocity_rms_rad_s": 0.10049619489811017, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006915390491485596, + "moving_aligned_p95_error_rad": 0.0023702033795416355, + "moving_aligned_rms_error_rad": 0.0010461443998525258, + "moving_aligned_samples": 879, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 3.8800000000000003, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004418268799781799, + 0.0051326751708984375, + 0.006915390491485596, + 0.0040779560804367065, + 0.004141867160797119, + 0.006393790245056152 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002412412315607071, + 0.00206768955104053, + 0.0022696496453136206, + 0.0033359951339662075, + 0.002576577477157116, + 0.002871178789064288 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010176315585160394, + 0.0009952434211671541, + 0.001147533094958236, + 0.0015933199431234486, + 0.0011178100452143823, + 0.0013739575138565743 + ], + "moving_joint_lag_samples": [ + 771, + 833, + 757, + 220, + 639, + 603 + ], + "moving_joint_lag_worst_time_s": [ + 21.054000000000002, + 3.956, + 3.8800000000000003, + 21.986, + 21.998, + 3.956 + ], + "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": 1.5518590211868286, + "playback_velocity_rms_rad_s": 0.3593430957196038, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.068, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.534, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2273, + 4685 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43283591789287806, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08694800734519958, + "rapid_planner_max_dt_s": 1.9159999999999986, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007554411888122559, + "rapid_planner_median_dt_s": 0.09999999999999787, + "rapid_planner_path_max_error_rad": 0.006915390491485596, + "rapid_planner_path_p95_error_rad": 0.003079421445727348, + "rapid_planner_path_rms_error_rad": 0.0014910696767833152, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 51, + 69, + 86, + 104, + 118, + 132, + 144, + 157, + 170, + 182, + 200, + 210, + 219, + 228, + 238, + 256, + 272, + 289, + 308, + 328, + 344, + 361, + 386, + 411, + 431, + 451, + 470, + 490, + 504, + 518, + 545, + 564, + 584, + 603, + 622, + 640, + 659, + 703, + 724, + 776, + 863, + 937, + 1047, + 1145, + 1234, + 1316, + 1495, + 1568, + 1623, + 1697, + 1830, + 1894, + 2273, + 2752, + 2834, + 2857, + 2882, + 2906, + 2929, + 2950, + 2970, + 2991, + 3008, + 3026, + 3046, + 3067, + 3085, + 3103, + 3128, + 3153, + 3182, + 3210, + 3234, + 3258, + 3284, + 3311, + 3335, + 3347, + 3359, + 3381, + 3399, + 3427, + 3466, + 3527, + 3561, + 3613, + 3661, + 3705, + 3749, + 3825, + 3894, + 3974, + 4032, + 4380, + 4685, + 4959, + 5000, + 5027, + 5060, + 5093, + 5136, + 5170, + 5193, + 5221, + 5249, + 5287, + 5322, + 5357, + 5389, + 5412, + 5436, + 5457, + 5481, + 5514, + 5548, + 5582, + 5634 + ], + "rapid_planner_selected_max_joint_step_deg": 4.981753857952418, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5635, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006915390491485596, + "raw_replay_rms_error_rad": 0.0009057472887072339, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8497431283323532, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9685399375722625, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9864009055287447, + "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": 0.8641112012721539, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9691880352383976, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9963209849911917, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000323218759149313, + 0.00032679736614227295, + 0.0008100271224975586, + 0.0032569915056228638, + 0.0033631324768066406, + 0.004440426826477051 + ], + "replay_smoothing_max_deviation_normalized": 0.5088354367292358, + "replay_smoothing_max_deviation_rad": 0.004440426826477051, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020002839155495167, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.511284112930298, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.71415328979492, + "replay_smoothing_raw_accel_rms_rad_s2": 3.2168470962875637, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 461.8727722167969, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14422.8544921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 814.2011420088727, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.532853603363037, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23060531709514767, + "replay_smoothing_rms_deviation_rad": 0.0008280509208518884, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.983689546585083, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.118682861328125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.173100888725566, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 399.10943603515625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13978.4580078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 811.2056837872332, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4941182136535645, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22989540248276993, + "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": 0.974729883124854, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969215167225098, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.876, + "replay_smoothing_wrist_max_deviation_rad": 0.004440426826477051, + "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": 0.006915390491485596, + "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": 0.034293968230485916, + "stage_planned_to_measured_rms_error_rad": 0.005959408350513695, + "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": 1188, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7269403338432312, + "target_wall_accel_peak_abs_rad_s2": 3.416627883911133, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 27.900053896009922, + "target_wall_accel_rms_rad_s2": 0.33282859334837794, + "target_wall_jerk_p95_abs_rad_s3": 17.006689071655273, + "target_wall_jerk_peak_abs_rad_s3": 78.62739562988281, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 10.833412845968269, + "target_wall_jerk_rms_rad_s3": 7.740912693372778, + "target_wall_smoothness_samples": 1188, + "target_wall_velocity_peak_abs_rad_s": 0.5891901254653931, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.5667478200048208, + "target_wall_velocity_rms_rad_s": 0.10134374550251574, + "tcp_pose_count": 1188, + "timestamp_count": 1188, + "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": 1.2000000000000028, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.8099999999999998, + "window_lag_best_lag_p95_abs_s": 1.5354999999999994, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.5, + "window_lag_worst_max_error_rad": 0.006915390491485596, + "window_lag_worst_rms_error_rad": 0.0019151975010503963, + "window_lag_worst_start_s": 3.5, + "zero_lag_max_error_rad": 0.006915390491485596, + "zero_lag_p95_error_rad": 0.0020672876853495836, + "zero_lag_rms_error_rad": 0.0009057472887072339, + "zero_lag_samples": 1188, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 3.8800000000000003 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.npz new file mode 100644 index 0000000000000000000000000000000000000000..12b555b9f73070237b88e87da731984a31320c98 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164629.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ea3b89e7eccd4d60f429d5928b3c48563a620e8321f5cd3354f418e8e6cd41c +size 127756 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c1ff6a641e043cd932bd7afacc24b39922a0da --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.json @@ -0,0 +1,673 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-01T16:48:35", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1175, + "actual_playback_duration_s": 39.184519428992644, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.2549077272415161, + "aligned_p95_error_rad": 0.002315178047865629, + "aligned_rms_error_rad": 0.004836806433219915, + "aligned_samples": 1175, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 23.406, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1175, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1175, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6177243592185884, + "image_frame_counts": { + "cam_scene": 1175, + "cam_wrist": 1175 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.04287685453891754, + 0.14614197611808777, + 0.19238004088401794, + 0.1817016303539276, + 0.2549077272415161, + 0.005489945411682129 + ], + "joint_lag_p95_error_rad": [ + 0.0015666967956349254, + 0.0022781158331781626, + 0.0023692429531365633, + 0.0016867852536961436, + 0.0029334421269595623, + 0.002678229473531246 + ], + "joint_lag_rms_error_rad": [ + 0.0014166023094093138, + 0.004372979900709877, + 0.005716792448648745, + 0.0053497278934971845, + 0.007531710323817506, + 0.0011002266504228384 + ], + "joint_lag_samples": [ + 1175, + 1175, + 1175, + 1175, + 1175, + 1175 + ], + "joint_lag_worst_time_s": [ + 23.406, + 23.406, + 23.406, + 23.406, + 23.406, + 13.875 + ], + "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": 45, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006122355931438506, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039858894306235015, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004333760734880343, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005050305533222853, + "leadthrough_capture_egm_poll_duration_warn_count": 3151, + "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": 0.006163474987260997, + "leadthrough_capture_host_loop_dt_median_s": 0.004008786054328084, + "leadthrough_capture_host_loop_dt_p95_s": 0.004358878440689295, + "leadthrough_capture_host_loop_dt_p99_s": 0.005084581128321588, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006042836932465434, + "leadthrough_capture_host_receive_dt_median_s": 0.0040122140198946, + "leadthrough_capture_host_receive_dt_p95_s": 0.004350042948499322, + "leadthrough_capture_host_receive_dt_p99_s": 0.005068526454269885, + "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": 0.014601883012801409, + "leadthrough_capture_loop_late_median_s": 0.009254498349037021, + "leadthrough_capture_loop_late_p95_s": 0.00956882385071367, + "leadthrough_capture_loop_late_p99_s": 0.010415580478729673, + "leadthrough_capture_loop_late_warn_count": 7036, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00614328496158123, + "leadthrough_capture_read_duration_median_s": 0.003998457978013903, + "leadthrough_capture_read_duration_p95_s": 0.004346898727817461, + "leadthrough_capture_read_duration_p99_s": 0.00506946598761715, + "leadthrough_capture_read_duration_warn_count": 3480, + "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": 0.005000000000001954, + "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": [ + 0.0034290850162506104, + 0.0030080676078796387, + 0.004617094993591309, + 0.002689853310585022, + 0.0030871033668518066, + 0.007627964019775391 + ], + "leadthrough_delta_max_abs_rad": 0.007627964019775391, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001416640356183052, + 0.002039022743701935, + 0.003265302861109376, + 0.00029870675643905997, + 0.0016515851020812988, + 0.0034990906715393066 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006252633756957948, + 0.0008974602096714079, + 0.0012886187760159373, + 0.00030841209809295833, + 0.0007011094130575657, + 0.0012901745503768325 + ], + "leadthrough_delta_samples": 6056, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007627964019775391, + "leadthrough_delta_worst_from_rad": -0.46733924746513367, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.0200000000000005, + "leadthrough_delta_worst_to_rad": -0.47496721148490906, + "leadthrough_duration_s": 24.221999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6055, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.2710000000000008, + "leadthrough_final_stillness_removed_samples": 68, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6056, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7036, + "leadthrough_initial_stillness_first_motion_index": 912, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.643, + "leadthrough_initial_stillness_removed_samples": 911, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 911, + "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": [ + 0.0034290850162506104, + 0.0030080676078796387, + 0.004617094993591309, + 0.002689853310585022, + 0.0030871033668518066, + 0.007627964019775391 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007627964019775391, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1426309744516576, + 0.7520169019703264, + 1.1542737483984669, + 0.8856356143951081, + 1.01985534032182, + 1.9069910049436343 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8371082544326782, + "leadthrough_velocity_rms_rad_s": 0.2329914999225216, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.2549077272415161, + "measured_wall_accel_p95_abs_rad_s2": 0.5302484631538391, + "measured_wall_accel_peak_abs_rad_s2": 227.9742431640625, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 15.15112815296743, + "measured_wall_accel_rms_rad_s2": 7.3607645332963925, + "measured_wall_jerk_p95_abs_rad_s3": 8.964655876159668, + "measured_wall_jerk_peak_abs_rad_s3": 3749.181396484375, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 15.17769123497419, + "measured_wall_jerk_rms_rad_s3": 99.54934960616136, + "measured_wall_smoothness_samples": 1175, + "measured_wall_velocity_peak_abs_rad_s": 14.153816223144531, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 15.115597436903045, + "measured_wall_velocity_rms_rad_s": 0.3424608195461131, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.2549077272415161, + "moving_aligned_p95_error_rad": 0.00267776008695364, + "moving_aligned_rms_error_rad": 0.005597681268943574, + "moving_aligned_samples": 877, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 23.406, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.04287685453891754, + 0.14614197611808777, + 0.19238004088401794, + 0.005825532600283623, + 0.00598984956741333, + 0.005489945411682129 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019209544407203794, + 0.002682379214093089, + 0.002829253673553467, + 0.003531342139467597, + 0.0033172518014907837, + 0.0034670233726501465 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0018381781215923217, + 0.0051692876697793785, + 0.00714243585511608, + 0.0017144624842046522, + 0.0014646463088833347, + 0.0016116404864445133 + ], + "moving_joint_lag_samples": [ + 683, + 839, + 751, + 183, + 708, + 471 + ], + "moving_joint_lag_worst_time_s": [ + 23.406, + 23.406, + 23.406, + 15.814, + 15.765999999999998, + 13.875 + ], + "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": 47.0339469909668, + "playback_velocity_rms_rad_s": 1.322085268926816, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.44399999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.221999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2359, + 5113 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.5937027743808397, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08518248796463013, + "rapid_planner_max_dt_s": 2.216000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.010362068191170692, + "rapid_planner_median_dt_s": 0.0920000000000023, + "rapid_planner_path_max_error_rad": 0.2549077272415161, + "rapid_planner_path_p95_error_rad": 0.0035703301429748533, + "rapid_planner_path_rms_error_rad": 0.007614127223154328, + "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, + 112, + 140, + 168, + 180, + 193, + 204, + 214, + 224, + 233, + 242, + 252, + 261, + 270, + 280, + 290, + 305, + 320, + 340, + 350, + 361, + 374, + 388, + 398, + 408, + 418, + 428, + 441, + 453, + 469, + 490, + 512, + 534, + 557, + 589, + 644, + 731, + 768, + 810, + 853, + 897, + 964, + 1043, + 1108, + 1169, + 1234, + 1262, + 1320, + 1400, + 1513, + 1638, + 1789, + 1878, + 2359, + 2880, + 2980, + 3008, + 3041, + 3077, + 3113, + 3137, + 3161, + 3183, + 3205, + 3222, + 3238, + 3255, + 3272, + 3291, + 3310, + 3324, + 3338, + 3367, + 3388, + 3410, + 3431, + 3452, + 3485, + 3504, + 3524, + 3543, + 3562, + 3584, + 3607, + 3630, + 3652, + 3676, + 3700, + 3724, + 3767, + 3829, + 3866, + 3904, + 4025, + 4096, + 4302, + 4559, + 5113, + 5459, + 5527, + 5560, + 5590, + 5618, + 5640, + 5667, + 5684, + 5702, + 5728, + 5747, + 5766, + 5787, + 5808, + 5838, + 5873, + 5908, + 5945, + 6056 + ], + "rapid_planner_selected_max_joint_step_deg": 4.880597048797236, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6057, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.2549077272415161, + "raw_replay_rms_error_rad": 0.004836806433219915, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.971915111333457, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9801893546968454, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9774826794881606, + "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": 0.9748562564962392, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9671231500197853, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9892137601450627, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004272162914276123, + 0.0007008910179138184, + 0.0010773539543151855, + 0.001900896430015564, + 0.0023109912872314453, + 0.005102753639221191 + ], + "replay_smoothing_max_deviation_normalized": 0.584732499374344, + "replay_smoothing_max_deviation_rad": 0.005102753639221191, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001764178043231368, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.248964786529541, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 37.428836822509766, + "replay_smoothing_raw_accel_rms_rad_s2": 2.9471841955474796, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1080.3604736328125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10806.9013671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 748.9748135448012, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9063167572021484, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23369645271288517, + "replay_smoothing_rms_deviation_rad": 0.000776765143764801, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.101548194885254, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 36.687347412109375, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.8808215044089094, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1053.1961669921875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10451.6044921875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 740.8961915606001, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8371082544326782, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2329914999225216, + "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": 0.963695171587829, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969834681605987, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.7919999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.005102753639221191, + "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": 0.2549077272415161, + "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": 0.5040439367294312, + "stage_planned_to_measured_rms_error_rad": 0.012328531848425497, + "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": 1175, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.2549", + "target_wall_accel_p95_abs_rad_s2": 0.7938125133514404, + "target_wall_accel_peak_abs_rad_s2": 305.57525634765625, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.033402548055164516, + "target_wall_accel_rms_rad_s2": 7.115741985746943, + "target_wall_jerk_p95_abs_rad_s3": 19.478059768676758, + "target_wall_jerk_peak_abs_rad_s3": 4578.7783203125, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06674137699883431, + "target_wall_jerk_rms_rad_s3": 87.3633751825007, + "target_wall_smoothness_samples": 1175, + "target_wall_velocity_peak_abs_rad_s": 20.38922691345215, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.52798917144537e-06, + "target_wall_velocity_rms_rad_s": 0.36861322093544063, + "tcp_pose_count": 1175, + "timestamp_count": 1175, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.2549", + "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": 1.6400000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2599999999999993, + "window_lag_best_lag_p95_abs_s": 1.3325000000000005, + "window_lag_count": 36, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 24.0, + "window_lag_worst_max_error_rad": 0.2549077272415161, + "window_lag_worst_rms_error_rad": 0.01971876340181292, + "window_lag_worst_start_s": 23.0, + "zero_lag_max_error_rad": 0.2549077272415161, + "zero_lag_p95_error_rad": 0.002315178047865629, + "zero_lag_rms_error_rad": 0.004836806433219915, + "zero_lag_samples": 1175, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 23.406 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.npz b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ee594118dc3241acff50121532acffbc0535c24 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260901_164834.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85498b8328645e023bfd7192287493e989dca40d5979fa2c235424dfc292f249 +size 124517 diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6a16f7f29e9ba9e65baae62d961aee1a240b21e6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_manifest.json @@ -0,0 +1,871 @@ +{ + "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": 33, + "discard": 13, + "failure": 0, + "success": 20 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 24.913, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6230, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 1, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 24.945, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6238, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 4, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 26.293, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6575, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 2, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.6, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260901_155328.hdf5", + "file_size_mb": 1371.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1129, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260901_155747.hdf5", + "file_size_mb": 1354.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1118, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 27.405, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000004", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6853, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 24, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.867, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260901_160123.hdf5", + "file_size_mb": 1341.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1107, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 24.612, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000005", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.04, + "num_frames": 6155, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 7, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.633, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260901_160442.hdf5", + "file_size_mb": 1368.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1130, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 16, + "warnings": [] + }, + { + "dropped_ticks": 2, + "duration_s": 38.667, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260901_160643.hdf5", + "file_size_mb": 1406.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1161, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 23.905, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000006", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 5978, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 30, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 20.698, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000007", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.02, + "num_frames": 5176, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 13, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 25.525, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000008", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6383, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 23, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 26.552, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000009", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.04, + "num_frames": 6640, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 17, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.2, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000005", + "episode_idx": 5, + "file": "episode_000005_20260901_161345.hdf5", + "file_size_mb": 1423.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1177, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.9, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000006", + "episode_idx": 6, + "file": "episode_000006_20260901_161552.hdf5", + "file_size_mb": 1463.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1198, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 27.84, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000010", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.04, + "num_frames": 6962, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 43, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000007", + "episode_idx": 7, + "file": "episode_000007_20260901_161927.hdf5", + "file_size_mb": 1398.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1150, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000008", + "episode_idx": 8, + "file": "episode_000008_20260901_162131.hdf5", + "file_size_mb": 1384.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1140, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 40.767, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000009", + "episode_idx": 9, + "file": "episode_000009_20260901_162337.hdf5", + "file_size_mb": 1493.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1224, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000010", + "episode_idx": 10, + "file": "episode_000010_20260901_162546.hdf5", + "file_size_mb": 1457.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1200, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 28.105, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000011", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7028, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 1, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.7, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000011", + "episode_idx": 11, + "file": "episode_000011_20260901_162924.hdf5", + "file_size_mb": 1335.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1102, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.8, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000012", + "episode_idx": 12, + "file": "episode_000012_20260901_163117.hdf5", + "file_size_mb": 1379.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1135, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 20, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000013", + "episode_idx": 13, + "file": "episode_000013_20260901_163317.hdf5", + "file_size_mb": 1400.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1151, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.467, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000014", + "episode_idx": 14, + "file": "episode_000014_20260901_163515.hdf5", + "file_size_mb": 1366.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1125, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.2, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000015", + "episode_idx": 15, + "file": "episode_000015_20260901_163714.hdf5", + "file_size_mb": 1353.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1117, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 28.177, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000012", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7046, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 1, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.1, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000016", + "episode_idx": 16, + "file": "episode_000016_20260901_164052.hdf5", + "file_size_mb": 1417.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1174, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 27.573, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:discard_000013", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6895, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 19, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000017", + "episode_idx": 17, + "file": "episode_000017_20260901_164411.hdf5", + "file_size_mb": 1368.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1128, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000018", + "episode_idx": 18, + "file": "episode_000018_20260901_164635.hdf5", + "file_size_mb": 1447.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1188, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 20, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 39.133, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-01_15-46-21:episode_000019", + "episode_idx": 19, + "file": "episode_000019_20260901_164837.hdf5", + "file_size_mb": 1426.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1175, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 20, + "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": "2026-09-01T16:48:47", + "session_id": "flex_to_biotek_v2_2026-09-01_15-46-21", + "session_started": "2026-09-01T15:46:21", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 20, + "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_v018", + "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": "86b2d21c7df4616bc87a16a6234046809d7a8e76be86090edf1c7d32537a4420", + "start_pose_id": "start_pose_v019", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v019.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": "2026-09-01T16:48:47" +} diff --git a/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_summary.json b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0850bf4c40fbface75abbacbe143026a156a0feb --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-01_15-46-21/session_summary.json @@ -0,0 +1,1287 @@ +{ + "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": "2026-09-01T15:46:23", + "session_ended": "2026-09-01T16:48:47", + "counts": { + "attempted": 33, + "success": 20, + "failure": 0, + "discard": 13 + }, + "episodes": [ + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6230, + "duration_s": 24.913, + "measured_fps": 250.03, + "slow_ticks": 1, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6238, + "duration_s": 24.945, + "measured_fps": 250.03, + "slow_ticks": 4, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6575, + "duration_s": 26.293, + "measured_fps": 250.03, + "slow_ticks": 2, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260901_155328.hdf5", + "num_frames": 1129, + "duration_s": 37.6, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.162, + "file_size_mb": 1371.0, + "save_metrics": { + "validate_s": 0.0010546910343691707, + "prepare_arrays_s": 0.0014586331089958549, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.561649810988456, + "image_write_s": 10.552974638878368, + "image_chunking": "frame", + "image_input_mb": 2080.9728, + "image_storage_mb": 1368.608631, + "image_frame_count": 2258, + "image_camera_frame_counts": { + "cam_scene": 1129, + "cam_wrist": 1129 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1040.4864, + "cam_wrist": 1040.4864 + }, + "image_camera_storage_mb": { + "cam_scene": 716.674941, + "cam_wrist": 651.93369 + }, + "file_size_mb": 1370.979715, + "hdf5_write_s": 11.159191112965345, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.9757927879691124e-05, + "total_s": 11.161812328966334 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260901_155747.hdf5", + "num_frames": 1118, + "duration_s": 37.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.311, + "file_size_mb": 1354.0, + "save_metrics": { + "validate_s": 0.0013080380158498883, + "prepare_arrays_s": 0.001397589105181396, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6696261540055275, + "image_write_s": 10.589483143063262, + "image_chunking": "frame", + "image_input_mb": 2060.6976, + "image_storage_mb": 1351.6468909999999, + "image_frame_count": 2236, + "image_camera_frame_counts": { + "cam_scene": 1118, + "cam_wrist": 1118 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1030.3488, + "cam_wrist": 1030.3488 + }, + "image_camera_storage_mb": { + "cam_scene": 710.103002, + "cam_wrist": 641.543889 + }, + "file_size_mb": 1354.034011, + "hdf5_write_s": 11.30836481100414, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.0789018385112286e-05, + "total_s": 11.311170678003691 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6853, + "duration_s": 27.405, + "measured_fps": 250.03, + "slow_ticks": 24, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260901_160123.hdf5", + "num_frames": 1107, + "duration_s": 36.867, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 14.68, + "file_size_mb": 1341.2, + "save_metrics": { + "validate_s": 0.0021521999733522534, + "prepare_arrays_s": 0.002550675068050623, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7609020269010216, + "image_write_s": 13.799706745892763, + "image_chunking": "frame", + "image_input_mb": 2040.4224, + "image_storage_mb": 1338.910351, + "image_frame_count": 2214, + "image_camera_frame_counts": { + "cam_scene": 1107, + "cam_wrist": 1107 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1020.2112, + "cam_wrist": 1020.2112 + }, + "image_camera_storage_mb": { + "cam_scene": 701.400772, + "cam_wrist": 637.509579 + }, + "file_size_mb": 1341.213355, + "hdf5_write_s": 14.674927017069422, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 7.127400022000074e-05, + "total_s": 14.679805482039228 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6155, + "duration_s": 24.612, + "measured_fps": 250.04, + "slow_ticks": 7, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260901_160442.hdf5", + "num_frames": 1130, + "duration_s": 37.633, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 20.114, + "file_size_mb": 1368.4, + "save_metrics": { + "validate_s": 0.002222719951532781, + "prepare_arrays_s": 0.003156890976242721, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.6224238979630172, + "image_write_s": 17.417177786002867, + "image_chunking": "frame", + "image_input_mb": 2082.816, + "image_storage_mb": 1366.051491, + "image_frame_count": 2260, + "image_camera_frame_counts": { + "cam_scene": 1130, + "cam_wrist": 1130 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1041.408, + "cam_wrist": 1041.408 + }, + "image_camera_storage_mb": { + "cam_scene": 716.218994, + "cam_wrist": 649.832497 + }, + "file_size_mb": 1368.395995, + "hdf5_write_s": 20.108032705029473, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 5.037395749241114e-05, + "total_s": 20.113592560985126 + } + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260901_160643.hdf5", + "num_frames": 1161, + "duration_s": 38.667, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 2, + "save_time_s": 17.381, + "file_size_mb": 1406.8, + "save_metrics": { + "validate_s": 0.0019095310708507895, + "prepare_arrays_s": 0.0019077439792454243, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.2140999749535695, + "image_write_s": 16.101749492110685, + "image_chunking": "frame", + "image_input_mb": 2139.9552, + "image_storage_mb": 1404.4482229999999, + "image_frame_count": 2322, + "image_camera_frame_counts": { + "cam_scene": 1161, + "cam_wrist": 1161 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1069.9776, + "cam_wrist": 1069.9776 + }, + "image_camera_storage_mb": { + "cam_scene": 735.170085, + "cam_wrist": 669.278138 + }, + "file_size_mb": 1406.792035, + "hdf5_write_s": 17.37669788801577, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 5.068606697022915e-05, + "total_s": 17.380767831928097 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5978, + "duration_s": 23.905, + "measured_fps": 250.03, + "slow_ticks": 30, + "dropped_ticks": 1, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5176, + "duration_s": 20.698, + "measured_fps": 250.02, + "slow_ticks": 13, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6383, + "duration_s": 25.525, + "measured_fps": 250.03, + "slow_ticks": 23, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6640, + "duration_s": 26.552, + "measured_fps": 250.04, + "slow_ticks": 17, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 5, + "outcome": "success", + "file": "episode_000005_20260901_161345.hdf5", + "num_frames": 1177, + "duration_s": 39.2, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 17.739, + "file_size_mb": 1423.9, + "save_metrics": { + "validate_s": 0.0023347539827227592, + "prepare_arrays_s": 0.0027450229972600937, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 2.459264539065771, + "image_write_s": 15.17714054195676, + "image_chunking": "frame", + "image_input_mb": 2169.4464, + "image_storage_mb": 1421.479078, + "image_frame_count": 2354, + "image_camera_frame_counts": { + "cam_scene": 1177, + "cam_wrist": 1177 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1084.7232, + "cam_wrist": 1084.7232 + }, + "image_camera_storage_mb": { + "cam_scene": 745.761562, + "cam_wrist": 675.717516 + }, + "file_size_mb": 1423.898586, + "hdf5_write_s": 17.73338308709208, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.92660328745842e-05, + "total_s": 17.73870347009506 + } + }, + { + "episode_idx": 6, + "outcome": "success", + "file": "episode_000006_20260901_161552.hdf5", + "num_frames": 1198, + "duration_s": 39.9, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 12.607, + "file_size_mb": 1463.8, + "save_metrics": { + "validate_s": 0.0018463979940861464, + "prepare_arrays_s": 0.0026714199921116233, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.0817578211426735, + "image_write_s": 11.459074830054305, + "image_chunking": "frame", + "image_input_mb": 2208.1536, + "image_storage_mb": 1461.0575509999999, + "image_frame_count": 2396, + "image_camera_frame_counts": { + "cam_scene": 1198, + "cam_wrist": 1198 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1104.0768, + "cam_wrist": 1104.0768 + }, + "image_camera_storage_mb": { + "cam_scene": 759.122826, + "cam_wrist": 701.934725 + }, + "file_size_mb": 1463.814239, + "hdf5_write_s": 12.601865235017613, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.671607166528702e-05, + "total_s": 12.606520967907272 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6962, + "duration_s": 27.84, + "measured_fps": 250.04, + "slow_ticks": 43, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 7, + "outcome": "success", + "file": "episode_000007_20260901_161927.hdf5", + "num_frames": 1150, + "duration_s": 38.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.981, + "file_size_mb": 1398.4, + "save_metrics": { + "validate_s": 0.0019390160450711846, + "prepare_arrays_s": 0.0021661369828507304, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.46275606111157686, + "image_write_s": 10.464708208921365, + "image_chunking": "frame", + "image_input_mb": 2119.68, + "image_storage_mb": 1395.7957900000001, + "image_frame_count": 2300, + "image_camera_frame_counts": { + "cam_scene": 1150, + "cam_wrist": 1150 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1059.84, + "cam_wrist": 1059.84 + }, + "image_camera_storage_mb": { + "cam_scene": 729.147417, + "cam_wrist": 666.648373 + }, + "file_size_mb": 1398.359314, + "hdf5_write_s": 10.976592288003303, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.116096533834934e-05, + "total_s": 10.981010069022886 + } + }, + { + "episode_idx": 8, + "outcome": "success", + "file": "episode_000008_20260901_162131.hdf5", + "num_frames": 1140, + "duration_s": 37.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.836, + "file_size_mb": 1384.1, + "save_metrics": { + "validate_s": 0.001207662047818303, + "prepare_arrays_s": 0.0015666680410504341, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6252106218598783, + "image_write_s": 10.152581254951656, + "image_chunking": "frame", + "image_input_mb": 2101.248, + "image_storage_mb": 1381.693092, + "image_frame_count": 2280, + "image_camera_frame_counts": { + "cam_scene": 1140, + "cam_wrist": 1140 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1050.624, + "cam_wrist": 1050.624 + }, + "image_camera_storage_mb": { + "cam_scene": 722.336788, + "cam_wrist": 659.356304 + }, + "file_size_mb": 1384.134808, + "hdf5_write_s": 10.832678508013487, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.4159009121358395e-05, + "total_s": 10.835550933959894 + } + }, + { + "episode_idx": 9, + "outcome": "success", + "file": "episode_000009_20260901_162337.hdf5", + "num_frames": 1224, + "duration_s": 40.767, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.11, + "file_size_mb": 1493.6, + "save_metrics": { + "validate_s": 0.001274641021154821, + "prepare_arrays_s": 0.0016252119094133377, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.397628462058492, + "image_write_s": 9.666093606967479, + "image_chunking": "frame", + "image_input_mb": 2256.0768, + "image_storage_mb": 1490.882231, + "image_frame_count": 2448, + "image_camera_frame_counts": { + "cam_scene": 1224, + "cam_wrist": 1224 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1128.0384, + "cam_wrist": 1128.0384 + }, + "image_camera_storage_mb": { + "cam_scene": 775.706134, + "cam_wrist": 715.176097 + }, + "file_size_mb": 1493.578531, + "hdf5_write_s": 10.107216826057993, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.912602551281452e-05, + "total_s": 10.110296146012843 + } + }, + { + "episode_idx": 10, + "outcome": "success", + "file": "episode_000010_20260901_162546.hdf5", + "num_frames": 1200, + "duration_s": 39.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.107, + "file_size_mb": 1457.7, + "save_metrics": { + "validate_s": 0.00179818004835397, + "prepare_arrays_s": 0.0016016400186344981, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.314811134012416, + "image_write_s": 9.746821632958017, + "image_chunking": "frame", + "image_input_mb": 2211.84, + "image_storage_mb": 1454.9806389999999, + "image_frame_count": 2400, + "image_camera_frame_counts": { + "cam_scene": 1200, + "cam_wrist": 1200 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1105.92, + "cam_wrist": 1105.92 + }, + "image_camera_storage_mb": { + "cam_scene": 759.529072, + "cam_wrist": 695.451567 + }, + "file_size_mb": 1457.681515, + "hdf5_write_s": 10.103529006009921, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.964488860219717e-05, + "total_s": 10.107052935985848 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7028, + "duration_s": 28.105, + "measured_fps": 250.03, + "slow_ticks": 1, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 11, + "outcome": "success", + "file": "episode_000011_20260901_162924.hdf5", + "num_frames": 1102, + "duration_s": 36.7, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.863, + "file_size_mb": 1335.0, + "save_metrics": { + "validate_s": 0.0010831559775397182, + "prepare_arrays_s": 0.0012924090260639787, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.28261869703419507, + "image_write_s": 8.540431465837173, + "image_chunking": "frame", + "image_input_mb": 2031.2064, + "image_storage_mb": 1332.483139, + "image_frame_count": 2204, + "image_camera_frame_counts": { + "cam_scene": 1102, + "cam_wrist": 1102 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1015.6032, + "cam_wrist": 1015.6032 + }, + "image_camera_storage_mb": { + "cam_scene": 699.218825, + "cam_wrist": 633.264314 + }, + "file_size_mb": 1334.979051, + "hdf5_write_s": 8.860234742984176, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.979599568992853e-05, + "total_s": 8.862704716040753 + } + }, + { + "episode_idx": 12, + "outcome": "success", + "file": "episode_000012_20260901_163117.hdf5", + "num_frames": 1135, + "duration_s": 37.8, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.885, + "file_size_mb": 1379.8, + "save_metrics": { + "validate_s": 0.0012648770352825522, + "prepare_arrays_s": 0.001340965973213315, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9863526109838858, + "image_write_s": 8.856865962967277, + "image_chunking": "frame", + "image_input_mb": 2092.032, + "image_storage_mb": 1377.5208010000001, + "image_frame_count": 2270, + "image_camera_frame_counts": { + "cam_scene": 1135, + "cam_wrist": 1135 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1046.016, + "cam_wrist": 1046.016 + }, + "image_camera_storage_mb": { + "cam_scene": 719.57262, + "cam_wrist": 657.948181 + }, + "file_size_mb": 1379.826417, + "hdf5_write_s": 9.882553888950497, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.897305577993393e-05, + "total_s": 9.885252324980684 + } + }, + { + "episode_idx": 13, + "outcome": "success", + "file": "episode_000013_20260901_163317.hdf5", + "num_frames": 1151, + "duration_s": 38.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.893, + "file_size_mb": 1400.7, + "save_metrics": { + "validate_s": 0.0020877919159829617, + "prepare_arrays_s": 0.001996761071495712, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8472566530108452, + "image_write_s": 9.000518476008438, + "image_chunking": "frame", + "image_input_mb": 2121.5232, + "image_storage_mb": 1398.0710760000002, + "image_frame_count": 2302, + "image_camera_frame_counts": { + "cam_scene": 1151, + "cam_wrist": 1151 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1060.7616, + "cam_wrist": 1060.7616 + }, + "image_camera_storage_mb": { + "cam_scene": 730.241389, + "cam_wrist": 667.829687 + }, + "file_size_mb": 1400.747276, + "hdf5_write_s": 9.888608660083264, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.9406935684382915e-05, + "total_s": 9.892839655047283 + } + }, + { + "episode_idx": 14, + "outcome": "success", + "file": "episode_000014_20260901_163515.hdf5", + "num_frames": 1125, + "duration_s": 37.467, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.435, + "file_size_mb": 1366.4, + "save_metrics": { + "validate_s": 0.0012286909623071551, + "prepare_arrays_s": 0.001524618943221867, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5777627680217847, + "image_write_s": 8.811460601980798, + "image_chunking": "frame", + "image_input_mb": 2073.6, + "image_storage_mb": 1363.707038, + "image_frame_count": 2250, + "image_camera_frame_counts": { + "cam_scene": 1125, + "cam_wrist": 1125 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1036.8, + "cam_wrist": 1036.8 + }, + "image_camera_storage_mb": { + "cam_scene": 712.845485, + "cam_wrist": 650.861553 + }, + "file_size_mb": 1366.408662, + "hdf5_write_s": 9.432488298974931, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.779900725930929e-05, + "total_s": 9.435337268048897 + } + }, + { + "episode_idx": 15, + "outcome": "success", + "file": "episode_000015_20260901_163714.hdf5", + "num_frames": 1117, + "duration_s": 37.2, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.579, + "file_size_mb": 1353.3, + "save_metrics": { + "validate_s": 0.001156564918346703, + "prepare_arrays_s": 0.0014702649787068367, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8577730080578476, + "image_write_s": 8.677078749984503, + "image_chunking": "frame", + "image_input_mb": 2058.8544, + "image_storage_mb": 1350.638831, + "image_frame_count": 2234, + "image_camera_frame_counts": { + "cam_scene": 1117, + "cam_wrist": 1117 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1029.4272, + "cam_wrist": 1029.4272 + }, + "image_camera_storage_mb": { + "cam_scene": 707.835505, + "cam_wrist": 642.803326 + }, + "file_size_mb": 1353.268635, + "hdf5_write_s": 9.57582106301561, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.637699410319328e-05, + "total_s": 9.578606027993374 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7046, + "duration_s": 28.177, + "measured_fps": 250.03, + "slow_ticks": 1, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 16, + "outcome": "success", + "file": "episode_000016_20260901_164052.hdf5", + "num_frames": 1174, + "duration_s": 39.1, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.896, + "file_size_mb": 1417.8, + "save_metrics": { + "validate_s": 0.0012343400157988071, + "prepare_arrays_s": 0.0015667009865865111, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7297529549105093, + "image_write_s": 9.123966448009014, + "image_chunking": "frame", + "image_input_mb": 2163.9168, + "image_storage_mb": 1415.358006, + "image_frame_count": 2348, + "image_camera_frame_counts": { + "cam_scene": 1174, + "cam_wrist": 1174 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1081.9584, + "cam_wrist": 1081.9584 + }, + "image_camera_storage_mb": { + "cam_scene": 743.620146, + "cam_wrist": 671.73786 + }, + "file_size_mb": 1417.813254, + "hdf5_write_s": 9.893274909001775, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.8480968214571476e-05, + "total_s": 9.896277270978317 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6895, + "duration_s": 27.573, + "measured_fps": 250.03, + "slow_ticks": 19, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 17, + "outcome": "success", + "file": "episode_000017_20260901_164411.hdf5", + "num_frames": 1128, + "duration_s": 37.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.16, + "file_size_mb": 1368.8, + "save_metrics": { + "validate_s": 0.00114154489710927, + "prepare_arrays_s": 0.0014854809269309044, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.2939972538733855, + "image_write_s": 8.821380609995686, + "image_chunking": "frame", + "image_input_mb": 2079.1296, + "image_storage_mb": 1366.542398, + "image_frame_count": 2256, + "image_camera_frame_counts": { + "cam_scene": 1128, + "cam_wrist": 1128 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1039.5648, + "cam_wrist": 1039.5648 + }, + "image_camera_storage_mb": { + "cam_scene": 715.293577, + "cam_wrist": 651.248821 + }, + "file_size_mb": 1368.793842, + "hdf5_write_s": 9.157546464004554, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.8365949876606464e-05, + "total_s": 9.160346911055967 + } + }, + { + "episode_idx": 18, + "outcome": "success", + "file": "episode_000018_20260901_164635.hdf5", + "num_frames": 1188, + "duration_s": 39.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.704, + "file_size_mb": 1447.8, + "save_metrics": { + "validate_s": 0.001513470895588398, + "prepare_arrays_s": 0.0015785060822963715, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.31069469812791795, + "image_write_s": 9.34740898385644, + "image_chunking": "frame", + "image_input_mb": 2189.7216, + "image_storage_mb": 1445.281007, + "image_frame_count": 2376, + "image_camera_frame_counts": { + "cam_scene": 1188, + "cam_wrist": 1188 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1094.8608, + "cam_wrist": 1094.8608 + }, + "image_camera_storage_mb": { + "cam_scene": 752.78998, + "cam_wrist": 692.491027 + }, + "file_size_mb": 1447.823331, + "hdf5_write_s": 9.70060961600393, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.031101707369089e-05, + "total_s": 9.703796511981636 + } + }, + { + "episode_idx": 19, + "outcome": "success", + "file": "episode_000019_20260901_164837.hdf5", + "num_frames": 1175, + "duration_s": 39.133, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.503, + "file_size_mb": 1426.4, + "save_metrics": { + "validate_s": 0.0016891640843823552, + "prepare_arrays_s": 0.0013427500380203128, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.2959067418705672, + "image_write_s": 9.160926860990003, + "image_chunking": "frame", + "image_input_mb": 2165.76, + "image_storage_mb": 1423.837113, + "image_frame_count": 2350, + "image_camera_frame_counts": { + "cam_scene": 1175, + "cam_wrist": 1175 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1082.88, + "cam_wrist": 1082.88 + }, + "image_camera_storage_mb": { + "cam_scene": 745.249081, + "cam_wrist": 678.588032 + }, + "file_size_mb": 1426.416353, + "hdf5_write_s": 9.499684911919758, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.8139987736940384e-05, + "total_s": 9.502927079913206 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a77490b47af05bd28f16d14aee2e386e5760be0f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_manifest.json @@ -0,0 +1,142 @@ +{ + "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": 0, + "discard": 0, + "failure": 0, + "success": 0 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [], + "operator": "Jesse", + "rapid_service_status": { + "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd", + "configured": true, + "message": "configured", + "ok": true, + "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState" + }, + "robot_type": "abb_gofa", + "session_ended": "2026-09-02T13:36:46", + "session_id": "flex_to_biotek_v2_2026-09-02_13-24-01", + "session_started": "2026-09-02T13:24:01", + "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_v019", + "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_io_backend": "", + "leadthrough_start_tool_state": 0.0, + "leadthrough_start_tool_state_valid": true, + "start_pose_hash": "debd50c4645b652b5923dba4d624a36b3656fd6883ced1621ce02be945cd5684", + "start_pose_id": "start_pose_v020", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v020.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": "2026-09-02T13:36:46" +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_summary.json b/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..550648990254f24adaae71aa081d7f014d7ca5bd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-24-01/session_summary.json @@ -0,0 +1,17 @@ +{ + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "operator": "Jesse", + "robot_type": "abb_gofa", + "collection_mode": "leadthrough_record", + "action_type": "state_copy", + "session_started": "2026-09-02T13:24:05", + "session_ended": "", + "counts": { + "attempted": 0, + "success": 0, + "failure": 0, + "discard": 0 + }, + "episodes": [] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000000_20260902_134753.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000000_20260902_134753.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..25fac6fcd4880df06bf44851d57761af14fa9364 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000000_20260902_134753.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38dc498a93869b9406813e9ed96e1ab67ce53a769dd9a42bac299c48e2ee19e1 +size 1334351564 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000001_20260902_135448.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000001_20260902_135448.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..96f99f04da5a8a0d42b8d6eb0be293f0767d2854 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000001_20260902_135448.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1d77e948f8642aa541be9b6973ec7210803aa73219f5f399f12c0d036c9b94d +size 1348632492 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000002_20260902_135645.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000002_20260902_135645.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1b95e038547eb1e73db3ac0e6b6e59c0b7a6cf9d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000002_20260902_135645.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04233acffdffd1bd2437dbe1e770f0fdfa9e11dd4a1e13e0ba15510ace595694 +size 1324132961 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000003_20260902_135900.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000003_20260902_135900.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..89889f03251d5862eb3091ceda9795079b088739 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/episode_000003_20260902_135900.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbecd8028aef4e0bb20a05a6b4ff57eac9fc6e55065a7d5e5658d981daad8f36 +size 1318908008 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.json new file mode 100644 index 0000000000000000000000000000000000000000..6ed19abe4eef91bde73537a3e4803e029cbba285 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.json @@ -0,0 +1,483 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:50:44", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 1019, + "actual_playback_duration_s": 34.04510026902426, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1019, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1019, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5225213661743329, + "image_frame_counts": { + "cam_scene": 1019, + "cam_wrist": 1019 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 28, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006393507006578147, + "leadthrough_capture_egm_poll_duration_median_s": 0.003974294464569539, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004362090950598941, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005237555081257595, + "leadthrough_capture_egm_poll_duration_warn_count": 2939, + "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": 0.006422211998142302, + "leadthrough_capture_host_loop_dt_median_s": 0.004002748988568783, + "leadthrough_capture_host_loop_dt_p95_s": 0.004393948335200548, + "leadthrough_capture_host_loop_dt_p99_s": 0.005277362931519748, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006280240952037275, + "leadthrough_capture_host_receive_dt_median_s": 0.004003659007139504, + "leadthrough_capture_host_receive_dt_p95_s": 0.004383832728490233, + "leadthrough_capture_host_receive_dt_p99_s": 0.005213097627274692, + "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": 0.015123856021091342, + "leadthrough_capture_loop_late_median_s": 0.009215267782565206, + "leadthrough_capture_loop_late_p95_s": 0.009498362772865221, + "leadthrough_capture_loop_late_p99_s": 0.010466704331338405, + "leadthrough_capture_loop_late_warn_count": 7164, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0064081280725076795, + "leadthrough_capture_read_duration_median_s": 0.00398973299888894, + "leadthrough_capture_read_duration_p95_s": 0.0043791016330942505, + "leadthrough_capture_read_duration_p99_s": 0.00525988034205511, + "leadthrough_capture_read_duration_warn_count": 3282, + "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": 9, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0032485276460647583, + 0.002437591552734375, + 0.0037226974964141846, + 0.002044510096311569, + 0.0033243894577026367, + 0.00699460506439209 + ], + "leadthrough_delta_max_abs_rad": 0.00699460506439209, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017784573137760162, + 0.0019460320472717285, + 0.003046780824661255, + 0.0004497086629271507, + 0.0016292333602905273, + 0.004413793329149485 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007288357592187822, + 0.0007626279257237911, + 0.0011241370812058449, + 0.0002653251285664737, + 0.0006500930758193135, + 0.0015010930364951491 + ], + "leadthrough_delta_samples": 5591, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00699460506439209, + "leadthrough_delta_worst_from_rad": -0.5409583449363708, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6920000000000002, + "leadthrough_delta_worst_to_rad": -0.5479529500007629, + "leadthrough_duration_s": 22.361, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5570, + "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": 5571, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7164, + "leadthrough_initial_stillness_first_motion_index": 1573, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.287, + "leadthrough_initial_stillness_removed_samples": 1572, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1572, + "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": [ + 0.0032485276460647583, + 0.002437591552734375, + 0.0037226974964141846, + 0.002044510096311569, + 0.0033243894577026367, + 0.00699460506439209 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00699460506439209, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8121319115166397, + 0.6093978881833902, + 0.9306743741032354, + 0.5111275240781756, + 0.8310973644261198, + 1.7486512660978268 + ], + "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": 74.72200000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.361, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2036, + 4718 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4394663240296679, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08557558059692383, + "rapid_planner_max_dt_s": 2.192, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0076701343059539795, + "rapid_planner_median_dt_s": 0.08800000000000097, + "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, + 53, + 67, + 78, + 90, + 102, + 114, + 126, + 139, + 152, + 159, + 166, + 173, + 180, + 187, + 194, + 207, + 220, + 236, + 253, + 270, + 286, + 298, + 309, + 320, + 332, + 354, + 380, + 402, + 424, + 454, + 485, + 521, + 568, + 594, + 650, + 714, + 778, + 846, + 881, + 953, + 1004, + 1027, + 1119, + 1188, + 1413, + 1484, + 1571, + 2036, + 2584, + 2752, + 2793, + 2838, + 2881, + 2906, + 2931, + 2956, + 2980, + 2994, + 3009, + 3024, + 3038, + 3060, + 3082, + 3104, + 3127, + 3158, + 3192, + 3229, + 3250, + 3272, + 3285, + 3298, + 3311, + 3324, + 3336, + 3348, + 3371, + 3392, + 3414, + 3448, + 3541, + 3624, + 3838, + 3923, + 4080, + 4260, + 4360, + 4718, + 4927, + 4976, + 5009, + 5026, + 5044, + 5062, + 5080, + 5106, + 5119, + 5132, + 5141, + 5150, + 5160, + 5169, + 5182, + 5196, + 5210, + 5234, + 5258, + 5289, + 5477, + 5591 + ], + "rapid_planner_selected_max_joint_step_deg": 4.903119597585353, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5592, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006420999765396118, + "raw_replay_rms_error_rad": 0.0009627645479263482, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8102513508338121, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9800839558505785, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9454653767228067, + "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": 0.690486589398624, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9878861216282869, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9783423465166703, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.001006782054901123, + 0.00046944618225097656, + 0.0006353259086608887, + 0.002614349126815796, + 0.0016777515411376953, + 0.004030581563711166 + ], + "replay_smoothing_max_deviation_normalized": 0.4618706287455984, + "replay_smoothing_max_deviation_rad": 0.004030581563711166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016800828743726015, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.4341189861297607, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 44.005680084228516, + "replay_smoothing_raw_accel_rms_rad_s2": 1.6359084639332153, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 305.0676574707031, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11770.5419921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 382.24719079871505, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7483532428741455, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23177202162154414, + "replay_smoothing_rms_deviation_rad": 0.0007470073114118482, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.9722481966018677, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 43.1292610168457, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5466948121366455, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 210.64512634277344, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11627.955078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 373.96861359542027, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7051547765731812, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23103650161317363, + "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": 0.975291911702037, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968265366836575, + "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": 20.790000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.004030581563711166, + "safety_abort": false, + "safety_path_error_rad": 0.006420999765396118, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.03745990991592407, + "stage_planned_to_measured_rms_error_rad": 0.005942513186356405, + "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": 1019, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 1019, + "timestamp_count": 1019, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.npz new file mode 100644 index 0000000000000000000000000000000000000000..9fa950b4fd32e05090c54b50b4c3fd0895276a25 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135043.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:961b410b388ecd8922882496db3572829b38a8d84133e478632986ca5e834718 +size 106295 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcf6314be603053f67013d569d1190c366b063a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.json @@ -0,0 +1,491 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:52:43", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 925, + "actual_playback_duration_s": 30.93627244210802, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 925, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 925, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.1603567923974352, + "image_frame_counts": { + "cam_scene": 925, + "cam_wrist": 925 + }, + "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": 24, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0069229049840942025, + "leadthrough_capture_egm_poll_duration_median_s": 0.003975271014496684, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043612287379801275, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005132477590814232, + "leadthrough_capture_egm_poll_duration_warn_count": 3618, + "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": 0.0071478820173069835, + "leadthrough_capture_host_loop_dt_median_s": 0.004004743474069983, + "leadthrough_capture_host_loop_dt_p95_s": 0.004396749153966084, + "leadthrough_capture_host_loop_dt_p99_s": 0.005173124774591997, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007030398002825677, + "leadthrough_capture_host_receive_dt_median_s": 0.004004982998594642, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043808752438053485, + "leadthrough_capture_host_receive_dt_p99_s": 0.0051478279021102925, + "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": 0.014240671996958554, + "leadthrough_capture_loop_late_median_s": 0.010858388501219451, + "leadthrough_capture_loop_late_p95_s": 0.011167584545910358, + "leadthrough_capture_loop_late_p99_s": 0.012005659188143905, + "leadthrough_capture_loop_late_warn_count": 8629, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007119428017176688, + "leadthrough_capture_read_duration_median_s": 0.003991209901869297, + "leadthrough_capture_read_duration_p95_s": 0.0043822739738971, + "leadthrough_capture_read_duration_p99_s": 0.00515990247018635, + "leadthrough_capture_read_duration_warn_count": 4079, + "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": 13, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0032569169998168945, + 0.002630889415740967, + 0.00393560528755188, + 0.002640124410390854, + 0.0033136606216430664, + 0.005449831485748291 + ], + "leadthrough_delta_max_abs_rad": 0.005449831485748291, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014620721340179443, + 0.0017980635166168213, + 0.0027102306485176086, + 0.00042124558240175247, + 0.0012012720108032227, + 0.004025354981422424 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006422693259082735, + 0.000747883110307157, + 0.001035238616168499, + 0.0002854930062312633, + 0.0005320174968801439, + 0.0012738544028252363 + ], + "leadthrough_delta_samples": 6666, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005449831485748291, + "leadthrough_delta_worst_from_rad": -0.2330883890390396, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 24.656999999999996, + "leadthrough_delta_worst_to_rad": -0.22763855755329132, + "leadthrough_duration_s": 26.661, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6623, + "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": 6624, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 8629, + "leadthrough_initial_stillness_first_motion_index": 1963, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.847, + "leadthrough_initial_stillness_removed_samples": 1962, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1962, + "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": [ + 0.0032569169998168945, + 0.002630889415740967, + 0.00393560528755188, + 0.002640124410390854, + 0.0033136606216430664, + 0.005449831485748291 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005449831485748291, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8142292499546749, + 0.8580684661864909, + 1.2896358966826904, + 0.6600311025980793, + 0.8510748545328454, + 1.8104116121927212 + ], + "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": 83.322, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.661, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2568, + 5693 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4487513258760656, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.0868038535118103, + "rapid_planner_max_dt_s": 1.8840000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007832188159227371, + "rapid_planner_median_dt_s": 0.08000000000000185, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 26, + 51, + 69, + 87, + 104, + 120, + 138, + 155, + 172, + 190, + 200, + 210, + 220, + 230, + 240, + 250, + 260, + 271, + 282, + 293, + 312, + 332, + 344, + 356, + 368, + 381, + 402, + 422, + 440, + 457, + 486, + 508, + 529, + 562, + 605, + 648, + 693, + 748, + 842, + 883, + 938, + 1045, + 1206, + 1316, + 1375, + 1617, + 1855, + 2184, + 2568, + 3039, + 3132, + 3168, + 3198, + 3216, + 3230, + 3244, + 3264, + 3283, + 3308, + 3332, + 3349, + 3366, + 3384, + 3401, + 3418, + 3434, + 3466, + 3486, + 3504, + 3528, + 3538, + 3548, + 3558, + 3569, + 3578, + 3588, + 3598, + 3608, + 3620, + 3633, + 3650, + 3667, + 3705, + 3744, + 3798, + 3838, + 3888, + 3947, + 4002, + 4099, + 4244, + 4520, + 4824, + 4995, + 5156, + 5306, + 5497, + 5693, + 5974, + 6027, + 6049, + 6068, + 6093, + 6119, + 6138, + 6158, + 6170, + 6181, + 6200, + 6214, + 6229, + 6255, + 6284, + 6311, + 6340, + 6395, + 6480, + 6536, + 6666 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9734944516985795, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6667, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005955040454864502, + "raw_replay_rms_error_rad": 0.0008424691789721373, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9598593355753154, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9953016549144507, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9850196614616591, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9830846190452576, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9830846190452576 + ], + "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": 0.9912323075583875, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9956407944248697, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9936407253981407, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005117207765579224, + 0.00042279064655303955, + 0.000707089900970459, + 0.001985224662348628, + 0.0023889541625976562, + 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": 0.0015402194112539291, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.894461154937744, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.0380973815918, + "replay_smoothing_raw_accel_rms_rad_s2": 3.258021854918095, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 717.2926635742188, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15212.5087890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 817.6632115632652, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6166305541992188, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20825168036185956, + "replay_smoothing_rms_deviation_rad": 0.000821125406994501, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.697994232177734, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.78890609741211, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2092155845661083, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 711.003662109375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15146.1943359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 812.4634666690963, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.617153525352478, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20744114677584286, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.000323494537389, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961079133450048, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 24.748999999999995, + "replay_smoothing_wrist_max_deviation_rad": 0.008726641535758972, + "safety_abort": false, + "safety_path_error_rad": 0.005955040454864502, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.025252938270568848, + "stage_planned_to_measured_rms_error_rad": 0.006046283308746615, + "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": 925, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 925, + "timestamp_count": 925, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.npz new file mode 100644 index 0000000000000000000000000000000000000000..3d1f67cf78f8ca1016a5546454461abb2ece572c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_135242.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8453b3a99c39ef2064642f71ee967a966d0a1e923c48cf7babba15b191e2824 +size 94394 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc675efad29429508724de527dba2f48070b2e8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.json @@ -0,0 +1,486 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:00:50", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 325, + "actual_playback_duration_s": 14.023447344894521, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 325, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 325, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.6235691824845268, + "image_frame_counts": { + "cam_scene": 325, + "cam_wrist": 325 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 31, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006294184015132487, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973791026510298, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004337158019188791, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004766599021386356, + "leadthrough_capture_egm_poll_duration_warn_count": 2871, + "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": 0.0063502800185233355, + "leadthrough_capture_host_loop_dt_median_s": 0.003999192966148257, + "leadthrough_capture_host_loop_dt_p95_s": 0.004368691530544311, + "leadthrough_capture_host_loop_dt_p99_s": 0.004804713430348782, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006273391889408231, + "leadthrough_capture_host_receive_dt_median_s": 0.003998923115432262, + "leadthrough_capture_host_receive_dt_p95_s": 0.004359235987067223, + "leadthrough_capture_host_receive_dt_p99_s": 0.004762892110738903, + "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": 0.012419717968441546, + "leadthrough_capture_loop_late_median_s": 0.006235431006643921, + "leadthrough_capture_loop_late_p95_s": 0.006560248852474615, + "leadthrough_capture_loop_late_p99_s": 0.007055841143010185, + "leadthrough_capture_loop_late_warn_count": 6712, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0063298780005425215, + "leadthrough_capture_read_duration_median_s": 0.003987706499174237, + "leadthrough_capture_read_duration_p95_s": 0.004354216391220689, + "leadthrough_capture_read_duration_p99_s": 0.004787826426327229, + "leadthrough_capture_read_duration_warn_count": 3137, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.00284026563167572, + 0.002022087574005127, + 0.0031194984912872314, + 0.001894105225801468, + 0.003102719783782959, + 0.005677521228790283 + ], + "leadthrough_delta_max_abs_rad": 0.005677521228790283, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018340020906180143, + 0.001406107796356082, + 0.0023837443441152573, + 0.0007333752582781017, + 0.001350807724520564, + 0.0043848115019500256 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007137908833101392, + 0.0006640920764766634, + 0.0009647646220400929, + 0.0002897297090385109, + 0.0006173503352329135, + 0.0014774409355595708 + ], + "leadthrough_delta_samples": 5623, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005677521228790283, + "leadthrough_delta_worst_from_rad": -0.3042465150356293, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 21.104999999999997, + "leadthrough_delta_worst_to_rad": -0.298568993806839, + "leadthrough_duration_s": 22.488999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5622, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.8680000000000021, + "leadthrough_final_stillness_removed_samples": 217, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5623, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6712, + "leadthrough_initial_stillness_first_motion_index": 872, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.484, + "leadthrough_initial_stillness_removed_samples": 871, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 871, + "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": [ + 0.00284026563167572, + 0.002022087574005127, + 0.0031194984912872314, + 0.001894105225801468, + 0.003102719783782959, + 0.005677521228790283 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005677521228790283, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9430249532063445, + 0.6651282310485588, + 1.0398328304290378, + 0.6293716530004899, + 1.0064641634622828, + 1.8883148829141536 + ], + "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": 74.978, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.488999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2185, + 4767 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44788282463441614, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08707089722156525, + "rapid_planner_max_dt_s": 3.644, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00781702995300293, + "rapid_planner_median_dt_s": 0.08749999999999991, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 54, + 85, + 103, + 119, + 137, + 155, + 172, + 189, + 202, + 216, + 229, + 242, + 256, + 269, + 282, + 296, + 306, + 316, + 326, + 335, + 346, + 356, + 366, + 376, + 388, + 399, + 410, + 422, + 434, + 446, + 458, + 469, + 489, + 511, + 534, + 563, + 585, + 607, + 639, + 668, + 697, + 725, + 753, + 793, + 843, + 896, + 955, + 1274, + 2185, + 2765, + 2814, + 2915, + 2970, + 3024, + 3066, + 3108, + 3150, + 3179, + 3196, + 3213, + 3230, + 3247, + 3276, + 3305, + 3379, + 3458, + 3507, + 3540, + 3572, + 3595, + 3619, + 3634, + 3650, + 3666, + 3681, + 3695, + 3709, + 3723, + 3737, + 3757, + 3777, + 3806, + 3828, + 3889, + 3958, + 4164, + 4509, + 4767, + 5015, + 5075, + 5104, + 5128, + 5160, + 5184, + 5207, + 5222, + 5238, + 5249, + 5261, + 5271, + 5281, + 5292, + 5304, + 5316, + 5327, + 5349, + 5383, + 5406, + 5425, + 5449, + 5478, + 5507, + 5559, + 5623 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9887949292130545, + "rapid_planner_selected_samples": 115, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5624, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 115, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004296779632568359, + "raw_replay_rms_error_rad": 0.0008280229684921766, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9931763768487464, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9712167170951311, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9881260318459423, + "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": 0.9943907951812815, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9668766983981557, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9940760216806147, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0036690980195999146, + 0.0013664960861206055, + 0.0018520355224609375, + 0.002077534794807434, + 0.002277553081512451, + 0.006589531898498535 + ], + "replay_smoothing_max_deviation_normalized": 0.7551047393509079, + "replay_smoothing_max_deviation_rad": 0.006589531898498535, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002035212703049183, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.217928886413574, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.402706146240234, + "replay_smoothing_raw_accel_rms_rad_s2": 4.287010922753055, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1906.0902099609375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15024.8564453125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1107.6207381379293, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.686832070350647, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2235949541467196, + "replay_smoothing_rms_deviation_rad": 0.0009284574603511435, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.161852836608887, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.77925109863281, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.2361070915801875, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1895.3985595703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14527.18359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1101.0592168990986, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6453723907470703, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22261141006813845, + "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": 0.975421572584307, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956012241763929, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.947, + "replay_smoothing_wrist_max_deviation_rad": 0.006589531898498535, + "safety_abort": false, + "safety_path_error_rad": 0.004296779632568359, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.03174102306365967, + "stage_planned_to_measured_rms_error_rad": 0.008367006217492777, + "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": 325, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 325, + "timestamp_count": 325, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.npz new file mode 100644 index 0000000000000000000000000000000000000000..31f016a6437779b9c0b892406417bd76a60cc491 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_operator_stop_20260902_140049.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db3a033ff3cac3f3f3ce0dc3cadbde4348092ec6c7170aa2d4c0df31b9b57804 +size 41120 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.json new file mode 100644 index 0000000000000000000000000000000000000000..6d375f6a60e4a450456fca718961016f2c701745 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.json @@ -0,0 +1,658 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:41:34", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1099, + "actual_playback_duration_s": 36.647292176960036, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005637407302856445, + "aligned_p95_error_rad": 0.002103838138282299, + "aligned_rms_error_rad": 0.0009497234583904458, + "aligned_samples": 1099, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 12.666999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1099, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1099, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5263981080828037, + "image_frame_counts": { + "cam_scene": 1099, + "cam_wrist": 1099 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005435287952423096, + 0.005630135536193848, + 0.005637407302856445, + 0.0031958967447280884, + 0.005553126335144043, + 0.005239129066467285 + ], + "joint_lag_p95_error_rad": [ + 0.0021480999421328306, + 0.0020213087555021048, + 0.002291732467710972, + 0.0011332264402881265, + 0.0020274161361157894, + 0.002692075911909342 + ], + "joint_lag_rms_error_rad": [ + 0.0009185576735028305, + 0.0010183531653165307, + 0.0010806081440797302, + 0.00044666428325858195, + 0.0009569168086468485, + 0.0011172035597778554 + ], + "joint_lag_samples": [ + 1099, + 1099, + 1099, + 1099, + 1099, + 1099 + ], + "joint_lag_worst_time_s": [ + 5.142999999999999, + 12.666999999999998, + 12.666999999999998, + 0.1999999999999993, + 4.014999999999999, + 4.014999999999999 + ], + "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": 0.0075197379337623715, + "leadthrough_capture_egm_poll_duration_median_s": 0.003961538546718657, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004402322735404596, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004985465771751478, + "leadthrough_capture_egm_poll_duration_warn_count": 2690, + "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": 0.007578710909001529, + "leadthrough_capture_host_loop_dt_median_s": 0.003991176025010645, + "leadthrough_capture_host_loop_dt_p95_s": 0.004435889213345944, + "leadthrough_capture_host_loop_dt_p99_s": 0.005025210436433554, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007589075015857816, + "leadthrough_capture_host_receive_dt_median_s": 0.003997278981842101, + "leadthrough_capture_host_receive_dt_p95_s": 0.004388688993640244, + "leadthrough_capture_host_receive_dt_p99_s": 0.004959401283413173, + "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": 0.013235313002951443, + "leadthrough_capture_loop_late_median_s": 0.008281611022539437, + "leadthrough_capture_loop_late_p95_s": 0.008674977731425315, + "leadthrough_capture_loop_late_p99_s": 0.00929896075744182, + "leadthrough_capture_loop_late_warn_count": 7230, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007555616903118789, + "leadthrough_capture_read_duration_median_s": 0.0039768124697729945, + "leadthrough_capture_read_duration_p95_s": 0.004421720758546144, + "leadthrough_capture_read_duration_p99_s": 0.0050090302980970594, + "leadthrough_capture_read_duration_warn_count": 3027, + "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": 0.005000000000002061, + "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": [ + 0.0038892775774002075, + 0.0027307868003845215, + 0.0038125813007354736, + 0.002064881846308708, + 0.0032297372817993164, + 0.0066782087087631226 + ], + "leadthrough_delta_max_abs_rad": 0.0066782087087631226, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014033145271241665, + 0.0021770803723484278, + 0.0031176505144685507, + 0.0003079354064539075, + 0.001517176628112793, + 0.0038460460491478443 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006761634140275419, + 0.0008527295431122184, + 0.0011352056171745062, + 0.00021501399169210345, + 0.0005901894764974713, + 0.0014061789261177182 + ], + "leadthrough_delta_samples": 6003, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0066782087087631226, + "leadthrough_delta_worst_from_rad": -0.178050234913826, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5359999999999996, + "leadthrough_delta_worst_to_rad": -0.1847284436225891, + "leadthrough_duration_s": 24.009, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6002, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5199999999999996, + "leadthrough_final_stillness_removed_samples": 130, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6003, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7230, + "leadthrough_initial_stillness_first_motion_index": 1097, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.384, + "leadthrough_initial_stillness_removed_samples": 1096, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1096, + "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": [ + 0.0038892775774002075, + 0.0027307868003845215, + 0.0038125813007354736, + 0.002064881846308708, + 0.0032297372817993164, + 0.0066782087087631226 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0066782087087631226, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2964258591333533, + 0.9001493453989811, + 1.2094746343791027, + 0.5162204615772339, + 1.0656118392943932, + 1.6695521771909645 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6239546537399292, + "leadthrough_velocity_rms_rad_s": 0.22739388294251037, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005637407302856445, + "measured_wall_accel_p95_abs_rad_s2": 0.4126068353652954, + "measured_wall_accel_peak_abs_rad_s2": 2.8409996032714844, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 22.012011250015348, + "measured_wall_accel_rms_rad_s2": 0.2159843968333311, + "measured_wall_jerk_p95_abs_rad_s3": 6.920272350311279, + "measured_wall_jerk_peak_abs_rad_s3": 58.09777069091797, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 22.57496670098044, + "measured_wall_jerk_rms_rad_s3": 3.68115862248006, + "measured_wall_smoothness_samples": 1099, + "measured_wall_velocity_peak_abs_rad_s": 0.5225313901901245, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 35.60793619102333, + "measured_wall_velocity_rms_rad_s": 0.09755169801068764, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005637407302856445, + "moving_aligned_p95_error_rad": 0.0024040043354034424, + "moving_aligned_rms_error_rad": 0.0010841888575524258, + "moving_aligned_samples": 796, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 12.666999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0040884315967559814, + 0.005630135536193848, + 0.005485236644744873, + 0.0031958967447280884, + 0.005450010299682617, + 0.004464864730834961 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0025957822799682617, + 0.0022375057451426983, + 0.0025240324903279543, + 0.0021572832483798265, + 0.0023440420627593994, + 0.0031980127096176147 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010578357949091847, + 0.0011543263883596248, + 0.0012109467331803728, + 0.0010343548995740588, + 0.0011416660023857222, + 0.0016426068076247314 + ], + "moving_joint_lag_samples": [ + 691, + 766, + 653, + 162, + 596, + 446 + ], + "moving_joint_lag_worst_time_s": [ + 15.218, + 12.666999999999998, + 15.701999999999998, + 0.1999999999999993, + 5.142999999999999, + 2.3999999999999995 + ], + "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": 2.4512243270874023, + "playback_velocity_rms_rad_s": 0.441896032330886, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.018, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.009, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2426, + 5256 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44140780530124407, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08725066483020782, + "rapid_planner_max_dt_s": 2.904, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007704019546508789, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.005637407302856445, + "rapid_planner_path_p95_error_rad": 0.0032755315303802488, + "rapid_planner_path_rms_error_rad": 0.0015790927469957695, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 26, + 61, + 79, + 95, + 105, + 115, + 129, + 136, + 143, + 157, + 171, + 186, + 200, + 214, + 229, + 242, + 256, + 269, + 282, + 294, + 305, + 329, + 350, + 373, + 392, + 411, + 430, + 450, + 483, + 516, + 580, + 663, + 742, + 814, + 887, + 934, + 1609, + 1700, + 2426, + 3054, + 3240, + 3282, + 3306, + 3330, + 3354, + 3378, + 3402, + 3425, + 3442, + 3458, + 3475, + 3492, + 3506, + 3521, + 3540, + 3556, + 3572, + 3590, + 3608, + 3626, + 3643, + 3656, + 3669, + 3683, + 3697, + 3715, + 3733, + 3748, + 3762, + 3790, + 3821, + 3860, + 3898, + 3957, + 4014, + 4076, + 4097, + 4136, + 4155, + 4252, + 4349, + 4609, + 4812, + 5256, + 5529, + 5568, + 5586, + 5610, + 5624, + 5638, + 5659, + 5676, + 5692, + 5708, + 5724, + 5742, + 5767, + 5793, + 5819, + 5849, + 5877, + 6003 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9990948544814335, + "rapid_planner_selected_samples": 103, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6004, + "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": 103, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005637407302856445, + "raw_replay_rms_error_rad": 0.0009497234583904458, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9610495514037625, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9666709694587441, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9855350906230592, + "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": 0.9922594585311887, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9727843219150636, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9936133560213695, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000537186861038208, + 0.0005700113251805305, + 0.0008437633514404297, + 0.0014799977652728558, + 0.0024917125701904297, + 0.004784584045410156 + ], + "replay_smoothing_max_deviation_normalized": 0.5482729493023869, + "replay_smoothing_max_deviation_rad": 0.004784584045410156, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016369731165468693, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.310092926025391, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 40.36817932128906, + "replay_smoothing_raw_accel_rms_rad_s2": 3.315091673841031, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 952.5076293945312, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10717.986328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 839.8187636707037, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6684290170669556, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2280114203136428, + "replay_smoothing_rms_deviation_rad": 0.0007237831222253763, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.103262424468994, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 39.02274703979492, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2671391732026698, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 945.1347045898438, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10426.2890625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 834.4551402205652, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6239546537399292, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22739388294251037, + "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": 0.9733435687871151, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9972916384175715, + "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": 2.2479999999999993, + "replay_smoothing_wrist_max_deviation_rad": 0.004784584045410156, + "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": 0.005637407302856445, + "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": 0.03035968542098999, + "stage_planned_to_measured_rms_error_rad": 0.00578180081450167, + "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": 1099, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7608129978179932, + "target_wall_accel_peak_abs_rad_s2": 3.760033369064331, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 9.400055042933673, + "target_wall_accel_rms_rad_s2": 0.3606485209481975, + "target_wall_jerk_p95_abs_rad_s3": 18.353181838989258, + "target_wall_jerk_peak_abs_rad_s3": 111.04309844970703, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 9.433389398967847, + "target_wall_jerk_rms_rad_s3": 8.5547206298372, + "target_wall_smoothness_samples": 1099, + "target_wall_velocity_peak_abs_rad_s": 0.5678620338439941, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 22.80006078397855, + "target_wall_velocity_rms_rad_s": 0.09854060866403558, + "tcp_pose_count": 1099, + "timestamp_count": 1099, + "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": 1.3100000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.5399999999999996, + "window_lag_best_lag_p95_abs_s": 1.2680000000000018, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.1699999999999993, + "window_lag_worst_end_s": 22.0, + "window_lag_worst_max_error_rad": 0.4968626797199249, + "window_lag_worst_rms_error_rad": 0.029017816697561184, + "window_lag_worst_start_s": 21.0, + "zero_lag_max_error_rad": 0.005637407302856445, + "zero_lag_p95_error_rad": 0.002103838138282299, + "zero_lag_rms_error_rad": 0.0009497234583904458, + "zero_lag_samples": 1099, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 12.666999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.npz new file mode 100644 index 0000000000000000000000000000000000000000..af47c3448a5a71533278a49fe45c229cbf00c685 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134133.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ad1e6211f14ba6f906a4ad3d137f83439c5b8aaf119bdbcc9eaa8fc00124ab2 +size 116091 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.json new file mode 100644 index 0000000000000000000000000000000000000000..63733b67410ef6fd8d3e71e608790dd930329a1d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.json @@ -0,0 +1,673 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:47:46", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1098, + "actual_playback_duration_s": 36.61124832404312, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.007292568683624268, + "aligned_p95_error_rad": 0.002163055120036006, + "aligned_rms_error_rad": 0.0009695398854959617, + "aligned_samples": 1098, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 15.238, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1098, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1098, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4424667398464646, + "image_frame_counts": { + "cam_scene": 1098, + "cam_wrist": 1098 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004261702299118042, + 0.0058601051568984985, + 0.0065201520919799805, + 0.004767410457134247, + 0.007292568683624268, + 0.006575822830200195 + ], + "joint_lag_p95_error_rad": [ + 0.001887688646093011, + 0.002010730095207691, + 0.0023238963913172483, + 0.001121791428886354, + 0.0020669526420533657, + 0.0027777794748544693 + ], + "joint_lag_rms_error_rad": [ + 0.0008221836217472879, + 0.0008885507999188258, + 0.0010634534728583898, + 0.0005807378434942357, + 0.000986355517126089, + 0.0013166055474337337 + ], + "joint_lag_samples": [ + 1098, + 1098, + 1098, + 1098, + 1098, + 1098 + ], + "joint_lag_worst_time_s": [ + 15.318000000000001, + 15.262, + 15.262, + 2.248, + 15.238, + 15.206 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 29, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007964952033944428, + "leadthrough_capture_egm_poll_duration_median_s": 0.003978638036642224, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004326753871282563, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005727785120252521, + "leadthrough_capture_egm_poll_duration_warn_count": 3605, + "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": 0.008013090933673084, + "leadthrough_capture_host_loop_dt_median_s": 0.004007673938758671, + "leadthrough_capture_host_loop_dt_p95_s": 0.004361564060673118, + "leadthrough_capture_host_loop_dt_p99_s": 0.005759351351298397, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007959999958984554, + "leadthrough_capture_host_receive_dt_median_s": 0.0040095431031659245, + "leadthrough_capture_host_receive_dt_p95_s": 0.004344117944128811, + "leadthrough_capture_host_receive_dt_p99_s": 0.005744924047030515, + "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": 0.016646073199808598, + "leadthrough_capture_loop_late_median_s": 0.012765277235303074, + "leadthrough_capture_loop_late_p95_s": 0.013128238113131374, + "leadthrough_capture_loop_late_p99_s": 0.014618302423041315, + "leadthrough_capture_loop_late_warn_count": 8342, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007996676955372095, + "leadthrough_capture_read_duration_median_s": 0.003994170983787626, + "leadthrough_capture_read_duration_p95_s": 0.004344641166971997, + "leadthrough_capture_read_duration_p99_s": 0.005745154212927447, + "leadthrough_capture_read_duration_warn_count": 4022, + "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": 60, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0030975341796875, + 0.002570211887359619, + 0.0036567747592926025, + 0.00203491747379303, + 0.002670109272003174, + 0.006266549229621887 + ], + "leadthrough_delta_max_abs_rad": 0.006266549229621887, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015059048309922218, + 0.001824408769607544, + 0.002819973975419998, + 0.00038888840936124325, + 0.001162901520729065, + 0.004735276103019714 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006494951667264104, + 0.0007376607391051948, + 0.0010513433953747153, + 0.0002434775815345347, + 0.0005193554679863155, + 0.001459744293242693 + ], + "leadthrough_delta_samples": 6346, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006266549229621887, + "leadthrough_delta_worst_from_rad": -0.15712158381938934, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.3879999999999999, + "leadthrough_delta_worst_to_rad": -0.16338813304901123, + "leadthrough_duration_s": 25.381, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6345, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6159999999999997, + "leadthrough_final_stillness_removed_samples": 154, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6346, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8342, + "leadthrough_initial_stillness_first_motion_index": 1842, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.363, + "leadthrough_initial_stillness_removed_samples": 1841, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1841, + "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": [ + 0.0030975341796875, + 0.002570211887359619, + 0.0036567747592926025, + 0.00203491747379303, + 0.002670109272003174, + 0.006266549229621887 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006266549229621887, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7743835449216164, + 0.8375644683837573, + 1.2189249197641547, + 0.5087293684480876, + 0.6675273180005705, + 1.7049511273701339 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5616565942764282, + "leadthrough_velocity_rms_rad_s": 0.21836899001314106, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.007292568683624268, + "measured_wall_accel_p95_abs_rad_s2": 0.4740505814552307, + "measured_wall_accel_peak_abs_rad_s2": 4.025732517242432, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 14.775463712983765, + "measured_wall_accel_rms_rad_s2": 0.2636084504775022, + "measured_wall_jerk_p95_abs_rad_s3": 8.121500968933105, + "measured_wall_jerk_peak_abs_rad_s3": 58.93983840942383, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 40.80930833902676, + "measured_wall_jerk_rms_rad_s3": 4.26102093885722, + "measured_wall_smoothness_samples": 1098, + "measured_wall_velocity_peak_abs_rad_s": 0.8553605675697327, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.874695739941671, + "measured_wall_velocity_rms_rad_s": 0.10283749370192638, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.007292568683624268, + "moving_aligned_p95_error_rad": 0.002452310174703598, + "moving_aligned_rms_error_rad": 0.001135235953487331, + "moving_aligned_samples": 796, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 15.238, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004261702299118042, + 0.0058601051568984985, + 0.0065201520919799805, + 0.004767410457134247, + 0.007292568683624268, + 0.006575822830200195 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0023944713175296783, + 0.002227057470008731, + 0.0029027084819972515, + 0.0029440035577863455, + 0.002353668212890625, + 0.0036056903190910816 + ], + "moving_joint_lag_rms_error_rad": [ + 0.001001111557811202, + 0.001040487018682549, + 0.0013252437070010725, + 0.0013886929403016353, + 0.0012422739842210184, + 0.001856017733655878 + ], + "moving_joint_lag_samples": [ + 670, + 754, + 659, + 156, + 641, + 490 + ], + "moving_joint_lag_worst_time_s": [ + 15.318000000000001, + 15.262, + 15.262, + 2.248, + 15.238, + 15.206 + ], + "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": 1.9967035055160522, + "playback_velocity_rms_rad_s": 0.4137974307756816, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 80.762, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 25.381, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2457, + 5521 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43610074831614415, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08696573972702026, + "rapid_planner_max_dt_s": 2.2799999999999976, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007611393928527832, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.007292568683624268, + "rapid_planner_path_p95_error_rad": 0.003278240561485287, + "rapid_planner_path_rms_error_rad": 0.001580709406399064, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 34, + 47, + 59, + 68, + 77, + 87, + 97, + 107, + 117, + 132, + 147, + 164, + 181, + 190, + 200, + 218, + 237, + 256, + 269, + 282, + 292, + 303, + 314, + 324, + 334, + 344, + 354, + 365, + 384, + 406, + 422, + 438, + 454, + 471, + 506, + 542, + 588, + 644, + 704, + 765, + 805, + 890, + 936, + 995, + 1081, + 1276, + 1392, + 1509, + 1632, + 2048, + 2457, + 3027, + 3160, + 3202, + 3233, + 3256, + 3276, + 3295, + 3312, + 3329, + 3359, + 3389, + 3408, + 3426, + 3444, + 3462, + 3486, + 3509, + 3533, + 3557, + 3577, + 3592, + 3606, + 3620, + 3634, + 3644, + 3654, + 3664, + 3675, + 3696, + 3723, + 3785, + 3846, + 3884, + 3936, + 3990, + 4066, + 4171, + 4438, + 4505, + 4544, + 4638, + 4798, + 4878, + 5109, + 5521, + 5750, + 5816, + 5844, + 5873, + 5894, + 5915, + 5934, + 5946, + 5958, + 5969, + 5980, + 5991, + 6002, + 6024, + 6048, + 6077, + 6106, + 6138, + 6173, + 6249, + 6346 + ], + "rapid_planner_selected_max_joint_step_deg": 4.982769848591457, + "rapid_planner_selected_samples": 118, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6347, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 118, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.007292568683624268, + "raw_replay_rms_error_rad": 0.0009695398854959617, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9387837914542521, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.984012671515764, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9755593026689643, + "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": 0.9979092544128468, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9905682920008517, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9900811962415577, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00038248300552368164, + 0.0004265233874320984, + 0.0008296966552734375, + 0.0022533684968948364, + 0.001919388771057129, + 0.006456732749938965 + ], + "replay_smoothing_max_deviation_normalized": 0.7398870777622379, + "replay_smoothing_max_deviation_rad": 0.006456732749938965, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0018894450040534139, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.58290696144104, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 37.854610443115234, + "replay_smoothing_raw_accel_rms_rad_s2": 2.5064091976707856, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 558.9585571289062, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11181.634765625, + "replay_smoothing_raw_jerk_rms_rad_s3": 622.7415758818534, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.566488265991211, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21925728976465228, + "replay_smoothing_rms_deviation_rad": 0.0008487154879249382, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.363574981689453, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.24941635131836, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.44515080908279, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 557.7899169921875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11076.1728515625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 616.5647243984581, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5616565942764282, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21836899001314106, + "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": 0.9969156029957713, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959485964983663, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5319999999999991, + "replay_smoothing_wrist_max_deviation_rad": 0.006456732749938965, + "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": 0.007292568683624268, + "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": 0.050888542085886, + "stage_planned_to_measured_rms_error_rad": 0.006100998528008939, + "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": 1098, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.778960108757019, + "target_wall_accel_peak_abs_rad_s2": 3.9736855030059814, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.2667253710096702, + "target_wall_accel_rms_rad_s2": 0.37576286767282685, + "target_wall_jerk_p95_abs_rad_s3": 18.079416275024414, + "target_wall_jerk_peak_abs_rad_s3": 102.03370666503906, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.400058176019229, + "target_wall_jerk_rms_rad_s3": 8.270870311993548, + "target_wall_smoothness_samples": 1098, + "target_wall_velocity_peak_abs_rad_s": 0.964401125907898, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.400058176019229, + "target_wall_velocity_rms_rad_s": 0.10385548074723416, + "tcp_pose_count": 1098, + "timestamp_count": 1098, + "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": 1.6700000000000035, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0199999999999991, + "window_lag_best_lag_p95_abs_s": 1.570000000000003, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 16.0, + "window_lag_worst_max_error_rad": 0.007292568683624268, + "window_lag_worst_rms_error_rad": 0.0025151091864484346, + "window_lag_worst_start_s": 15.0, + "zero_lag_max_error_rad": 0.007292568683624268, + "zero_lag_p95_error_rad": 0.002163055120036006, + "zero_lag_rms_error_rad": 0.0009695398854959617, + "zero_lag_samples": 1098, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 15.238 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.npz new file mode 100644 index 0000000000000000000000000000000000000000..1b873f7cf723af3398242a39e3280703f453273f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_134745.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8242052c311bc18c6fe5a8e88b7041df6985544deb9cbdb9c647166a7793f101 +size 117033 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.json new file mode 100644 index 0000000000000000000000000000000000000000..4032bed11c142a6069aba1901871530f6a2e43c1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.json @@ -0,0 +1,664 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:54:39", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1112, + "actual_playback_duration_s": 37.07869088300504, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006378889083862305, + "aligned_p95_error_rad": 0.0020762819331139326, + "aligned_rms_error_rad": 0.0009156166673364225, + "aligned_samples": 1112, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 11.295000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1112, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1112, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6877732661024643, + "image_frame_counts": { + "cam_scene": 1112, + "cam_wrist": 1112 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005896776914596558, + 0.006225526332855225, + 0.0054160356521606445, + 0.002492303494364023, + 0.006378889083862305, + 0.005940616130828857 + ], + "joint_lag_p95_error_rad": [ + 0.0018032892839983106, + 0.002026580274105072, + 0.0021303449757397175, + 0.0007111520390026271, + 0.001997893676161766, + 0.0027925309259444475 + ], + "joint_lag_rms_error_rad": [ + 0.0008315204128721099, + 0.0008800768192745194, + 0.0009591839175042671, + 0.00031855708876571875, + 0.0008862971751306203, + 0.0013255665940012005 + ], + "joint_lag_samples": [ + 1112, + 1112, + 1112, + 1112, + 1112, + 1112 + ], + "joint_lag_worst_time_s": [ + 14.242, + 11.318999999999999, + 13.426000000000002, + 4.534999999999999, + 11.295000000000002, + 14.222000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.13999999989755452, + "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": 2, + "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": 3, + "leadthrough_capture_egm_drained_packet_max": 45, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.1390428370796144, + "leadthrough_capture_egm_poll_duration_median_s": 0.003978196065872908, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004279625019989908, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0049932809779420495, + "leadthrough_capture_egm_poll_duration_warn_count": 2796, + "leadthrough_capture_egm_recorded_seqno_jump_count": 2, + "leadthrough_capture_egm_recorded_seqno_step_max": 35, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.13912149099633098, + "leadthrough_capture_host_loop_dt_median_s": 0.004010030999779701, + "leadthrough_capture_host_loop_dt_p95_s": 0.004310508450726047, + "leadthrough_capture_host_loop_dt_p99_s": 0.00503531762165949, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.13911547092720866, + "leadthrough_capture_host_receive_dt_median_s": 0.004014755017124116, + "leadthrough_capture_host_receive_dt_p95_s": 0.004266884783282876, + "leadthrough_capture_host_receive_dt_p99_s": 0.0050080343906302015, + "leadthrough_capture_host_receive_gap_warn": true, + "leadthrough_capture_host_receive_gap_warn_count": 2, + "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": 0.16956220124848187, + "leadthrough_capture_loop_late_median_s": 0.0037416123086586595, + "leadthrough_capture_loop_late_p95_s": 0.16778579412493855, + "leadthrough_capture_loop_late_p99_s": 0.16823351325001568, + "leadthrough_capture_loop_late_warn_count": 2922, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.13909111195243895, + "leadthrough_capture_read_duration_median_s": 0.003995196893811226, + "leadthrough_capture_read_duration_p95_s": 0.0042959555285051465, + "leadthrough_capture_read_duration_p99_s": 0.0050172014744021, + "leadthrough_capture_read_duration_warn_count": 3205, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.14000000000000057, + "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": 2, + "leadthrough_capture_slow_ticks": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0037738382816314697, + 0.02396005392074585, + 0.025510013103485107, + 0.003843940794467926, + 0.0029678940773010254, + 0.0066686272621154785 + ], + "leadthrough_delta_max_abs_rad": 0.025510013103485107, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014673855621367693, + 0.0018094260012730956, + 0.0028170039877295494, + 0.00030134274857118726, + 0.0014467535074800253, + 0.005006910301744938 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.000714773079380393, + 0.0008438538061454892, + 0.0012059926521033049, + 0.0003507687069941312, + 0.0006501167081296444, + 0.0015526361530646682 + ], + "leadthrough_delta_samples": 5452, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.025510013103485107, + "leadthrough_delta_worst_from_rad": -0.7068836092948914, + "leadthrough_delta_worst_joint": 2, + "leadthrough_delta_worst_time_s": 11.199000000000002, + "leadthrough_delta_worst_to_rad": -0.6813735961914062, + "leadthrough_duration_s": 21.969, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5451, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.41199999999999903, + "leadthrough_final_stillness_removed_samples": 103, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5452, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6651, + "leadthrough_initial_stillness_first_motion_index": 1096, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.38, + "leadthrough_initial_stillness_removed_samples": 1095, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1095, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.14000000000000057, + "leadthrough_sample_dt_median_s": 0.004000000000000448, + "leadthrough_sample_gap_warn": true, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0037738382816314697, + 0.02396005392074585, + 0.025510013103485107, + 0.003843940794467926, + 0.0029678940773010254, + 0.0066686272621154785 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.025510013103485107, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1555453141529917, + 0.680173436800613, + 1.0719224810599874, + 1.2757206956545029, + 0.989298025766971, + 2.1479725837706707 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8894484043121338, + "leadthrough_velocity_rms_rad_s": 0.2431320910998602, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006378889083862305, + "measured_wall_accel_p95_abs_rad_s2": 0.40440452098846436, + "measured_wall_accel_peak_abs_rad_s2": 2.3471155166625977, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 37.38086620892864, + "measured_wall_accel_rms_rad_s2": 0.20196444853321954, + "measured_wall_jerk_p95_abs_rad_s3": 7.064283847808838, + "measured_wall_jerk_peak_abs_rad_s3": 47.08940124511719, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 39.746373640955426, + "measured_wall_jerk_rms_rad_s3": 3.555390770827084, + "measured_wall_smoothness_samples": 1112, + "measured_wall_velocity_peak_abs_rad_s": 0.4795222878456116, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.347376425983384, + "measured_wall_velocity_rms_rad_s": 0.09760777724128039, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006378889083862305, + "moving_aligned_p95_error_rad": 0.002340015722438693, + "moving_aligned_rms_error_rad": 0.001072753037008518, + "moving_aligned_samples": 803, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 11.295000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005896776914596558, + 0.006225526332855225, + 0.0054160356521606445, + 0.0018559247255325317, + 0.006378889083862305, + 0.005940616130828857 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021905959583818913, + 0.0022190436720848083, + 0.0026014982722699642, + 0.0014496203511953354, + 0.002152037573978305, + 0.003294252557680011 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010173847818885121, + 0.0010314403285363143, + 0.00125393234632635, + 0.0006211094099760822, + 0.0010625937481179753, + 0.0017256859737108591 + ], + "moving_joint_lag_samples": [ + 727, + 776, + 628, + 208, + 623, + 563 + ], + "moving_joint_lag_worst_time_s": [ + 14.242, + 11.318999999999999, + 13.426000000000002, + 20.861, + 11.295000000000002, + 14.222000000000001 + ], + "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": 2.4049630165100098, + "playback_velocity_rms_rad_s": 0.44634158994549616, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.938, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.969, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2122, + 4673 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4299723610833502, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08658969402313232, + "rapid_planner_max_dt_s": 2.4279999999999973, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0075044333934783936, + "rapid_planner_median_dt_s": 0.08199999999999896, + "rapid_planner_path_max_error_rad": 0.006378889083862305, + "rapid_planner_path_p95_error_rad": 0.0030843585729599023, + "rapid_planner_path_rms_error_rad": 0.0015822212075356822, + "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, + 78, + 99, + 120, + 132, + 143, + 157, + 171, + 180, + 189, + 198, + 207, + 216, + 225, + 234, + 243, + 256, + 269, + 282, + 295, + 302, + 310, + 318, + 326, + 341, + 356, + 372, + 384, + 396, + 410, + 442, + 467, + 492, + 525, + 558, + 595, + 632, + 668, + 704, + 741, + 810, + 888, + 971, + 1059, + 1204, + 1680, + 2122, + 2729, + 2757, + 2759, + 2806, + 2825, + 2845, + 2865, + 2893, + 2921, + 2953, + 2969, + 2985, + 3002, + 3020, + 3036, + 3051, + 3070, + 3088, + 3107, + 3126, + 3158, + 3191, + 3220, + 3250, + 3293, + 3338, + 3373, + 3397, + 3466, + 3550, + 3597, + 3641, + 3704, + 3755, + 3856, + 4087, + 4292, + 4673, + 4910, + 4980, + 5004, + 5026, + 5044, + 5063, + 5082, + 5100, + 5112, + 5123, + 5135, + 5148, + 5158, + 5167, + 5181, + 5197, + 5211, + 5228, + 5245, + 5269, + 5303, + 5348, + 5452 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9612240168546515, + "rapid_planner_selected_samples": 109, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5453, + "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": 109, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006378889083862305, + "raw_replay_rms_error_rad": 0.0009156166673364225, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9985892081561341, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.980399232898794, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9868606725541859, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0148156875451024, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0064346028806004, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9927016575337341, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0020411312580108643, + 0.01371389627456665, + 0.014905750751495361, + 0.004104822874069214, + 0.0029825568199157715, + 0.007355451583862305 + ], + "replay_smoothing_max_deviation_normalized": 0.8428726708654544, + "replay_smoothing_max_deviation_rad": 0.014905750751495361, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0025786422193050385, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.486775398254395, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.49762725830078, + "replay_smoothing_raw_accel_rms_rad_s2": 4.587590565070157, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2155.06103515625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18088.541015625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1181.9456080222155, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9193733930587769, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2439302984325685, + "replay_smoothing_rms_deviation_rad": 0.0012176837078715622, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.47339153289795, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.25302505493164, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.527312710448373, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2186.98974609375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18204.93359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1173.3193641983705, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8894484043121338, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2431320910998602, + "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": 0.9844089801104549, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967277237069877, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 2, + "replay_smoothing_worst_time_s": 11.026, + "replay_smoothing_wrist_max_deviation_rad": 0.007355451583862305, + "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": 0.006378889083862305, + "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": 0.027550578117370605, + "stage_planned_to_measured_rms_error_rad": 0.005789700050991355, + "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": 1112, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7307963967323303, + "target_wall_accel_peak_abs_rad_s2": 3.474052906036377, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 26.133392811985686, + "target_wall_accel_rms_rad_s2": 0.34769725739475243, + "target_wall_jerk_p95_abs_rad_s3": 19.297876358032227, + "target_wall_jerk_peak_abs_rad_s3": 89.04930114746094, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 26.166723945061676, + "target_wall_jerk_rms_rad_s3": 8.336382097335832, + "target_wall_smoothness_samples": 1112, + "target_wall_velocity_peak_abs_rad_s": 0.5508062839508057, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 3.700014237081632, + "target_wall_velocity_rms_rad_s": 0.09862321318173084, + "tcp_pose_count": 1112, + "timestamp_count": 1112, + "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": -1.0799999999999992, + "window_lag_best_lag_p95_abs_s": 0.7409999999999978, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.819999999999999, + "window_lag_worst_end_s": 19.5, + "window_lag_worst_max_error_rad": 0.005969226360321045, + "window_lag_worst_rms_error_rad": 0.0018201177597940343, + "window_lag_worst_start_s": 18.5, + "zero_lag_max_error_rad": 0.006378889083862305, + "zero_lag_p95_error_rad": 0.0020762819331139326, + "zero_lag_rms_error_rad": 0.0009156166673364225, + "zero_lag_samples": 1112, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 11.295000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.npz new file mode 100644 index 0000000000000000000000000000000000000000..27260ce665bb1b3c2e845842f7106564b4a5dc17 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135438.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff27f289208705b38ddba996b1842e2e6b719a444e2f2a650b0a339172bad2ee +size 115610 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.json new file mode 100644 index 0000000000000000000000000000000000000000..98baf441b33a375532fd2e7faf93666b15da52fd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.json @@ -0,0 +1,665 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:56:41", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1091, + "actual_playback_duration_s": 36.384969484061, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005910605192184448, + "aligned_p95_error_rad": 0.0019722245633602142, + "aligned_rms_error_rad": 0.0008582097892643201, + "aligned_samples": 1091, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 13.807000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1091, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1091, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6184764683092834, + "image_frame_counts": { + "cam_scene": 1091, + "cam_wrist": 1091 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0040399134159088135, + 0.005910605192184448, + 0.004110991954803467, + 0.005191438365727663, + 0.0037941932678222656, + 0.0058963000774383545 + ], + "joint_lag_p95_error_rad": [ + 0.0019557178020477295, + 0.0021483004093170166, + 0.001890227198600769, + 0.0007210783660411835, + 0.001974642276763916, + 0.002304643392562866 + ], + "joint_lag_rms_error_rad": [ + 0.0008246774674447597, + 0.0009420058416255454, + 0.0008698091858182715, + 0.0005570120804722744, + 0.000792198799429987, + 0.001075763407084796 + ], + "joint_lag_samples": [ + 1091, + 1091, + 1091, + 1091, + 1091, + 1091 + ], + "joint_lag_worst_time_s": [ + 21.837, + 13.807000000000002, + 1.5919999999999996, + 3.3440000000000003, + 20.938000000000002, + 13.807000000000002 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0070773359620943666, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972067963331938, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004349528107559309, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005616348853800446, + "leadthrough_capture_egm_poll_duration_warn_count": 2787, + "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": 0.0071050230180844665, + "leadthrough_capture_host_loop_dt_median_s": 0.004004652029834688, + "leadthrough_capture_host_loop_dt_p95_s": 0.004389904229901731, + "leadthrough_capture_host_loop_dt_p99_s": 0.005663320990279322, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007055956986732781, + "leadthrough_capture_host_receive_dt_median_s": 0.0040074309799820185, + "leadthrough_capture_host_receive_dt_p95_s": 0.004369129915721714, + "leadthrough_capture_host_receive_dt_p99_s": 0.0056055949628353195, + "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": 0.01569677295628935, + "leadthrough_capture_loop_late_median_s": 0.009290334943216294, + "leadthrough_capture_loop_late_p95_s": 0.009678001975407823, + "leadthrough_capture_loop_late_p99_s": 0.01092730759875849, + "leadthrough_capture_loop_late_warn_count": 6684, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007092903950251639, + "leadthrough_capture_read_duration_median_s": 0.003989317046944052, + "leadthrough_capture_read_duration_p95_s": 0.004368594672996551, + "leadthrough_capture_read_duration_p99_s": 0.005641604913398625, + "leadthrough_capture_read_duration_warn_count": 3141, + "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": 34, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003216966986656189, + 0.0024587512016296387, + 0.003502989187836647, + 0.0012205932289361954, + 0.0021482110023498535, + 0.006279110908508301 + ], + "leadthrough_delta_max_abs_rad": 0.006279110908508301, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001615077257156372, + 0.0020033717155456543, + 0.0029337406158447266, + 0.00028342753648757935, + 0.001329660415649414, + 0.004144145175814629 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007182770641520619, + 0.0007939236820675433, + 0.0011395211331546307, + 0.0001543944381410256, + 0.000536937965080142, + 0.001478106016293168 + ], + "leadthrough_delta_samples": 5621, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006279110908508301, + "leadthrough_delta_worst_from_rad": -0.7068397998809814, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9719999999999995, + "leadthrough_delta_worst_to_rad": -0.7131189107894897, + "leadthrough_duration_s": 22.481, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5620, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6449999999999996, + "leadthrough_final_stillness_removed_samples": 161, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5621, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6684, + "leadthrough_initial_stillness_first_motion_index": 902, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.604, + "leadthrough_initial_stillness_removed_samples": 901, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 901, + "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": [ + 0.003216966986656189, + 0.0024587512016296387, + 0.003502989071421325, + 0.0012205932289361954, + 0.0021482110023498535, + 0.006279110908508301 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006279110908508301, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.072188218434611, + 0.6440877914428467, + 0.9510119756062465, + 0.4036687314510192, + 0.715653101603163, + 1.8785248200097961 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.639183759689331, + "leadthrough_velocity_rms_rad_s": 0.2283869096540609, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005910605192184448, + "measured_wall_accel_p95_abs_rad_s2": 0.4299488365650177, + "measured_wall_accel_peak_abs_rad_s2": 2.5575008392333984, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 39.33465424692258, + "measured_wall_accel_rms_rad_s2": 0.22436241369739546, + "measured_wall_jerk_p95_abs_rad_s3": 7.507984638214111, + "measured_wall_jerk_peak_abs_rad_s3": 57.16939926147461, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 39.26895026990678, + "measured_wall_jerk_rms_rad_s3": 3.680408837095335, + "measured_wall_smoothness_samples": 1091, + "measured_wall_velocity_peak_abs_rad_s": 0.4938485026359558, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.568555673933588, + "measured_wall_velocity_rms_rad_s": 0.09972827178975191, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005910605192184448, + "moving_aligned_p95_error_rad": 0.002273064572364092, + "moving_aligned_rms_error_rad": 0.0010032051183805207, + "moving_aligned_samples": 794, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 13.807000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0040399134159088135, + 0.005910605192184448, + 0.004110991954803467, + 0.005191438365727663, + 0.0037941932678222656, + 0.0058963000774383545 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0022436673752963543, + 0.0025897957384586334, + 0.0022575650364160538, + 0.002888632472604513, + 0.002258703112602234, + 0.0026764152571558952 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009367624030933934, + 0.001115236151368664, + 0.0010874628301390222, + 0.001084713690642333, + 0.0009636568025698393, + 0.0013947894040732972 + ], + "moving_joint_lag_samples": [ + 703, + 736, + 630, + 186, + 656, + 590 + ], + "moving_joint_lag_worst_time_s": [ + 21.837, + 13.807000000000002, + 1.5919999999999996, + 3.3440000000000003, + 20.938000000000002, + 13.807000000000002 + ], + "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": 2.2893075942993164, + "playback_velocity_rms_rad_s": 0.422877250858591, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.962, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.481, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1861, + 4806 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44368780782355893, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0865907073020935, + "rapid_planner_max_dt_s": 2.3520000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007743813097476959, + "rapid_planner_median_dt_s": 0.09199999999999964, + "rapid_planner_path_max_error_rad": 0.005910605192184448, + "rapid_planner_path_p95_error_rad": 0.0029767912346869707, + "rapid_planner_path_rms_error_rad": 0.001474140447628871, + "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, + 61, + 84, + 106, + 130, + 154, + 172, + 182, + 191, + 200, + 210, + 220, + 230, + 240, + 249, + 258, + 268, + 284, + 301, + 321, + 331, + 341, + 354, + 366, + 378, + 390, + 411, + 434, + 460, + 485, + 506, + 544, + 570, + 595, + 625, + 654, + 694, + 733, + 793, + 883, + 994, + 1065, + 1273, + 1861, + 2425, + 2498, + 2570, + 2601, + 2629, + 2646, + 2662, + 2690, + 2717, + 2740, + 2764, + 2780, + 2796, + 2812, + 2829, + 2852, + 2874, + 2898, + 2923, + 2953, + 2968, + 2983, + 2998, + 3013, + 3031, + 3050, + 3073, + 3095, + 3114, + 3136, + 3157, + 3180, + 3235, + 3305, + 3402, + 3506, + 3548, + 3594, + 3618, + 3816, + 3976, + 4191, + 4341, + 4453, + 4806, + 5042, + 5109, + 5133, + 5152, + 5190, + 5211, + 5225, + 5248, + 5258, + 5268, + 5278, + 5287, + 5304, + 5321, + 5339, + 5364, + 5388, + 5438, + 5521, + 5621 + ], + "rapid_planner_selected_max_joint_step_deg": 4.961282073462597, + "rapid_planner_selected_samples": 110, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5622, + "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": 110, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005910605192184448, + "raw_replay_rms_error_rad": 0.0008582097892643201, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9331957866986074, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.979920984805955, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9738057512048143, + "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": 0.9935330838386418, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9773255911253868, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9889417359651721, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005135536193847656, + 0.000934600830078125, + 0.0011392831802368164, + 0.0013211201876401901, + 0.0016243457794189453, + 0.005650043487548828 + ], + "replay_smoothing_max_deviation_normalized": 0.6474472968192129, + "replay_smoothing_max_deviation_rad": 0.005650043487548828, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0019862032495439053, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.238193988800049, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.49623107910156, + "replay_smoothing_raw_accel_rms_rad_s2": 2.684246534569519, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 851.917236328125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15755.087890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 680.2601719410711, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6779615879058838, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2292927628964857, + "replay_smoothing_rms_deviation_rad": 0.0008940057236214109, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.9550647735595703, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 53.402000427246094, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.61393471301539, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 846.407958984375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15397.8505859375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 672.7376753473693, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.639183759689331, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2283869096540609, + "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": 0.9768899189969253, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960493596440557, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.6479999999999997, + "replay_smoothing_wrist_max_deviation_rad": 0.005650043487548828, + "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": 0.005910605192184448, + "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": 0.02895963564515114, + "stage_planned_to_measured_rms_error_rad": 0.005914039437581879, + "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": 1091, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7221596240997314, + "target_wall_accel_peak_abs_rad_s2": 2.9571738243103027, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 8.900054413010366, + "target_wall_accel_rms_rad_s2": 0.3429101529672091, + "target_wall_jerk_p95_abs_rad_s3": 17.844881057739258, + "target_wall_jerk_peak_abs_rad_s3": 67.98629760742188, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 1.1333921940531582, + "target_wall_jerk_rms_rad_s3": 7.845782424096575, + "target_wall_smoothness_samples": 1091, + "target_wall_velocity_peak_abs_rad_s": 0.55093914270401, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 4.000055429060012, + "target_wall_velocity_rms_rad_s": 0.10056116516172972, + "tcp_pose_count": 1091, + "timestamp_count": 1091, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.300000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1599999999999993, + "window_lag_best_lag_p95_abs_s": 1.2000000000000028, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.0, + "window_lag_worst_max_error_rad": 0.005191438365727663, + "window_lag_worst_rms_error_rad": 0.002016506432730752, + "window_lag_worst_start_s": 3.0, + "zero_lag_max_error_rad": 0.005910605192184448, + "zero_lag_p95_error_rad": 0.0019722245633602142, + "zero_lag_rms_error_rad": 0.0008582097892643201, + "zero_lag_samples": 1091, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 13.807000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.npz new file mode 100644 index 0000000000000000000000000000000000000000..fa9e7e281a9c2cba6fb1ddc915261034944fc030 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135640.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a35fc57dea6996c89aeeaabdbceaeda9e2ab99e369133d74881bd37a61e73c6b +size 114957 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.json new file mode 100644 index 0000000000000000000000000000000000000000..4b32bbce1e55a28956e434d73404460b393ee3e6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.json @@ -0,0 +1,653 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T13:58:49", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1088, + "actual_playback_duration_s": 36.28199730301276, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.36050495505332947, + "aligned_p95_error_rad": 0.0020623509772121906, + "aligned_rms_error_rad": 0.005798494395246145, + "aligned_samples": 1088, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 22.201, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1088, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1088, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5741245738649294, + "image_frame_counts": { + "cam_scene": 1088, + "cam_wrist": 1088 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.03221406042575836, + 0.24648170173168182, + 0.0856219232082367, + 0.00988781452178955, + 0.36050495505332947, + 0.12430520355701447 + ], + "joint_lag_p95_error_rad": [ + 0.0019664119463413954, + 0.00196687295101583, + 0.0018935644766315818, + 0.0015059681609272957, + 0.0021054507233202457, + 0.002427552128210664 + ], + "joint_lag_rms_error_rad": [ + 0.001292703539874644, + 0.007522327169499982, + 0.002734652284195525, + 0.0006974975961491636, + 0.010963644258308565, + 0.003913107919336206 + ], + "joint_lag_samples": [ + 1088, + 1088, + 1088, + 1088, + 1088, + 1088 + ], + "joint_lag_worst_time_s": [ + 22.201, + 22.201, + 22.201, + 22.201, + 22.201, + 22.201 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 14, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00652598706074059, + "leadthrough_capture_egm_poll_duration_median_s": 0.003990228986367583, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004250493226572871, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004830094038043169, + "leadthrough_capture_egm_poll_duration_warn_count": 3565, + "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": 0.006587963085621595, + "leadthrough_capture_host_loop_dt_median_s": 0.004019113956019282, + "leadthrough_capture_host_loop_dt_p95_s": 0.004281457391334698, + "leadthrough_capture_host_loop_dt_p99_s": 0.004874682073714211, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006514298031106591, + "leadthrough_capture_host_receive_dt_median_s": 0.004019031475763768, + "leadthrough_capture_host_receive_dt_p95_s": 0.004256419709417969, + "leadthrough_capture_host_receive_dt_p99_s": 0.004835809968644752, + "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": 0.024664377910085022, + "leadthrough_capture_loop_late_median_s": 0.01767683494836092, + "leadthrough_capture_loop_late_p95_s": 0.017978515999857336, + "leadthrough_capture_loop_late_p99_s": 0.018603718215599654, + "leadthrough_capture_loop_late_warn_count": 7703, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006564778042957187, + "leadthrough_capture_read_duration_median_s": 0.004005144932307303, + "leadthrough_capture_read_duration_p95_s": 0.004267277847975493, + "leadthrough_capture_read_duration_p99_s": 0.004860135780181735, + "leadthrough_capture_read_duration_warn_count": 4004, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0033575817942619324, + 0.002644479274749756, + 0.0035381317138671875, + 0.002209894359111786, + 0.0025766491889953613, + 0.006679415702819824 + ], + "leadthrough_delta_max_abs_rad": 0.006679415702819824, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017096652882173657, + 0.001900218310765922, + 0.002807861426845193, + 0.0004152531619183719, + 0.0015205797972157598, + 0.0035281763412058353 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007110394071787596, + 0.0008062967681325972, + 0.001101659145206213, + 0.00024352535547222942, + 0.0005926662706770003, + 0.001377267180941999 + ], + "leadthrough_delta_samples": 5763, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006679415702819824, + "leadthrough_delta_worst_from_rad": -0.9638660550117493, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.2269999999999994, + "leadthrough_delta_worst_to_rad": -0.9705454707145691, + "leadthrough_duration_s": 23.049, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5762, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5839999999999996, + "leadthrough_final_stillness_removed_samples": 146, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5763, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7703, + "leadthrough_initial_stillness_first_motion_index": 1794, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.172, + "leadthrough_initial_stillness_removed_samples": 1793, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1793, + "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": [ + 0.0033575817942619324, + 0.002644479274749756, + 0.0035381317138671875, + 0.002209894359111786, + 0.0025766491889953613, + 0.006679415702819824 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006679415702819824, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8393954485652028, + 0.6611198186878053, + 1.1735235651333682, + 0.5524735897782527, + 0.6441622972486252, + 2.2242665290831676 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.005657196044922, + "leadthrough_velocity_rms_rad_s": 0.22453842566808585, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.36050495505332947, + "measured_wall_accel_p95_abs_rad_s2": 0.36776331067085266, + "measured_wall_accel_peak_abs_rad_s2": 252.16372680664062, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 12.738714183098637, + "measured_wall_accel_rms_rad_s2": 6.94404456449979, + "measured_wall_jerk_p95_abs_rad_s3": 6.244075298309326, + "measured_wall_jerk_peak_abs_rad_s3": 3759.0703125, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 12.770831858040765, + "measured_wall_jerk_rms_rad_s3": 83.55011291996122, + "measured_wall_smoothness_samples": 1088, + "measured_wall_velocity_peak_abs_rad_s": 15.776850700378418, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 12.708262223051861, + "measured_wall_velocity_rms_rad_s": 0.3373728864852919, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.36050495505332947, + "moving_aligned_p95_error_rad": 0.0023254642728716135, + "moving_aligned_rms_error_rad": 0.006824671851917177, + "moving_aligned_samples": 785, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 22.201, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.03221406042575836, + 0.24648170173168182, + 0.0856219232082367, + 0.0036836043000221252, + 0.003973722457885742, + 0.004578232765197754 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002464303048327565, + 0.0021104514598846436, + 0.0022431793622672558, + 0.003209910821169615, + 0.002424852456897497, + 0.002868366427719593 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0016370932281585533, + 0.00898831259983837, + 0.003643502275820535, + 0.001274560907016584, + 0.0010986304467841455, + 0.0014516367468210536 + ], + "moving_joint_lag_samples": [ + 659, + 761, + 602, + 217, + 599, + 479 + ], + "moving_joint_lag_worst_time_s": [ + 22.201, + 22.201, + 22.201, + 21.461, + 14.033999999999999, + 14.105999999999998 + ], + "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": 15.053943634033203, + "playback_velocity_rms_rad_s": 0.5935136718380271, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.098, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.049, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2319, + 4899 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43246367258311236, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08628228306770325, + "rapid_planner_max_dt_s": 5.027, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007547914981842041, + "rapid_planner_median_dt_s": 0.09199999999999875, + "rapid_planner_path_max_error_rad": 0.36050495505332947, + "rapid_planner_path_p95_error_rad": 0.003094568848609921, + "rapid_planner_path_rms_error_rad": 0.01102716589788672, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 45, + 71, + 105, + 126, + 148, + 161, + 174, + 187, + 200, + 211, + 222, + 234, + 245, + 256, + 267, + 278, + 289, + 300, + 310, + 320, + 330, + 340, + 349, + 366, + 384, + 402, + 430, + 457, + 481, + 505, + 548, + 584, + 631, + 678, + 738, + 799, + 945, + 1062, + 2319, + 2582, + 2658, + 2807, + 2879, + 2935, + 2964, + 2994, + 3010, + 3026, + 3042, + 3060, + 3082, + 3103, + 3130, + 3158, + 3190, + 3208, + 3227, + 3255, + 3272, + 3290, + 3304, + 3318, + 3332, + 3346, + 3364, + 3383, + 3425, + 3467, + 3546, + 3565, + 3607, + 3640, + 3738, + 3802, + 3963, + 4315, + 4899, + 5129, + 5176, + 5213, + 5246, + 5270, + 5295, + 5313, + 5331, + 5344, + 5358, + 5379, + 5393, + 5407, + 5432, + 5465, + 5498, + 5521, + 5542, + 5647, + 5763 + ], + "rapid_planner_selected_max_joint_step_deg": 4.943610666532481, + "rapid_planner_selected_samples": 98, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5764, + "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": 98, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.36050495505332947, + "raw_replay_rms_error_rad": 0.005798494395246145, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9450544911377853, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.007425203905095, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9887105861174095, + "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": 0.9793171641591429, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0026391426102652, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9945417228100462, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00045490264892578125, + 0.0004984736442565918, + 0.0008922219276428223, + 0.0017121285200119019, + 0.002651810646057129, + 0.005647063255310059 + ], + "replay_smoothing_max_deviation_normalized": 0.6471057873580668, + "replay_smoothing_max_deviation_rad": 0.005647063255310059, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017720250179991126, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.783487796783447, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.03250885009766, + "replay_smoothing_raw_accel_rms_rad_s2": 3.930459805873405, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1026.8170166015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18729.44921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 994.3709386237015, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9866610765457153, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22524188631609665, + "replay_smoothing_rms_deviation_rad": 0.0007754089500607403, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.4657111167907715, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 65.51538848876953, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8860872183760136, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1005.5795288085938, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18778.87890625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 988.9433864110588, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.005657196044922, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22453842566808585, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0095618320223174, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996876865757448, + "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": 12.178, + "replay_smoothing_wrist_max_deviation_rad": 0.005647063255310059, + "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": 0.36050495505332947, + "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": 0.4818803071975708, + "stage_planned_to_measured_rms_error_rad": 0.010433286417919865, + "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": 1088, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3605", + "target_wall_accel_p95_abs_rad_s2": 0.7507417798042297, + "target_wall_accel_peak_abs_rad_s2": 227.92855834960938, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.033388493000529706, + "target_wall_accel_rms_rad_s2": 4.955947626181028, + "target_wall_jerk_p95_abs_rad_s3": 19.177722930908203, + "target_wall_jerk_peak_abs_rad_s3": 3413.556640625, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672210094984621, + "target_wall_jerk_rms_rad_s3": 61.032944131229414, + "target_wall_smoothness_samples": 1088, + "target_wall_velocity_peak_abs_rad_s": 15.20627498626709, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 7.007969543337822e-06, + "target_wall_velocity_rms_rad_s": 0.26364920499759625, + "tcp_pose_count": 1088, + "timestamp_count": 1088, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3605", + "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": -1.0599999999999992, + "window_lag_best_lag_p95_abs_s": 1.0549999999999993, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.6499999999999988, + "window_lag_worst_end_s": 23.0, + "window_lag_worst_max_error_rad": 0.092730313539505, + "window_lag_worst_rms_error_rad": 0.03277287234604759, + "window_lag_worst_start_s": 22.0, + "zero_lag_max_error_rad": 0.36050495505332947, + "zero_lag_p95_error_rad": 0.0020623509772121906, + "zero_lag_rms_error_rad": 0.005798494395246145, + "zero_lag_samples": 1088, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 22.201 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.npz new file mode 100644 index 0000000000000000000000000000000000000000..f28b33ff1ebbd8a82069f2deba067584a670c575 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_135848.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:075ebd5e734d8348a5f3549099b4884eada751fbb5f7e3074514c32928b19590 +size 115406 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.json new file mode 100644 index 0000000000000000000000000000000000000000..a200e1ceefc2a97d6b99c5c1c8d07f2df190430b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.json @@ -0,0 +1,484 @@ +{ + "attempt": 2, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:01:48", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.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": 2, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.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": 31, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006294184015132487, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973791026510298, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004337158019188791, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004766599021386356, + "leadthrough_capture_egm_poll_duration_warn_count": 2871, + "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": 0.0063502800185233355, + "leadthrough_capture_host_loop_dt_median_s": 0.003999192966148257, + "leadthrough_capture_host_loop_dt_p95_s": 0.004368691530544311, + "leadthrough_capture_host_loop_dt_p99_s": 0.004804713430348782, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006273391889408231, + "leadthrough_capture_host_receive_dt_median_s": 0.003998923115432262, + "leadthrough_capture_host_receive_dt_p95_s": 0.004359235987067223, + "leadthrough_capture_host_receive_dt_p99_s": 0.004762892110738903, + "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": 0.012419717968441546, + "leadthrough_capture_loop_late_median_s": 0.006235431006643921, + "leadthrough_capture_loop_late_p95_s": 0.006560248852474615, + "leadthrough_capture_loop_late_p99_s": 0.007055841143010185, + "leadthrough_capture_loop_late_warn_count": 6712, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0063298780005425215, + "leadthrough_capture_read_duration_median_s": 0.003987706499174237, + "leadthrough_capture_read_duration_p95_s": 0.004354216391220689, + "leadthrough_capture_read_duration_p99_s": 0.004787826426327229, + "leadthrough_capture_read_duration_warn_count": 3137, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.00284026563167572, + 0.002022087574005127, + 0.0031194984912872314, + 0.001894105225801468, + 0.003102719783782959, + 0.005677521228790283 + ], + "leadthrough_delta_max_abs_rad": 0.005677521228790283, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018340020906180143, + 0.001406107796356082, + 0.0023837443441152573, + 0.0007333752582781017, + 0.001350807724520564, + 0.0043848115019500256 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007137908833101392, + 0.0006640920764766634, + 0.0009647646220400929, + 0.0002897297090385109, + 0.0006173503352329135, + 0.0014774409355595708 + ], + "leadthrough_delta_samples": 5623, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.005677521228790283, + "leadthrough_delta_worst_from_rad": -0.3042465150356293, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 21.104999999999997, + "leadthrough_delta_worst_to_rad": -0.298568993806839, + "leadthrough_duration_s": 22.488999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5622, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.8680000000000021, + "leadthrough_final_stillness_removed_samples": 217, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5623, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6712, + "leadthrough_initial_stillness_first_motion_index": 872, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.484, + "leadthrough_initial_stillness_removed_samples": 871, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 871, + "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": [ + 0.00284026563167572, + 0.002022087574005127, + 0.0031194984912872314, + 0.001894105225801468, + 0.003102719783782959, + 0.005677521228790283 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005677521228790283, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9430249532063445, + 0.6651282310485588, + 1.0398328304290378, + 0.6293716530004899, + 1.0064641634622828, + 1.8883148829141536 + ], + "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": 22.488999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2185, + 4767 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44788282463441614, + "rapid_planner_max_delta_rad": 0.08707089722156525, + "rapid_planner_max_dt_s": 3.644, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00781702995300293, + "rapid_planner_median_dt_s": 0.08749999999999991, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 54, + 85, + 103, + 119, + 137, + 155, + 172, + 189, + 202, + 216, + 229, + 242, + 256, + 269, + 282, + 296, + 306, + 316, + 326, + 335, + 346, + 356, + 366, + 376, + 388, + 399, + 410, + 422, + 434, + 446, + 458, + 469, + 489, + 511, + 534, + 563, + 585, + 607, + 639, + 668, + 697, + 725, + 753, + 793, + 843, + 896, + 955, + 1274, + 2185, + 2765, + 2814, + 2915, + 2970, + 3024, + 3066, + 3108, + 3150, + 3179, + 3196, + 3213, + 3230, + 3247, + 3276, + 3305, + 3379, + 3458, + 3507, + 3540, + 3572, + 3595, + 3619, + 3634, + 3650, + 3666, + 3681, + 3695, + 3709, + 3723, + 3737, + 3757, + 3777, + 3806, + 3828, + 3889, + 3958, + 4164, + 4509, + 4767, + 5015, + 5075, + 5104, + 5128, + 5160, + 5184, + 5207, + 5222, + 5238, + 5249, + 5261, + 5271, + 5281, + 5292, + 5304, + 5316, + 5327, + 5349, + 5383, + 5406, + 5425, + 5449, + 5478, + 5507, + 5559, + 5623 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9887949292130545, + "rapid_planner_selected_samples": 115, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5624, + "rapid_planner_start_error": "timed out waiting for EgmLeadthroughService planner playback recording state 5.0; last value=0.0", + "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": 115, + "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": 0.9931763768487464, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9712167170951311, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9881260318459423, + "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": 0.9943907951812815, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9668766983981557, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9940760216806147, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0036690980195999146, + 0.0013664960861206055, + 0.0018520355224609375, + 0.002077534794807434, + 0.002277553081512451, + 0.006589531898498535 + ], + "replay_smoothing_max_deviation_normalized": 0.7551047393509079, + "replay_smoothing_max_deviation_rad": 0.006589531898498535, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002035212703049183, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.217928886413574, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.402706146240234, + "replay_smoothing_raw_accel_rms_rad_s2": 4.287010922753055, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1906.0902099609375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15024.8564453125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1107.6207381379293, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.686832070350647, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2235949541467196, + "replay_smoothing_rms_deviation_rad": 0.0009284574603511435, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.161852836608887, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.77925109863281, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.2361070915801875, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1895.3985595703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14527.18359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1101.0592168990986, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6453723907470703, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22261141006813845, + "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": 0.975421572584307, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956012241763929, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.947, + "replay_smoothing_wrist_max_deviation_rad": 0.006589531898498535, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.npz b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e77ace359f0aab2ccaf92b8951abb45e4f96d67 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/playback_debug/playback_attempt_002_rapid_planner_start_failed_20260902_140147.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d390dab47322fe2e7dd8da2a47d30f33b7bea02e09520e57ccf8e5e81db66d +size 4089 diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c61a4a1d805c9606c8db58c716638eb07edc6dcd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_manifest.json @@ -0,0 +1,299 @@ +{ + "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": 7, + "discard": 3, + "failure": 0, + "success": 4 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 36.6, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 30.0, + "num_frames": 1099, + "outcome": "discard", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260902_134753.hdf5", + "file_size_mb": 1334.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1098, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 28.648, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7164, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 9, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.508, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 8629, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 13, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.033, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260902_135448.hdf5", + "file_size_mb": 1348.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1112, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260902_135645.hdf5", + "file_size_mb": 1324.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1091, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_13-37-00:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260902_135900.hdf5", + "file_size_mb": 1318.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1088, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "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": "2026-09-02T14:01:48", + "session_id": "flex_to_biotek_v2_2026-09-02_13-37-00", + "session_started": "2026-09-02T13:37:01", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 25, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": 250.0, + "playback_settle_s": 0.25, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.25, + "start_index": 0 + }, + "start_pose": { + "leadthrough_start_arm_mode": "", + "leadthrough_start_arm_source": "task_manifest", + "leadthrough_start_captured_at": "2026-06-26T16:17:49", + "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled", + "leadthrough_start_joints_deg": [ + 16.926, + -0.49, + 52.285, + 4.341, + 41.395, + 7.983 + ], + "leadthrough_start_joints_rad": [ + 0.295419, + -0.008551, + 0.912542, + 0.075773, + 0.722472, + 0.139336 + ], + "leadthrough_start_pose_enabled": true, + "leadthrough_start_pose_locked": true, + "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017", + "leadthrough_start_pose_notes": "", + "leadthrough_start_pose_project": "flex_to_biotek_v2", + "leadthrough_start_pose_role": "leadthrough_start", + "leadthrough_start_pose_saved_task_local": true, + "leadthrough_start_pose_source": "saved_pose", + "leadthrough_start_pose_uploaded": true, + "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady", + "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart", + "leadthrough_start_tcp_pos_m": [], + "leadthrough_start_tcp_quat": [], + "leadthrough_start_tool_command_supported": false, + "leadthrough_start_tool_commanded": false, + "leadthrough_start_tool_io_backend": "", + "leadthrough_start_tool_state": 0.0, + "leadthrough_start_tool_state_valid": true, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json" + }, + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "tool_signal": "read-only configured", + "tool_status": { + "backend": "rws_rapid_feedback", + "can_command": false, + "can_read": true, + "command_failures": 0, + "command_hysteresis": 0.05, + "command_mode": "binary", + "command_signal": "read-only configured", + "command_threshold": 0.5, + "configured": true, + "last_state": null, + "last_state_age_s": null, + "message": "read RAPID gripper feedback array configured", + "ok": true, + "read_failures": 0, + "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback", + "state_valid": false + }, + "updated_at": "2026-09-02T14:01:48" +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_summary.json b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1233458a278e6485a2cdf07107ba02ce017bda92 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_13-37-00/session_summary.json @@ -0,0 +1,277 @@ +{ + "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": "2026-09-02T13:37:04", + "session_ended": "", + "counts": { + "attempted": 7, + "success": 4, + "failure": 0, + "discard": 3 + }, + "episodes": [ + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 1099, + "duration_s": 36.6, + "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_20260902_134753.hdf5", + "num_frames": 1098, + "duration_s": 36.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 12.135, + "file_size_mb": 1334.4, + "save_metrics": { + "validate_s": 0.0012855459935963154, + "prepare_arrays_s": 0.001747805974446237, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.9421429299982265, + "image_write_s": 10.134259767015465, + "image_chunking": "frame", + "image_input_mb": 2023.8336, + "image_storage_mb": 1331.5010120000002, + "image_frame_count": 2196, + "image_camera_frame_counts": { + "cam_wrist": 1098, + "cam_scene": 1098 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1011.9168, + "cam_scene": 1011.9168 + }, + "image_camera_storage_mb": { + "cam_wrist": 631.085053, + "cam_scene": 700.415959 + }, + "file_size_mb": 1334.351564, + "hdf5_write_s": 12.131702634971589, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.951201844960451e-05, + "total_s": 12.135021195048466 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7164, + "duration_s": 28.648, + "measured_fps": 250.03, + "slow_ticks": 9, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 8629, + "duration_s": 34.508, + "measured_fps": 250.03, + "slow_ticks": 13, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260902_135448.hdf5", + "num_frames": 1112, + "duration_s": 37.033, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.18, + "file_size_mb": 1348.6, + "save_metrics": { + "validate_s": 0.0012315590865910053, + "prepare_arrays_s": 0.0015555190620943904, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8178543790709227, + "image_write_s": 10.31251722597517, + "image_chunking": "frame", + "image_input_mb": 2049.6384, + "image_storage_mb": 1346.187336, + "image_frame_count": 2224, + "image_camera_frame_counts": { + "cam_wrist": 1112, + "cam_scene": 1112 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1024.8192, + "cam_scene": 1024.8192 + }, + "image_camera_storage_mb": { + "cam_wrist": 637.11357, + "cam_scene": 709.073766 + }, + "file_size_mb": 1348.632492, + "hdf5_write_s": 11.176996844937094, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.398706369102001e-05, + "total_s": 11.179943082039244 + } + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260902_135645.hdf5", + "num_frames": 1091, + "duration_s": 36.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.115, + "file_size_mb": 1324.1, + "save_metrics": { + "validate_s": 0.0014964590081945062, + "prepare_arrays_s": 0.001504095969721675, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.3137260470539331, + "image_write_s": 9.755824065068737, + "image_chunking": "frame", + "image_input_mb": 2010.9312, + "image_storage_mb": 1321.690665, + "image_frame_count": 2182, + "image_camera_frame_counts": { + "cam_wrist": 1091, + "cam_scene": 1091 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1005.4656, + "cam_scene": 1005.4656 + }, + "image_camera_storage_mb": { + "cam_wrist": 626.57931, + "cam_scene": 695.111355 + }, + "file_size_mb": 1324.132961, + "hdf5_write_s": 11.111574045964517, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.09749336540699e-05, + "total_s": 11.114797710906714 + } + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260902_135900.hdf5", + "num_frames": 1088, + "duration_s": 36.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.146, + "file_size_mb": 1318.9, + "save_metrics": { + "validate_s": 0.0012923870235681534, + "prepare_arrays_s": 0.0014008530415594578, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.4475806470727548, + "image_write_s": 9.650004244991578, + "image_chunking": "frame", + "image_input_mb": 2005.4016, + "image_storage_mb": 1316.226044, + "image_frame_count": 2176, + "image_camera_frame_counts": { + "cam_wrist": 1088, + "cam_scene": 1088 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1002.7008, + "cam_scene": 1002.7008 + }, + "image_camera_storage_mb": { + "cam_wrist": 622.856894, + "cam_scene": 693.36915 + }, + "file_size_mb": 1318.908008, + "hdf5_write_s": 11.143342270050198, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.6980101615190506e-05, + "total_s": 11.14616369002033 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000000_20260902_140731.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000000_20260902_140731.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..895d0ff75cf935dcea90e54c9725200e9fca8cf9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000000_20260902_140731.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bd2041e26290067c72ed563c1e87a667405f86151a4d690d1eb9bd7d6f2ee3f +size 1400430774 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000001_20260902_140957.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000001_20260902_140957.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..942dc149ff8deb0b35e240d454839eef7782279b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000001_20260902_140957.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056f0956409aa42c7b30b3c5b8c777cb83c58663c1a2cad2fbebd26f881707b7 +size 1446977605 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000002_20260902_141316.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000002_20260902_141316.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..866e5d59ae973ad53594220ac1840009e24d67fc --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000002_20260902_141316.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaf14dae22247e54399224f110af82b2b419101b141cdc4e266d65855d5d175d +size 1434367853 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000003_20260902_141514.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000003_20260902_141514.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..4dc2616cde7d8f57a6cd53d1f890c7fee133d253 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000003_20260902_141514.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ba9d29e9c36a7d0e5bd69c2977ec3764ea8c0e95444bbd4ce745de2f6a2a477 +size 1439529184 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000004_20260902_141715.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000004_20260902_141715.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c86bc91aed4bbecd34f7fc593c6e761c5cf40377 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000004_20260902_141715.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b338739fdf92dcfaf113dcec27dcf27870c918174dd0f104d7b708c124bfa85b +size 1403413865 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000006_20260902_142300.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000006_20260902_142300.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..16fa889bd31f65d3fcfafe855160401edbfac5ed --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000006_20260902_142300.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acf1bfebef23fd1d1a4c39c2ddc2de05529b4be6c169045a5373a7990895c2c6 +size 1400274226 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000007_20260902_142444.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000007_20260902_142444.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..93b1c7f63e79242e8cadd2747268d2a5ef70f247 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000007_20260902_142444.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d3b7eae3a9629ecbb698eb19556a57d241937f9507d13e7c61777424cb5278 +size 1387319343 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000008_20260902_142818.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000008_20260902_142818.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d9e50840558e0842ae79f8593c551dc8b99b84db --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000008_20260902_142818.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:327cf4a9d1086b54fbaa9eb8f8fc549c91900976739f59bd3a047ca4fd6be5aa +size 1395511974 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000009_20260902_143022.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000009_20260902_143022.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..580438b32a5fcc5a74dc27f87eb2bb3c1df7f043 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000009_20260902_143022.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a40456d3df18fd0b53f6e65e31e27afb8a7089c70920e1d686325f094a21b6a +size 1437799386 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000010_20260902_143222.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000010_20260902_143222.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e53d8d5937ed7eff916f8c2ddceef3c5837e4b4c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000010_20260902_143222.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3b256f874bdb266f4ef04554ffd9d7c7d3b40bfca82c2980b73ab1353e3c7d5 +size 1413502473 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000011_20260902_143410.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000011_20260902_143410.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8c89329a23c1613b34eda176ccb86abe78b045d5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000011_20260902_143410.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a43dde25bc9c39bc0f6af798a85f75cec666f4414e1b56b4558075c911bee702 +size 1414569222 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000012_20260902_143609.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000012_20260902_143609.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d0c5365364bd3128a1ac42f6cf00d84acba17361 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000012_20260902_143609.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb00016facffea3b34475a523f4c8308416909b4439b66d11832a9e536c621b1 +size 1369249909 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000013_20260902_143800.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000013_20260902_143800.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..cb1d08688855d962535312488746b8cfc9f013ae --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000013_20260902_143800.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d0c37787d0982fe2ed72a089b6bb9a8695dc4ec09c99e99efcf619b36b298be +size 1360375004 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000014_20260902_143948.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000014_20260902_143948.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..afe441a4bea5e84de6e8978894b68961a383251b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000014_20260902_143948.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b57f4e655ec1deea4ceff76757a9943d6b5a1da4afa3b7a404a9220d0cb731b4 +size 1382283343 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000015_20260902_144244.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000015_20260902_144244.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f1d8d806a106184fe196f4d11f8b4a9c7b9c4e4a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000015_20260902_144244.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8e573569b1076a9fff7ee0d49e3d11f3579b4d6107b4bf723bcf192fb045ee8 +size 1344251733 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000016_20260902_144451.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000016_20260902_144451.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8ae95094480ff9e011df5cc3d00a84e0b8ef3449 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000016_20260902_144451.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50885cc6861d3179a76faf1adc4f49dbbd5605fd7cef49af0ea27a511e526889 +size 1406516551 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000017_20260902_144641.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000017_20260902_144641.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f654d674805b257527064c992b3dbb9a28642783 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000017_20260902_144641.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c839a99b1b3f312dcd357f7269d21ea19b22447b399c507f15df1fbf423531 +size 1390710634 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000018_20260902_144836.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000018_20260902_144836.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..514519cd5eace2ecc192686f9fd204eb17de4da6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000018_20260902_144836.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd8b11136c1c55ab1deb760fccef62d1f6b7d2ea2ded3f820995e294c71ab5cb +size 1419863699 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000019_20260902_145029.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000019_20260902_145029.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..77e9f819464ef47052235b4699f1a6cb935f0cb0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000019_20260902_145029.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b9d5733d5c6518e40f1cd32fe38c5815be5f3326e40e2492c711cb8a4c72b29 +size 1387861815 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000020_20260902_145414.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000020_20260902_145414.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..39bf6b54c89a04d0711f1faef5ebac5aae0eea2b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/episode_000020_20260902_145414.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499f55eb3deded3e38e773e8863f64f0f5de8c8782b4cb9aa7d625ae20ff3368 +size 1390524675 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.json new file mode 100644 index 0000000000000000000000000000000000000000..648c0d5d7cef181e3d8bea2ff33025abcf163464 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.json @@ -0,0 +1,460 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:05:05", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 0, + "actual_playback_duration_s": 0.07783722400199622, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 0, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 0, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.0038529464410452536, + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006549439043737948, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972332051489502, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004348300775745884, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004895034682704135, + "leadthrough_capture_egm_poll_duration_warn_count": 3889, + "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": 0.006638432038016617, + "leadthrough_capture_host_loop_dt_median_s": 0.003997002029791474, + "leadthrough_capture_host_loop_dt_p95_s": 0.004378158203326166, + "leadthrough_capture_host_loop_dt_p99_s": 0.004923353171907362, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006580182001926005, + "leadthrough_capture_host_receive_dt_median_s": 0.003998373984359205, + "leadthrough_capture_host_receive_dt_p95_s": 0.004365849425084889, + "leadthrough_capture_host_receive_dt_p99_s": 0.004896558560430997, + "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": 0.012465927982702851, + "leadthrough_capture_loop_late_median_s": 0.006919668521732092, + "leadthrough_capture_loop_late_p95_s": 0.007267701905220747, + "leadthrough_capture_loop_late_p99_s": 0.007924996869405728, + "leadthrough_capture_loop_late_warn_count": 9046, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006608686991967261, + "leadthrough_capture_read_duration_median_s": 0.003986691532190889, + "leadthrough_capture_read_duration_p95_s": 0.004366584500530735, + "leadthrough_capture_read_duration_p99_s": 0.004912891302956265, + "leadthrough_capture_read_duration_warn_count": 4229, + "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": 26, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0009447634220123291, + 0.001967012882232666, + 0.004481703042984009, + 0.001351221464574337, + 0.003466963768005371, + 0.008579522371292114 + ], + "leadthrough_delta_max_abs_rad": 0.008579522371292114, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0007028765976428986, + 0.0012916997075080872, + 0.0022524259984493256, + 0.00013212607882451266, + 0.0016418397426605225, + 0.004713088274002075 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.00027779274387285113, + 0.0005186068010516465, + 0.0010704118758440018, + 0.0001537048228783533, + 0.0007186757284216583, + 0.001779214828275144 + ], + "leadthrough_delta_samples": 5051, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.008579522371292114, + "leadthrough_delta_worst_from_rad": -0.43044161796569824, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 16.913999999999998, + "leadthrough_delta_worst_to_rad": -0.42186209559440613, + "leadthrough_duration_s": 20.202, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5050, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.7560000000000002, + "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": 5051, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9046, + "leadthrough_initial_stillness_first_motion_index": 3806, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 15.218, + "leadthrough_initial_stillness_removed_samples": 3805, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 3805, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0009447634220123291, + 0.001967012882232666, + 0.004481703042984009, + 0.001351221464574337, + 0.003466963768005371, + 0.008579522371292114 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008579522371292114, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.23619085550310828, + 0.49175322055843906, + 1.120425760745628, + 0.33780536614347145, + 0.8667409420018232, + 2.1448805928242174 + ], + "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": 70.404, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.202, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2547, + 3660 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4236219927025308, + "rapid_planner_max_delta_rad": 0.08660484850406647, + "rapid_planner_max_dt_s": 3.064, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007393598556518555, + "rapid_planner_median_dt_s": 0.08000000000000007, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 33, + 54, + 85, + 105, + 125, + 150, + 163, + 176, + 190, + 204, + 216, + 227, + 236, + 246, + 256, + 265, + 284, + 301, + 330, + 360, + 392, + 423, + 446, + 462, + 470, + 478, + 486, + 493, + 500, + 508, + 516, + 524, + 532, + 540, + 559, + 583, + 624, + 665, + 710, + 764, + 819, + 866, + 908, + 989, + 1091, + 1256, + 1409, + 1781, + 2547, + 3234, + 3395, + 3660, + 3788, + 3892, + 3932, + 3998, + 4019, + 4044, + 4072, + 4101, + 4129, + 4144, + 4158, + 4168, + 4177, + 4186, + 4195, + 4204, + 4214, + 4223, + 4232, + 4242, + 4252, + 4259, + 4266, + 4283, + 4300, + 4316, + 4340, + 4363, + 4384, + 4449, + 4467, + 4494, + 4511, + 4528, + 4611, + 4684, + 5051 + ], + "rapid_planner_selected_max_joint_step_deg": 4.96209230465289, + "rapid_planner_selected_samples": 90, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5052, + "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": 90, + "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": 0.8273155687977793, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8883904786741618, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8269992885333165, + "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": 0.49668409065969094, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9075454494842307, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.7983301463629315, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0003138650208711624, + 0.0007722377777099609, + 0.0010332763195037842, + 0.0042305923998355865, + 0.0019341707229614258, + 0.007780253887176514 + ], + "replay_smoothing_max_deviation_normalized": 0.8915514294572188, + "replay_smoothing_max_deviation_rad": 0.007780253887176514, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002883302280679345, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 1.8372511863708496, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 19.579092025756836, + "replay_smoothing_raw_accel_rms_rad_s2": 1.1390591272531005, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 214.8322296142578, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 5069.3193359375, + "replay_smoothing_raw_jerk_rms_rad_s3": 136.49815919417398, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1433048248291016, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23272918719500066, + "replay_smoothing_rms_deviation_rad": 0.0011359543373517785, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.5199865102767944, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 17.393878936767578, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.9420010878356946, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 106.70375061035156, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 4600.6376953125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 108.97059540775564, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1383650302886963, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23141317951932655, + "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": 0.9976952440533982, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9943453260352281, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.120000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.007780253887176514, + "safety_abort": false, + "safety_path_error_rad": 0.0, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": null, + "stage_planned_to_measured_rms_error_rad": null, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 0, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 0, + "timestamp_count": 0, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "diagnostics_skipped_operator_stop", + "tracking_pass": false, + "tracking_reason": "diagnostics_skipped_operator_stop", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": false, + "tracking_timing_reason": "diagnostics_skipped_operator_stop", + "window_lag_count": 0 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e77ace359f0aab2ccaf92b8951abb45e4f96d67 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_140504.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d390dab47322fe2e7dd8da2a47d30f33b7bea02e09520e57ccf8e5e81db66d +size 4089 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.json new file mode 100644 index 0000000000000000000000000000000000000000..14a15b68846f85735d8c719d343c7fc7a8b5a26f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.json @@ -0,0 +1,482 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:11:20", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 585, + "actual_playback_duration_s": 19.803859956911765, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 585, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 585, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.0337662450755214, + "image_frame_counts": { + "cam_scene": 585, + "cam_wrist": 585 + }, + "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": 12, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006987291038967669, + "leadthrough_capture_egm_poll_duration_median_s": 0.003969984012655914, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004383436916396022, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005354449125006795, + "leadthrough_capture_egm_poll_duration_warn_count": 2394, + "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": 0.007031357032246888, + "leadthrough_capture_host_loop_dt_median_s": 0.003997426014393568, + "leadthrough_capture_host_loop_dt_p95_s": 0.004419519507791847, + "leadthrough_capture_host_loop_dt_p99_s": 0.005403736520092936, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0070142969489097595, + "leadthrough_capture_host_receive_dt_median_s": 0.004000130051281303, + "leadthrough_capture_host_receive_dt_p95_s": 0.004399881395511329, + "leadthrough_capture_host_receive_dt_p99_s": 0.005388004849664868, + "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": 0.012689299997873604, + "leadthrough_capture_loop_late_median_s": 0.00597592699341476, + "leadthrough_capture_loop_late_p95_s": 0.006359546317253262, + "leadthrough_capture_loop_late_p99_s": 0.007427275809459388, + "leadthrough_capture_loop_late_warn_count": 5843, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007015023962594569, + "leadthrough_capture_read_duration_median_s": 0.003985857008956373, + "leadthrough_capture_read_duration_p95_s": 0.004403998609632254, + "leadthrough_capture_read_duration_p99_s": 0.005390219832770525, + "leadthrough_capture_read_duration_warn_count": 2689, + "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": 18, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003677159547805786, + 0.0024927258491516113, + 0.0035257488489151, + 0.0025011077523231506, + 0.003923594951629639, + 0.0065038204193115234 + ], + "leadthrough_delta_max_abs_rad": 0.0065038204193115234, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017850741278380156, + 0.001951830112375319, + 0.002945264568552375, + 0.0008227741927839816, + 0.0019112526206299663, + 0.004977761302143335 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008481431868858635, + 0.0008477862575091422, + 0.0011987732723355293, + 0.00039186642970889807, + 0.0007827474037185311, + 0.0016928736586123705 + ], + "leadthrough_delta_samples": 4790, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0065038204193115234, + "leadthrough_delta_worst_from_rad": -0.6486533880233765, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7719999999999998, + "leadthrough_delta_worst_to_rad": -0.655157208442688, + "leadthrough_duration_s": 19.157, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4789, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.575999999999997, + "leadthrough_final_stillness_removed_samples": 144, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4790, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5843, + "leadthrough_initial_stillness_first_motion_index": 909, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.632, + "leadthrough_initial_stillness_removed_samples": 908, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 908, + "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": [ + 0.003677159547805786, + 0.0024927258491516113, + 0.0035257488489151, + 0.0025011077523231506, + 0.003923594951629639, + 0.0065038204193115234 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0065038204193115234, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2199928363163803, + 0.8127888043721209, + 1.1668652296065842, + 0.8333033571640335, + 1.3078649838764966, + 2.1617412567137855 + ], + "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": 68.314, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.157, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1669, + 4142 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4075881236259259, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08466297388076782, + "rapid_planner_max_dt_s": 1.9960000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007113754749298096, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 22, + 37, + 52, + 68, + 78, + 88, + 98, + 107, + 118, + 128, + 139, + 150, + 161, + 172, + 184, + 196, + 208, + 219, + 230, + 240, + 250, + 260, + 270, + 279, + 288, + 298, + 307, + 316, + 325, + 334, + 345, + 355, + 376, + 400, + 421, + 442, + 457, + 472, + 488, + 503, + 538, + 568, + 648, + 687, + 771, + 810, + 865, + 1022, + 1191, + 1669, + 2168, + 2223, + 2282, + 2327, + 2361, + 2392, + 2407, + 2422, + 2450, + 2479, + 2508, + 2536, + 2558, + 2580, + 2602, + 2623, + 2645, + 2667, + 2711, + 2724, + 2740, + 2752, + 2764, + 2776, + 2787, + 2805, + 2823, + 2840, + 2858, + 2887, + 2928, + 2968, + 3001, + 3034, + 3119, + 3169, + 3246, + 3303, + 3526, + 3935, + 4142, + 4333, + 4405, + 4428, + 4447, + 4471, + 4484, + 4496, + 4511, + 4527, + 4542, + 4556, + 4575, + 4602, + 4628, + 4652, + 4676, + 4695, + 4747, + 4790 + ], + "rapid_planner_selected_max_joint_step_deg": 4.850831084394321, + "rapid_planner_selected_samples": 111, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4791, + "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": 111, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005968034267425537, + "raw_replay_rms_error_rad": 0.001054560346192632, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9965393029680839, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9789616729712025, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9879185792878232, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.872291088104248, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.872291088104248 + ], + "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": 0.9850829912076583, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0003740424968366, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9938025330763824, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006326362490653992, + 0.0006737112998962402, + 0.0011081695556640625, + 0.0026646628975868225, + 0.004238426685333252, + 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": 0.002200514078140259, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 12.338776588439941, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.39337921142578, + "replay_smoothing_raw_accel_rms_rad_s2": 5.704904750451379, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2965.0048828125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17550.01953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1463.5773082758192, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.930649757385254, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2690433634536512, + "replay_smoothing_rms_deviation_rad": 0.0011886541880272898, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 12.296075820922852, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.059688568115234, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.6359813960382805, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2920.77587890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17556.583984375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1454.5068363176226, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9003905057907104, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2677628705113193, + "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": 0.9843269078304888, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952405704199706, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.7390000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539, + "safety_abort": false, + "safety_path_error_rad": 0.005968034267425537, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.037837281823158264, + "stage_planned_to_measured_rms_error_rad": 0.006679609532545601, + "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": 585, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 585, + "timestamp_count": 585, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.npz new file mode 100644 index 0000000000000000000000000000000000000000..bff41a656e73a36034033667494710a6a090686b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_141119.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c27eb82f0812a701b0d15949cb9522c5c20572a717f31710299113b2a72a1f1 +size 61925 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.json new file mode 100644 index 0000000000000000000000000000000000000000..4185c5181c7a1714357fbdc7e095c1c1ff0a20c9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.json @@ -0,0 +1,478 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:26:32", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 540, + "actual_playback_duration_s": 18.104535204009153, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 540, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 540, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.9624952261567865, + "image_frame_counts": { + "cam_scene": 540, + "cam_wrist": 540 + }, + "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": 2, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006398757919669151, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972003993112594, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00434619074803777, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004658076504711062, + "leadthrough_capture_egm_poll_duration_warn_count": 2280, + "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": 0.006423422018997371, + "leadthrough_capture_host_loop_dt_median_s": 0.003995630075223744, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043766781105659906, + "leadthrough_capture_host_loop_dt_p99_s": 0.004696803409606218, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006406848086044192, + "leadthrough_capture_host_receive_dt_median_s": 0.0039965290343388915, + "leadthrough_capture_host_receive_dt_p95_s": 0.00436289596837014, + "leadthrough_capture_host_receive_dt_p99_s": 0.00465801337733865, + "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": 0.11138345301151276, + "leadthrough_capture_loop_late_median_s": 0.10467407637042925, + "leadthrough_capture_loop_late_p95_s": 0.10501076126820408, + "leadthrough_capture_loop_late_p99_s": 0.10540537475026213, + "leadthrough_capture_loop_late_warn_count": 5376, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0064128710655495524, + "leadthrough_capture_read_duration_median_s": 0.003985537972766906, + "leadthrough_capture_read_duration_p95_s": 0.004363201471278444, + "leadthrough_capture_read_duration_p99_s": 0.004681216232711449, + "leadthrough_capture_read_duration_warn_count": 2487, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0038940757513046265, + 0.003193795680999756, + 0.004484895616769791, + 0.0043287016451358795, + 0.00461810827255249, + 0.008422523736953735 + ], + "leadthrough_delta_max_abs_rad": 0.008422523736953735, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019241957925260067, + 0.002561533125117421, + 0.003919121343642473, + 0.000573385157622397, + 0.0019599199295043945, + 0.004546038340777159 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008430637535639107, + 0.001033423701301217, + 0.001448621740564704, + 0.000509151432197541, + 0.0008797859190963209, + 0.001686199102550745 + ], + "leadthrough_delta_samples": 4703, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008422523736953735, + "leadthrough_delta_worst_from_rad": -0.4786361753940582, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5640000000000001, + "leadthrough_delta_worst_to_rad": -0.48705869913101196, + "leadthrough_duration_s": 18.81, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4702, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.30400000000000205, + "leadthrough_final_stillness_removed_samples": 76, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4703, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5376, + "leadthrough_initial_stillness_first_motion_index": 597, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.384, + "leadthrough_initial_stillness_removed_samples": 596, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 596, + "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": [ + 0.0038940757513046265, + 0.003193795680999756, + 0.004484895616769791, + 0.0043287016451358795, + 0.00461810827255249, + 0.008422523736953735 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008422523736953735, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9735189378258315, + 0.7984489202500269, + 1.1212239041925711, + 1.0821754112845696, + 1.154527068137737, + 2.105630934238432 + ], + "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": 67.62, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 18.81, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1553, + 3995 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4480023529448914, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08649489283561707, + "rapid_planner_max_dt_s": 2.6149999999999998, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007819116115570068, + "rapid_planner_median_dt_s": 0.06599999999999984, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 19, + 37, + 53, + 70, + 80, + 91, + 103, + 115, + 122, + 128, + 134, + 141, + 148, + 154, + 160, + 167, + 178, + 190, + 202, + 214, + 225, + 236, + 247, + 258, + 268, + 278, + 298, + 310, + 323, + 348, + 372, + 395, + 422, + 473, + 531, + 576, + 607, + 712, + 821, + 899, + 1553, + 1819, + 1884, + 2170, + 2249, + 2297, + 2332, + 2372, + 2389, + 2406, + 2430, + 2442, + 2454, + 2477, + 2498, + 2519, + 2536, + 2553, + 2568, + 2582, + 2594, + 2605, + 2621, + 2636, + 2652, + 2668, + 2684, + 2700, + 2713, + 2726, + 2738, + 2751, + 2765, + 2781, + 2809, + 2839, + 2874, + 2908, + 2972, + 3003, + 3033, + 3072, + 3089, + 3166, + 3287, + 3663, + 3995, + 4278, + 4315, + 4331, + 4347, + 4359, + 4371, + 4382, + 4393, + 4413, + 4434, + 4446, + 4459, + 4483, + 4498, + 4514, + 4534, + 4565, + 4600, + 4703 + ], + "rapid_planner_selected_max_joint_step_deg": 4.955792308917199, + "rapid_planner_selected_samples": 107, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4704, + "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": 107, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.36825233697891235, + "raw_replay_rms_error_rad": 0.010366277522982734, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6565231020408163, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.5725083909516473, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.7530405247366782, + "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": 0.14220289022340432, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.41462662948063755, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.24798256439243366, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008493661880493164, + 0.0007346421480178833, + 0.001315683126449585, + 0.004208222031593323, + 0.003836512565612793, + 0.008653521537780762 + ], + "replay_smoothing_max_deviation_normalized": 0.9916205317622475, + "replay_smoothing_max_deviation_rad": 0.008653521537780762, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.003054908011108637, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.9206275939941406, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 19.960105895996094, + "replay_smoothing_raw_accel_rms_rad_s2": 1.3349115498207644, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 227.58651733398438, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 2284.22900390625, + "replay_smoothing_raw_jerk_rms_rad_s3": 132.2982352549615, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1046547889709473, + "replay_smoothing_raw_velocity_rms_rad_s": 0.284159230634688, + "replay_smoothing_rms_deviation_rad": 0.001320235260144572, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.917459487915039, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 11.427328109741211, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.0052424939540807, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 32.363460540771484, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 947.1021728515625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 32.80765564311883, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.040743827819824, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.28265612876551055, + "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": 0.9696335182919135, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9947103535372749, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.116, + "replay_smoothing_wrist_max_deviation_rad": 0.008653521537780762, + "safety_abort": false, + "safety_path_error_rad": 0.36825233697891235, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.5878530144691467, + "stage_planned_to_measured_rms_error_rad": 0.01878167274974549, + "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": 540, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 540, + "timestamp_count": 540, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.npz new file mode 100644 index 0000000000000000000000000000000000000000..c7a5dbeab3e00761e2aac99df14a5de26024c915 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_142630.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:544f70302c234194595b57e70b1799f22b75fc2c21db706233fc11a583d0f978 +size 56744 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.json new file mode 100644 index 0000000000000000000000000000000000000000..fa29ec1b641d21de5e75c267990d6bb969da3a76 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.json @@ -0,0 +1,488 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:52:16", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 1070, + "actual_playback_duration_s": 36.02681492303964, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1070, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1070, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.828122744356809, + "image_frame_counts": { + "cam_scene": 1070, + "cam_wrist": 1070 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 11, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005656413035467267, + "leadthrough_capture_egm_poll_duration_median_s": 0.003987459931522608, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004237635061144829, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004484989237971604, + "leadthrough_capture_egm_poll_duration_warn_count": 3724, + "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": 0.005744791007600725, + "leadthrough_capture_host_loop_dt_median_s": 0.004012426012195647, + "leadthrough_capture_host_loop_dt_p95_s": 0.004265623493120074, + "leadthrough_capture_host_loop_dt_p99_s": 0.004515081162098795, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005689859972335398, + "leadthrough_capture_host_receive_dt_median_s": 0.0040142330108210444, + "leadthrough_capture_host_receive_dt_p95_s": 0.004251556418603286, + "leadthrough_capture_host_receive_dt_p99_s": 0.004475450513418763, + "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": 0.014729197951965034, + "leadthrough_capture_loop_late_median_s": 0.007258935132995248, + "leadthrough_capture_loop_late_p95_s": 0.0075265876948833466, + "leadthrough_capture_loop_late_p99_s": 0.007866191095672548, + "leadthrough_capture_loop_late_warn_count": 8161, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005709587945602834, + "leadthrough_capture_read_duration_median_s": 0.004001270048320293, + "leadthrough_capture_read_duration_p95_s": 0.004254300030879676, + "leadthrough_capture_read_duration_p99_s": 0.00450535553973168, + "leadthrough_capture_read_duration_warn_count": 4119, + "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": [ + 0.0034626424312591553, + 0.00319458544254303, + 0.004873171448707581, + 0.004869803786277771, + 0.00442814826965332, + 0.013577580451965332 + ], + "leadthrough_delta_max_abs_rad": 0.013577580451965332, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017670372035354376, + 0.0025243263226002455, + 0.0037692775949835777, + 0.0004636692174244672, + 0.002166152000427246, + 0.0028891514521092176 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007680951966904104, + 0.0009875339455902576, + 0.0014201606390997767, + 0.0005383220850490034, + 0.0008347113616764545, + 0.001901954528875649 + ], + "leadthrough_delta_samples": 4927, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.013577580451965332, + "leadthrough_delta_worst_from_rad": -0.8666434288024902, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8320000000000007, + "leadthrough_delta_worst_to_rad": -0.8802210092544556, + "leadthrough_duration_s": 19.707, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4926, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.855000000000004, + "leadthrough_final_stillness_removed_samples": 214, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4927, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8161, + "leadthrough_initial_stillness_first_motion_index": 3020, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 12.074, + "leadthrough_initial_stillness_removed_samples": 3019, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 3019, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0034626424312591553, + 0.00319458544254303, + 0.004873171448707581, + 0.004869803786277771, + 0.00442814826965332, + 0.013577580451965332 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.013577580451965332, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.154214143753008, + 1.058608293533285, + 1.6243904829024653, + 1.6150722901025796, + 1.4620621999104264, + 4.525860150654939 + ], + "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": 69.414, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.707, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1897, + 4244 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4187691432972368, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08686017990112305, + "rapid_planner_max_dt_s": 2.280000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007308900356292725, + "rapid_planner_median_dt_s": 0.08150000000000279, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 66, + 87, + 105, + 123, + 132, + 141, + 146, + 152, + 158, + 164, + 169, + 174, + 178, + 183, + 188, + 192, + 197, + 202, + 206, + 211, + 216, + 220, + 227, + 234, + 242, + 250, + 265, + 277, + 296, + 317, + 338, + 352, + 366, + 380, + 395, + 416, + 436, + 468, + 525, + 574, + 614, + 653, + 702, + 742, + 810, + 866, + 912, + 939, + 992, + 1029, + 1065, + 1224, + 1307, + 1457, + 1609, + 1897, + 2467, + 2515, + 2564, + 2610, + 2642, + 2673, + 2691, + 2709, + 2732, + 2755, + 2770, + 2786, + 2802, + 2817, + 2832, + 2848, + 2863, + 2878, + 2894, + 2910, + 2945, + 2969, + 2998, + 3028, + 3046, + 3065, + 3080, + 3094, + 3117, + 3136, + 3186, + 3218, + 3250, + 3278, + 3321, + 3422, + 3509, + 3650, + 4024, + 4244, + 4447, + 4527, + 4557, + 4579, + 4599, + 4622, + 4640, + 4657, + 4682, + 4699, + 4716, + 4735, + 4748, + 4765, + 4782, + 4805, + 4828, + 4871, + 4927 + ], + "rapid_planner_selected_max_joint_step_deg": 4.976721716081411, + "rapid_planner_selected_samples": 117, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4928, + "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": 0.0061487555503845215, + "raw_replay_rms_error_rad": 0.0008531745926756242, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9890546100738848, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9850148436302113, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9864501398559447, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0064093927334161, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9759496403377244, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9906937800483376, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005377531051635742, + 0.0007271170616149902, + 0.0013827979564666748, + 0.0033694207668304443, + 0.0045476555824279785, + 0.0068656206130981445 + ], + "replay_smoothing_max_deviation_normalized": 0.7867421758314822, + "replay_smoothing_max_deviation_rad": 0.0068656206130981445, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002481150208041072, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 12.092717170715332, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 133.15280151367188, + "replay_smoothing_raw_accel_rms_rad_s2": 6.848342087778287, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2736.15771484375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 38254.203125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1741.0495475912094, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 4.038111209869385, + "replay_smoothing_raw_velocity_rms_rad_s": 0.30256928192779914, + "replay_smoothing_rms_deviation_rad": 0.001166341011699738, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 11.960357666015625, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 131.15748596191406, + "replay_smoothing_smoothed_accel_rms_rad_s2": 6.7555480102702425, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2753.69482421875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 37334.17578125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1724.8469575545832, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 3.9971632957458496, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.30122533473829155, + "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": 0.9898596368461928, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9955582166803427, + "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": 0.9760000000000009, + "replay_smoothing_wrist_max_deviation_rad": 0.0068656206130981445, + "safety_abort": false, + "safety_path_error_rad": 0.0061487555503845215, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.03605145215988159, + "stage_planned_to_measured_rms_error_rad": 0.006156206333624684, + "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": 1070, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 1070, + "timestamp_count": 1070, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.npz new file mode 100644 index 0000000000000000000000000000000000000000..b971485f459b98c8eefc45c9bddce64be83f055d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_operator_stop_20260902_145215.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42f7f4560e0e8b8a72eeb54b7599a229cac32ce5f9e6b6da1e1e74cd32a338bc +size 112166 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.json new file mode 100644 index 0000000000000000000000000000000000000000..35febd4e47f283134f829f6a288f4e3272e54035 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.json @@ -0,0 +1,691 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:07:07", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1140, + "actual_playback_duration_s": 38.018079646048136, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006255239248275757, + "aligned_p95_error_rad": 0.0021874059457331896, + "aligned_rms_error_rad": 0.0009279305190388609, + "aligned_samples": 1140, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 18.334, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1140, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1140, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3631926439115112, + "image_frame_counts": { + "cam_scene": 1140, + "cam_wrist": 1140 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005782812833786011, + 0.0034445375204086304, + 0.005311310291290283, + 0.0038137435913085938, + 0.005594074726104736, + 0.006255239248275757 + ], + "joint_lag_p95_error_rad": [ + 0.0021475814282894135, + 0.0017007989808917046, + 0.0022242460399866104, + 0.0009946802165359259, + 0.0022081551142036915, + 0.0029511742759495974 + ], + "joint_lag_rms_error_rad": [ + 0.0009303238446258362, + 0.0007441073104154436, + 0.000997838804028385, + 0.0005236647223195284, + 0.0009738039608318926, + 0.00123649948213924 + ], + "joint_lag_samples": [ + 1140, + 1140, + 1140, + 1140, + 1140, + 1140 + ], + "joint_lag_worst_time_s": [ + 18.326, + 2.6480000000000006, + 19.286, + 4.1240000000000006, + 26.093, + 18.334 + ], + "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": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006318097002804279, + "leadthrough_capture_egm_poll_duration_median_s": 0.0030827620066702366, + "leadthrough_capture_egm_poll_duration_p95_s": 0.003423845046199858, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00423844256438315, + "leadthrough_capture_egm_poll_duration_warn_count": 111, + "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": 0.006369320093654096, + "leadthrough_capture_host_loop_dt_median_s": 0.003999954496975988, + "leadthrough_capture_host_loop_dt_p95_s": 0.004123767220880836, + "leadthrough_capture_host_loop_dt_p99_s": 0.005077571599977093, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007402363931760192, + "leadthrough_capture_host_receive_dt_median_s": 0.003998199477791786, + "leadthrough_capture_host_receive_dt_p95_s": 0.004367343772901222, + "leadthrough_capture_host_receive_dt_p99_s": 0.005120888957753787, + "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": 0.0068722430150955915, + "leadthrough_capture_loop_late_median_s": 5.256652366369963e-05, + "leadthrough_capture_loop_late_p95_s": 0.00019534199964255095, + "leadthrough_capture_loop_late_p99_s": 0.00114682659041137, + "leadthrough_capture_loop_late_warn_count": 1, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006347583024762571, + "leadthrough_capture_read_duration_median_s": 0.0030962160089984536, + "leadthrough_capture_read_duration_p95_s": 0.0034462769981473684, + "leadthrough_capture_read_duration_p99_s": 0.00425421197433025, + "leadthrough_capture_read_duration_warn_count": 117, + "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": [ + 0.0031478554010391235, + 0.002161949872970581, + 0.002827882766723633, + 0.001284109428524971, + 0.0028768181800842285, + 0.009320735931396484 + ], + "leadthrough_delta_max_abs_rad": 0.009320735931396484, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015772833721712232, + 0.0016797780990600586, + 0.002441343618556857, + 0.00022326553880702704, + 0.001452708151191473, + 0.004741782322525978 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006109255482442677, + 0.0006671930314041674, + 0.0009133926942013204, + 0.0001512307208031416, + 0.0005565318861044943, + 0.001677118125371635 + ], + "leadthrough_delta_samples": 6973, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.009320735931396484, + "leadthrough_delta_worst_from_rad": -0.4166681468486786, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 2.944000000000001, + "leadthrough_delta_worst_to_rad": -0.4259888827800751, + "leadthrough_duration_s": 27.889, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6972, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.652000000000001, + "leadthrough_final_stillness_removed_samples": 163, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6973, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8441, + "leadthrough_initial_stillness_first_motion_index": 1305, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.215, + "leadthrough_initial_stillness_removed_samples": 1304, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1304, + "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": [ + 0.0031478554010391235, + 0.002161949872970581, + 0.002827882766723633, + 0.001284109428524971, + 0.0028768181800842285, + 0.009320735931396484 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.009320735931396484, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7869638502602171, + 0.6356835365295169, + 0.9363691012064261, + 0.32102735713142067, + 0.7683833440144565, + 2.330183982848343 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.3310370445251465, + "leadthrough_velocity_rms_rad_s": 0.2246300194590761, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006255239248275757, + "measured_wall_accel_p95_abs_rad_s2": 0.5237429141998291, + "measured_wall_accel_peak_abs_rad_s2": 2.9335410594940186, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 53.97197354910895, + "measured_wall_accel_rms_rad_s2": 0.24949090138932273, + "measured_wall_jerk_p95_abs_rad_s3": 8.960328102111816, + "measured_wall_jerk_peak_abs_rad_s3": 48.50393295288086, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 53.9382361540338, + "measured_wall_jerk_rms_rad_s3": 4.242555937711131, + "measured_wall_smoothness_samples": 1140, + "measured_wall_velocity_peak_abs_rad_s": 0.6979204416275024, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 19.97193090606015, + "measured_wall_velocity_rms_rad_s": 0.11380886330553554, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006255239248275757, + "moving_aligned_p95_error_rad": 0.0024770251475274563, + "moving_aligned_rms_error_rad": 0.0010753162770552344, + "moving_aligned_samples": 833, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 18.334, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005782812833786011, + 0.0034445375204086304, + 0.005311310291290283, + 0.0038137435913085938, + 0.005594074726104736, + 0.006255239248275757 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024378278758376837, + 0.0018998380983248353, + 0.0028868920635432005, + 0.00307038938626647, + 0.0029348284006118774, + 0.0037308454047888517 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011015750917955159, + 0.0008682554022441673, + 0.0012893882491141245, + 0.0013235584136569748, + 0.001311238675995204, + 0.00182674070020204 + ], + "moving_joint_lag_samples": [ + 705, + 790, + 648, + 119, + 527, + 465 + ], + "moving_joint_lag_worst_time_s": [ + 18.326, + 2.6480000000000006, + 19.286, + 4.1240000000000006, + 26.093, + 18.334 + ], + "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": 2.7401931285858154, + "playback_velocity_rms_rad_s": 0.4072850308129514, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 85.77799999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 27.889, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2909, + 6216 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42940929736364725, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0858142077922821, + "rapid_planner_max_dt_s": 2.432000000000002, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007494606077671051, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.006255239248275757, + "rapid_planner_path_p95_error_rad": 0.0035680995788425207, + "rapid_planner_path_rms_error_rad": 0.0016550738678033946, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 283, + 422, + 466, + 508, + 554, + 589, + 610, + 631, + 652, + 673, + 684, + 694, + 704, + 714, + 720, + 725, + 730, + 736, + 741, + 746, + 752, + 757, + 762, + 768, + 778, + 784, + 790, + 802, + 810, + 818, + 826, + 835, + 846, + 856, + 871, + 886, + 903, + 936, + 968, + 1013, + 1071, + 1124, + 1177, + 1222, + 1266, + 1317, + 1368, + 1432, + 1480, + 1570, + 1691, + 1810, + 2248, + 2352, + 2909, + 3517, + 3680, + 3735, + 3788, + 3806, + 3826, + 3847, + 3873, + 3896, + 3918, + 3940, + 3959, + 3976, + 3994, + 4011, + 4028, + 4058, + 4083, + 4095, + 4107, + 4122, + 4137, + 4146, + 4154, + 4162, + 4170, + 4178, + 4186, + 4194, + 4202, + 4220, + 4237, + 4255, + 4307, + 4349, + 4386, + 4426, + 4466, + 4497, + 4538, + 4565, + 4597, + 4626, + 4642, + 4657, + 4672, + 4689, + 4767, + 4864, + 4966, + 5065, + 5608, + 6216, + 6396, + 6439, + 6461, + 6483, + 6514, + 6536, + 6555, + 6564, + 6572, + 6580, + 6588, + 6596, + 6605, + 6623, + 6641, + 6658, + 6676, + 6693, + 6710, + 6738, + 6771, + 6836, + 6865, + 6890, + 6923, + 6950, + 6973 + ], + "rapid_planner_selected_max_joint_step_deg": 4.916791928756426, + "rapid_planner_selected_samples": 136, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6974, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 136, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006255239248275757, + "raw_replay_rms_error_rad": 0.0009279305190388609, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9957308538011296, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0036803747952274, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.977062150218191, + "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": 0.9837692878513429, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0013951312926022, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9932390982297639, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004478283226490021, + 0.00031097419559955597, + 0.0005615651607513428, + 0.002463206648826599, + 0.0022726058959960938, + 0.0061408281326293945 + ], + "replay_smoothing_max_deviation_normalized": 0.7036870748807519, + "replay_smoothing_max_deviation_rad": 0.0061408281326293945, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0022038237657397985, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.901520252227783, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.6126823425293, + "replay_smoothing_raw_accel_rms_rad_s2": 2.469458482979127, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 553.2144775390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13375.197265625, + "replay_smoothing_raw_jerk_rms_rad_s3": 615.4666371300963, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.329435110092163, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2256846500606145, + "replay_smoothing_rms_deviation_rad": 0.0009610428945097655, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.884864091873169, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 43.773193359375, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.4128144152541378, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 544.2354125976562, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13393.857421875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 611.3055276536021, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.3310370445251465, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2246300194590761, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0006876922332126, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953269723871112, + "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": 3.516, + "replay_smoothing_wrist_max_deviation_rad": 0.0061408281326293945, + "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": 0.006255239248275757, + "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": 0.0398409366607666, + "stage_planned_to_measured_rms_error_rad": 0.0067546759118596615, + "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": 1140, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7297515869140625, + "target_wall_accel_peak_abs_rad_s2": 4.360850811004639, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 4.700056466972455, + "target_wall_accel_rms_rad_s2": 0.37593213328456254, + "target_wall_jerk_p95_abs_rad_s3": 17.12206268310547, + "target_wall_jerk_peak_abs_rad_s3": 125.2127456665039, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 3.700132646947168, + "target_wall_jerk_rms_rad_s3": 8.745389904461344, + "target_wall_smoothness_samples": 1140, + "target_wall_velocity_peak_abs_rad_s": 0.8351425528526306, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 3.700132646947168, + "target_wall_velocity_rms_rad_s": 0.11481579045019132, + "tcp_pose_count": 1140, + "timestamp_count": 1140, + "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": -0.7799999999999989, + "window_lag_best_lag_p95_abs_s": 0.471999999999997, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.005311310291290283, + "window_lag_worst_rms_error_rad": 0.0019465605871943855, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.006255239248275757, + "zero_lag_p95_error_rad": 0.0021874059457331896, + "zero_lag_rms_error_rad": 0.0009279305190388609, + "zero_lag_samples": 1140, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 18.334 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.npz new file mode 100644 index 0000000000000000000000000000000000000000..16a4e0b4aa6639491322b4c2faa631dcfe74b600 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140706.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:787afce8534208105e0b7fcda563f3563feb83bf90325b8fcd6a6b45d6e0ee32 +size 119669 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7a2b15d6fc8e442b3ef75587084a2a20091c3f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.json @@ -0,0 +1,680 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:09:48", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1169, + "actual_playback_duration_s": 38.98140816297382, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006327569484710693, + "aligned_p95_error_rad": 0.0019741281867027283, + "aligned_rms_error_rad": 0.0008279178053849297, + "aligned_samples": 1169, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 22.262, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1169, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1169, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6748907864128995, + "image_frame_counts": { + "cam_scene": 1169, + "cam_wrist": 1169 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004524827003479004, + 0.004809960722923279, + 0.004550546407699585, + 0.006259143352508545, + 0.006327569484710693, + 0.004969596862792969 + ], + "joint_lag_p95_error_rad": [ + 0.002025984926149249, + 0.0015741109382361174, + 0.0019688603933900595, + 0.001658035209402442, + 0.001914501073770225, + 0.002289795782417059 + ], + "joint_lag_rms_error_rad": [ + 0.0007946519551405841, + 0.000745169596165578, + 0.0008862111071894665, + 0.0006942262970779319, + 0.0008164581503881231, + 0.0009959988496912803 + ], + "joint_lag_samples": [ + 1169, + 1169, + 1169, + 1169, + 1169, + 1169 + ], + "joint_lag_worst_time_s": [ + 15.762999999999998, + 14.114999999999998, + 14.114999999999998, + 22.262, + 22.262, + 1.536 + ], + "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": 37, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006062589935027063, + "leadthrough_capture_egm_poll_duration_median_s": 0.003965984040405601, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004346456256462261, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004558572951937094, + "leadthrough_capture_egm_poll_duration_warn_count": 2700, + "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": 0.00613038707524538, + "leadthrough_capture_host_loop_dt_median_s": 0.003989101038314402, + "leadthrough_capture_host_loop_dt_p95_s": 0.004371545976027846, + "leadthrough_capture_host_loop_dt_p99_s": 0.004596482031047344, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006102464045397937, + "leadthrough_capture_host_receive_dt_median_s": 0.0039927439065650105, + "leadthrough_capture_host_receive_dt_p95_s": 0.004364111111499369, + "leadthrough_capture_host_receive_dt_p99_s": 0.00457574101164937, + "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": 0.016879461938515306, + "leadthrough_capture_loop_late_median_s": 0.01292326458496973, + "leadthrough_capture_loop_late_p95_s": 0.013223261764505879, + "leadthrough_capture_loop_late_p99_s": 0.013483523367904126, + "leadthrough_capture_loop_late_warn_count": 6902, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00612071598879993, + "leadthrough_capture_read_duration_median_s": 0.003978892462328076, + "leadthrough_capture_read_duration_p95_s": 0.00435997336753644, + "leadthrough_capture_read_duration_p99_s": 0.004583518357248977, + "leadthrough_capture_read_duration_warn_count": 2971, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0028334707021713257, + 0.002009749412536621, + 0.003231734037399292, + 0.0028342604637145996, + 0.004572570323944092, + 0.006295919418334961 + ], + "leadthrough_delta_max_abs_rad": 0.006295919418334961, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015448123449459672, + 0.0017713099950924516, + 0.0027679516933858395, + 0.0010040979832410812, + 0.0015544892521575093, + 0.004809267818927765 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006836415268480778, + 0.0007738220738247037, + 0.0010969435097649693, + 0.00045012927148491144, + 0.000709915068000555, + 0.0014868619618937373 + ], + "leadthrough_delta_samples": 5819, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006295919418334961, + "leadthrough_delta_worst_from_rad": -0.9411949515342712, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 12.963000000000001, + "leadthrough_delta_worst_to_rad": -0.9348990321159363, + "leadthrough_duration_s": 23.274, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5818, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4079999999999977, + "leadthrough_final_stillness_removed_samples": 102, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5819, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6902, + "leadthrough_initial_stillness_first_motion_index": 981, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.919, + "leadthrough_initial_stillness_removed_samples": 980, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 980, + "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": [ + 0.0028334707021713257, + 0.002009749412536621, + 0.003231734037399292, + 0.0028342604637145996, + 0.004572570323944092, + 0.006295919418334961 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006295919418334961, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7083676755425948, + 0.6551345189412187, + 1.0673900445301923, + 0.7085651159290426, + 1.1431425809866564, + 1.9192695617675053 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6806416511535645, + "leadthrough_velocity_rms_rad_s": 0.23592905851300747, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006327569484710693, + "measured_wall_accel_p95_abs_rad_s2": 0.4539491534233093, + "measured_wall_accel_peak_abs_rad_s2": 3.472480535507202, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 25.357332273037173, + "measured_wall_accel_rms_rad_s2": 0.2689333858582738, + "measured_wall_jerk_p95_abs_rad_s3": 8.014552116394043, + "measured_wall_jerk_peak_abs_rad_s3": 66.1803970336914, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 25.429249239037745, + "measured_wall_jerk_rms_rad_s3": 4.479214498639598, + "measured_wall_smoothness_samples": 1169, + "measured_wall_velocity_peak_abs_rad_s": 0.6886927485466003, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 15.256969053065404, + "measured_wall_velocity_rms_rad_s": 0.10311872344684832, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006327569484710693, + "moving_aligned_p95_error_rad": 0.002176135778427124, + "moving_aligned_rms_error_rad": 0.0009437223523607982, + "moving_aligned_samples": 866, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 22.262, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0034827888011932373, + 0.004809960722923279, + 0.004550546407699585, + 0.006259143352508545, + 0.005303502082824707, + 0.004969596862792969 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021553696133196354, + 0.0017259190790355206, + 0.0025198031216859818, + 0.0026678855065256357, + 0.0022061162162572145, + 0.0027066643815487623 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009049049501456594, + 0.0008472346978963526, + 0.0011434834512225201, + 0.001232623376097762, + 0.0009879224127203883, + 0.0015085430194912005 + ], + "moving_joint_lag_samples": [ + 767, + 819, + 642, + 328, + 619, + 472 + ], + "moving_joint_lag_worst_time_s": [ + 4.039999999999999, + 14.114999999999998, + 14.114999999999998, + 22.262, + 21.83, + 1.536 + ], + "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": 1.8789554834365845, + "playback_velocity_rms_rad_s": 0.39187625051496633, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.548, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.274, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2022, + 4607 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.3881084241130495, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08658245205879211, + "rapid_planner_max_dt_s": 2.2749999999999986, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006773769855499268, + "rapid_planner_median_dt_s": 0.08799999999999919, + "rapid_planner_path_max_error_rad": 0.006327569484710693, + "rapid_planner_path_p95_error_rad": 0.0028097987174987775, + "rapid_planner_path_rms_error_rad": 0.0014242005084763257, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 22, + 39, + 56, + 72, + 89, + 106, + 124, + 133, + 142, + 151, + 160, + 169, + 178, + 192, + 207, + 222, + 236, + 246, + 257, + 268, + 278, + 289, + 300, + 311, + 322, + 338, + 355, + 374, + 396, + 423, + 450, + 470, + 490, + 510, + 530, + 557, + 600, + 665, + 737, + 784, + 832, + 899, + 973, + 1095, + 1162, + 1351, + 1432, + 1507, + 1569, + 1707, + 2022, + 2547, + 2657, + 2711, + 2739, + 2766, + 2795, + 2824, + 2846, + 2868, + 2890, + 2911, + 2934, + 2956, + 2978, + 3001, + 3025, + 3049, + 3066, + 3084, + 3102, + 3119, + 3139, + 3159, + 3180, + 3200, + 3210, + 3220, + 3232, + 3244, + 3256, + 3267, + 3278, + 3290, + 3311, + 3331, + 3368, + 3406, + 3466, + 3507, + 3545, + 3591, + 3610, + 3679, + 3772, + 4341, + 4607, + 4871, + 4901, + 4924, + 4950, + 4984, + 5013, + 5036, + 5062, + 5087, + 5108, + 5129, + 5146, + 5162, + 5183, + 5194, + 5204, + 5218, + 5232, + 5249, + 5289, + 5327, + 5360, + 5421, + 5499, + 5644, + 5734, + 5819 + ], + "rapid_planner_selected_max_joint_step_deg": 4.960809082862574, + "rapid_planner_selected_samples": 125, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5820, + "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": 0.006327569484710693, + "raw_replay_rms_error_rad": 0.0008279178053849297, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9664691596087633, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9816525776813229, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9889390053706524, + "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": 0.9692917439152163, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9758318380485752, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9961374785761652, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004499107599258423, + 0.0006351470947265625, + 0.0007992386817932129, + 0.002835988998413086, + 0.0032689571380615234, + 0.007553577423095703 + ], + "replay_smoothing_max_deviation_normalized": 0.8655762198424467, + "replay_smoothing_max_deviation_rad": 0.007553577423095703, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020986725576221943, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.2176594734191895, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 55.924041748046875, + "replay_smoothing_raw_accel_rms_rad_s2": 3.950478770936863, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 855.4629516601562, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16140.6904296875, + "replay_smoothing_raw_jerk_rms_rad_s3": 996.2213823357966, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7149171829223633, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2368195063437485, + "replay_smoothing_rms_deviation_rad": 0.0009184396350610193, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.0427069664001465, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.897979736328125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.906782546468179, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 829.1931762695312, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15750.599609375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 992.3734559036423, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6806416511535645, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23592905851300747, + "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": 0.9800133020357342, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962399726083014, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.4919999999999995, + "replay_smoothing_wrist_max_deviation_rad": 0.007553577423095703, + "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": 0.006327569484710693, + "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": 0.040798164904117584, + "stage_planned_to_measured_rms_error_rad": 0.006121056107609904, + "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": 1169, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7820813059806824, + "target_wall_accel_peak_abs_rad_s2": 3.9316089153289795, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 10.500053811934777, + "target_wall_accel_rms_rad_s2": 0.39051923877328415, + "target_wall_jerk_p95_abs_rad_s3": 18.033863067626953, + "target_wall_jerk_peak_abs_rad_s3": 100.72528839111328, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 9.70005369395949, + "target_wall_jerk_rms_rad_s3": 8.77962371177322, + "target_wall_smoothness_samples": 1169, + "target_wall_velocity_peak_abs_rad_s": 0.7010740041732788, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.40015320898965, + "target_wall_velocity_rms_rad_s": 0.1042429809372819, + "tcp_pose_count": 1169, + "timestamp_count": 1169, + "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": 1.7800000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0599999999999992, + "window_lag_best_lag_p95_abs_s": 1.2210000000000027, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.7800000000000034, + "window_lag_worst_end_s": 19.0, + "window_lag_worst_max_error_rad": 0.011619627475738525, + "window_lag_worst_rms_error_rad": 0.006054806844848492, + "window_lag_worst_start_s": 18.0, + "zero_lag_max_error_rad": 0.006327569484710693, + "zero_lag_p95_error_rad": 0.0019741281867027283, + "zero_lag_rms_error_rad": 0.0008279178053849297, + "zero_lag_samples": 1169, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 22.262 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.npz new file mode 100644 index 0000000000000000000000000000000000000000..6d4ee12d3f36c25cb202eb3b569a1fecba965b25 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_140947.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f815d2ceca44dd9aac37faf7725676ffa8453d1b73c69664c06f72fbaae372 +size 122418 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.json new file mode 100644 index 0000000000000000000000000000000000000000..73f65ce7820874aead66862014662a6ed37f5cb2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.json @@ -0,0 +1,676 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:13:12", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1156, + "actual_playback_duration_s": 38.5536678370554, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005402195267379284, + "aligned_p95_error_rad": 0.0018507502973079681, + "aligned_rms_error_rad": 0.0008009100772405501, + "aligned_samples": 1156, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 17.786, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1156, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1156, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5969541809732168, + "image_frame_counts": { + "cam_scene": 1156, + "cam_wrist": 1156 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004302918910980225, + 0.005353659391403198, + 0.00435289740562439, + 0.005402195267379284, + 0.004872560501098633, + 0.003994464874267578 + ], + "joint_lag_p95_error_rad": [ + 0.0015155654400587082, + 0.001550242304801941, + 0.0016337111592292786, + 0.001067741890437901, + 0.0022022128105163574, + 0.002432897686958313 + ], + "joint_lag_rms_error_rad": [ + 0.0007407383271292901, + 0.0007589369235387924, + 0.0007864580382465191, + 0.0004986589356432942, + 0.0009089450051200832, + 0.001015236516981015 + ], + "joint_lag_samples": [ + 1156, + 1156, + 1156, + 1156, + 1156, + 1156 + ], + "joint_lag_worst_time_s": [ + 5.04, + 17.786, + 17.314, + 17.786, + 18.03, + 14.875 + ], + "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": 0.006816028035245836, + "leadthrough_capture_egm_poll_duration_median_s": 0.003975687024649233, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004367606266168877, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005121432461310181, + "leadthrough_capture_egm_poll_duration_warn_count": 3037, + "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": 0.0069468250731006265, + "leadthrough_capture_host_loop_dt_median_s": 0.003998672007583082, + "leadthrough_capture_host_loop_dt_p95_s": 0.004400516813620925, + "leadthrough_capture_host_loop_dt_p99_s": 0.0051512027345597755, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006818576017394662, + "leadthrough_capture_host_receive_dt_median_s": 0.00400139600969851, + "leadthrough_capture_host_receive_dt_p95_s": 0.004383994336239994, + "leadthrough_capture_host_receive_dt_p99_s": 0.005121335764415563, + "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": 0.014300087001174688, + "leadthrough_capture_loop_late_median_s": 0.010008188779465854, + "leadthrough_capture_loop_late_p95_s": 0.010374422260792925, + "leadthrough_capture_loop_late_p99_s": 0.011244745681760834, + "leadthrough_capture_loop_late_warn_count": 7338, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006927911075763404, + "leadthrough_capture_read_duration_median_s": 0.003988573502283543, + "leadthrough_capture_read_duration_p95_s": 0.00438595243031159, + "leadthrough_capture_read_duration_p99_s": 0.005138793453807012, + "leadthrough_capture_read_duration_warn_count": 3377, + "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": 6, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0032808780670166016, + 0.002352118492126465, + 0.0034702271223068237, + 0.002105630934238434, + 0.003443002700805664, + 0.006726741790771484 + ], + "leadthrough_delta_max_abs_rad": 0.006726741790771484, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014742594212293625, + 0.001939043402671814, + 0.002839095890522003, + 0.00021871225908398628, + 0.001461625099182129, + 0.005079805850982666 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006817011744715273, + 0.0008577311527915299, + 0.0011423534015193582, + 0.0002110099303536117, + 0.0006943636108189821, + 0.00152493710629642 + ], + "leadthrough_delta_samples": 6036, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006726741790771484, + "leadthrough_delta_worst_from_rad": -0.9642118215560913, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.104, + "leadthrough_delta_worst_to_rad": -0.9709385633468628, + "leadthrough_duration_s": 24.142, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6035, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9790000000000028, + "leadthrough_final_stillness_removed_samples": 245, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6036, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7338, + "leadthrough_initial_stillness_first_motion_index": 1057, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.223, + "leadthrough_initial_stillness_removed_samples": 1056, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1056, + "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": [ + 0.0032808780670166016, + 0.002352118492126465, + 0.0034702271223068237, + 0.002105630934238434, + 0.003443002700805664, + 0.006726741790771484 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006726741790771484, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0936260223388257, + 0.784039497376387, + 1.1447618405023776, + 0.6992816925048563, + 1.147667566935178, + 2.0488897959390497 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7995983362197876, + "leadthrough_velocity_rms_rad_s": 0.24056794831197106, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005402195267379284, + "measured_wall_accel_p95_abs_rad_s2": 0.412519633769989, + "measured_wall_accel_peak_abs_rad_s2": 2.664306163787842, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 25.325042205047794, + "measured_wall_accel_rms_rad_s2": 0.19643495800487018, + "measured_wall_jerk_p95_abs_rad_s3": 7.006771087646484, + "measured_wall_jerk_peak_abs_rad_s3": 49.82994079589844, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 24.594174804049544, + "measured_wall_jerk_rms_rad_s3": 3.3350610702986523, + "measured_wall_smoothness_samples": 1156, + "measured_wall_velocity_peak_abs_rad_s": 0.4616425633430481, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 39.89180546300486, + "measured_wall_velocity_rms_rad_s": 0.1018936923587449, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004872560501098633, + "moving_aligned_p95_error_rad": 0.0020597053226083517, + "moving_aligned_rms_error_rad": 0.0008888624855499808, + "moving_aligned_samples": 848, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 18.03, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0033073723316192627, + 0.003145560622215271, + 0.0035982728004455566, + 0.002891523763537407, + 0.004872560501098633, + 0.003994464874267578 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016618894878774881, + 0.001650124555453658, + 0.0018848776817321777, + 0.001549977227114141, + 0.002444028854370117, + 0.002843812108039856 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008003652244704519, + 0.0008088059765884537, + 0.0009143068908455583, + 0.0007928877368205884, + 0.0010988551889909587, + 0.0015317129438261069 + ], + "moving_joint_lag_samples": [ + 723, + 790, + 711, + 203, + 651, + 455 + ], + "moving_joint_lag_worst_time_s": [ + 14.89, + 23.381, + 2.0920000000000005, + 12.471, + 18.03, + 14.875 + ], + "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": 2.4641714096069336, + "playback_velocity_rms_rad_s": 0.4455472782583293, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.28399999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.142, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2365, + 5202 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4421488808261904, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0853332132101059, + "rapid_planner_max_dt_s": 2.2560000000000002, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007716953754425049, + "rapid_planner_median_dt_s": 0.08800000000000097, + "rapid_planner_path_max_error_rad": 0.005402195267379284, + "rapid_planner_path_p95_error_rad": 0.002866305410861969, + "rapid_planner_path_rms_error_rad": 0.0013839565235650017, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 42, + 65, + 87, + 110, + 121, + 132, + 148, + 156, + 164, + 174, + 184, + 194, + 204, + 213, + 222, + 232, + 241, + 248, + 256, + 264, + 271, + 278, + 286, + 294, + 301, + 312, + 323, + 334, + 345, + 359, + 372, + 384, + 399, + 423, + 447, + 477, + 507, + 538, + 569, + 602, + 635, + 671, + 720, + 770, + 831, + 864, + 912, + 984, + 1365, + 1612, + 1739, + 1896, + 2365, + 2929, + 2964, + 3032, + 3089, + 3130, + 3163, + 3193, + 3223, + 3246, + 3268, + 3290, + 3312, + 3330, + 3349, + 3368, + 3386, + 3412, + 3439, + 3462, + 3484, + 3502, + 3521, + 3539, + 3558, + 3569, + 3580, + 3593, + 3606, + 3618, + 3630, + 3642, + 3655, + 3667, + 3679, + 3705, + 3735, + 3774, + 3821, + 3850, + 3880, + 3931, + 3973, + 4052, + 4140, + 4234, + 4776, + 5202, + 5496, + 5555, + 5592, + 5610, + 5633, + 5658, + 5682, + 5700, + 5719, + 5734, + 5750, + 5769, + 5786, + 5803, + 5818, + 5834, + 5864, + 5911, + 5948, + 6036 + ], + "rapid_planner_selected_max_joint_step_deg": 4.889232969229071, + "rapid_planner_selected_samples": 121, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6037, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 121, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005402195267379284, + "raw_replay_rms_error_rad": 0.0008009100772405501, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0038373292500715, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9933343291049034, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9920786059423268, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0260562280468595, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9908602899950655, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9968425145613896, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005128383636474609, + 0.0005928277969360352, + 0.0011417865753173828, + 0.002197457477450371, + 0.002305746078491211, + 0.006070971488952637 + ], + "replay_smoothing_max_deviation_normalized": 0.6956820931114873, + "replay_smoothing_max_deviation_rad": 0.006070971488952637, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016198749653995037, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.794821739196777, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 59.35334777832031, + "replay_smoothing_raw_accel_rms_rad_s2": 4.241997078833773, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1830.584228515625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16968.365234375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1075.4416167973675, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8308475017547607, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24121073299027618, + "replay_smoothing_rms_deviation_rad": 0.0007239834464674701, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.828570365905762, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 58.95771789550781, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.208394548380832, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1878.2823486328125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16813.279296875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1072.0459255522542, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7995983362197876, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24056794831197106, + "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": 0.982931857784429, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9973351738111462, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5120000000000005, + "replay_smoothing_wrist_max_deviation_rad": 0.006070971488952637, + "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": 0.005402195267379284, + "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": 0.026776134967803955, + "stage_planned_to_measured_rms_error_rad": 0.006043199648555586, + "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": 1156, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7009876370429993, + "target_wall_accel_peak_abs_rad_s2": 3.744192600250244, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 9.900054946076125, + "target_wall_accel_rms_rad_s2": 0.33214415557855453, + "target_wall_jerk_p95_abs_rad_s3": 17.575851440429688, + "target_wall_jerk_peak_abs_rad_s3": 85.39655303955078, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.900054631056264, + "target_wall_jerk_rms_rad_s3": 7.902521688574393, + "target_wall_smoothness_samples": 1156, + "target_wall_velocity_peak_abs_rad_s": 0.5193843841552734, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.56672082201112, + "target_wall_velocity_rms_rad_s": 0.10279064897924797, + "tcp_pose_count": 1156, + "timestamp_count": 1156, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.9200000000000035, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2499999999999993, + "window_lag_best_lag_p95_abs_s": 1.7450000000000025, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.9200000000000035, + "window_lag_worst_end_s": 9.5, + "window_lag_worst_max_error_rad": 0.02747398614883423, + "window_lag_worst_rms_error_rad": 0.004464127944573095, + "window_lag_worst_start_s": 8.5, + "zero_lag_max_error_rad": 0.005402195267379284, + "zero_lag_p95_error_rad": 0.0018507502973079681, + "zero_lag_rms_error_rad": 0.0008009100772405501, + "zero_lag_samples": 1156, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 17.786 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.npz new file mode 100644 index 0000000000000000000000000000000000000000..594787a69ff470091ec98de0eddb23ca3fa0746e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141311.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ef750291e26717e9b800eac0f2cdb618a09a9afc7c857d1b3967739b3de936f +size 120084 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.json new file mode 100644 index 0000000000000000000000000000000000000000..f33aceb70aac198978163f3923295aa04ddcae23 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.json @@ -0,0 +1,681 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:15:10", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1167, + "actual_playback_duration_s": 38.91227107006125, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005763337016105652, + "aligned_p95_error_rad": 0.0019288940820842981, + "aligned_rms_error_rad": 0.0008535820732408712, + "aligned_samples": 1167, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 17.558, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1167, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1167, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3483115408891633, + "image_frame_counts": { + "cam_scene": 1167, + "cam_wrist": 1167 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003423452377319336, + 0.005399793386459351, + 0.004608243703842163, + 0.005763337016105652, + 0.005404472351074219, + 0.0053185224533081055 + ], + "joint_lag_p95_error_rad": [ + 0.001582446158863604, + 0.001679570646956563, + 0.0016460627084597945, + 0.0019151604501530528, + 0.0019050356931984425, + 0.0023825878743082285 + ], + "joint_lag_rms_error_rad": [ + 0.0006968101757360931, + 0.0008248675820033178, + 0.0008174467076136657, + 0.0008464815895317425, + 0.0008961426495855651, + 0.001008881229921984 + ], + "joint_lag_samples": [ + 1167, + 1167, + 1167, + 1167, + 1167, + 1167 + ], + "joint_lag_worst_time_s": [ + 17.558, + 17.518, + 17.518, + 17.558, + 26.796, + 9.45 + ], + "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": 24, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005942445946857333, + "leadthrough_capture_egm_poll_duration_median_s": 0.003980070003308356, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004337195144034922, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004480022634379565, + "leadthrough_capture_egm_poll_duration_warn_count": 3460, + "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": 0.006005119998008013, + "leadthrough_capture_host_loop_dt_median_s": 0.0040041234460659325, + "leadthrough_capture_host_loop_dt_p95_s": 0.004361695825355128, + "leadthrough_capture_host_loop_dt_p99_s": 0.0045177933224476875, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005786711000837386, + "leadthrough_capture_host_receive_dt_median_s": 0.004005122056696564, + "leadthrough_capture_host_receive_dt_p95_s": 0.004358989174943417, + "leadthrough_capture_host_receive_dt_p99_s": 0.004505188022740186, + "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": 0.034609679016284645, + "leadthrough_capture_loop_late_median_s": 0.029001492308452725, + "leadthrough_capture_loop_late_p95_s": 0.029265146981924773, + "leadthrough_capture_loop_late_p99_s": 0.02953204290475696, + "leadthrough_capture_loop_late_warn_count": 8085, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005980879999697208, + "leadthrough_capture_read_duration_median_s": 0.0039933910593390465, + "leadthrough_capture_read_duration_p95_s": 0.00434972841758281, + "leadthrough_capture_read_duration_p99_s": 0.004505570083856583, + "leadthrough_capture_read_duration_warn_count": 3832, + "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": [ + 0.0033060461282730103, + 0.002992868423461914, + 0.003443067893385887, + 0.003223758190870285, + 0.004127383232116699, + 0.007145583629608154 + ], + "leadthrough_delta_max_abs_rad": 0.007145583629608154, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0014280173927545547, + 0.002057388424873352, + 0.002787228673696518, + 0.0004901587963104248, + 0.001399904489517212, + 0.004151628352701664 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006188189727254212, + 0.0008205914054997265, + 0.0010430167894810438, + 0.00029627876938320696, + 0.0006498353905044496, + 0.001406822819262743 + ], + "leadthrough_delta_samples": 7216, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007145583629608154, + "leadthrough_delta_worst_from_rad": -0.8659825325012207, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.2229999999999999, + "leadthrough_delta_worst_to_rad": -0.8731281161308289, + "leadthrough_duration_s": 28.86, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 7215, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.40800000000000125, + "leadthrough_final_stillness_removed_samples": 102, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 7216, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8085, + "leadthrough_initial_stillness_first_motion_index": 767, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.064, + "leadthrough_initial_stillness_removed_samples": 766, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 766, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0040000000000000036, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0033060461282730103, + 0.002992868423461914, + 0.003443067951593548, + 0.003223758190870285, + 0.004127383232116699, + 0.007145583629608154 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007145583629608154, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0996212561924836, + 0.9976228078206002, + 0.9612689415613446, + 1.0717889914909593, + 1.36899948120112, + 2.3710727691649494 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.0498952865600586, + "leadthrough_velocity_rms_rad_s": 0.22439711966304648, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005763337016105652, + "measured_wall_accel_p95_abs_rad_s2": 0.43106913566589355, + "measured_wall_accel_peak_abs_rad_s2": 2.576632261276245, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 24.461669643991627, + "measured_wall_accel_rms_rad_s2": 0.2068943560980309, + "measured_wall_jerk_p95_abs_rad_s3": 7.242373943328857, + "measured_wall_jerk_peak_abs_rad_s3": 53.472747802734375, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 24.528674448956735, + "measured_wall_jerk_rms_rad_s3": 3.776557728401451, + "measured_wall_smoothness_samples": 1167, + "measured_wall_velocity_peak_abs_rad_s": 0.5726804733276367, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.730793184950016, + "measured_wall_velocity_rms_rad_s": 0.10277680720024839, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005763337016105652, + "moving_aligned_p95_error_rad": 0.002143230987712741, + "moving_aligned_rms_error_rad": 0.0009729966925718556, + "moving_aligned_samples": 863, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 17.558, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0029698610305786133, + 0.005399793386459351, + 0.004608243703842163, + 0.005763337016105652, + 0.005404472351074219, + 0.004167824983596802 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001701638801023364, + 0.0018612933345139027, + 0.002008739160373807, + 0.004144994076341391, + 0.002270996803417802, + 0.0027312934398651123 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007841866100236207, + 0.0009534773533345098, + 0.0010206012344380665, + 0.0017300498998393638, + 0.001137468463442105, + 0.0014375175828656493 + ], + "moving_joint_lag_samples": [ + 770, + 831, + 720, + 250, + 642, + 481 + ], + "moving_joint_lag_worst_time_s": [ + 26.721, + 17.518, + 17.518, + 17.558, + 26.796, + 17.322 + ], + "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": 2.586223840713501, + "playback_velocity_rms_rad_s": 0.45855556767916344, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 87.72, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 28.86, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2765, + 6320 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4489278435774281, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08696851134300232, + "rapid_planner_max_dt_s": 3.7920000000000007, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0078352689743042, + "rapid_planner_median_dt_s": 0.08000000000000185, + "rapid_planner_path_max_error_rad": 0.005763337016105652, + "rapid_planner_path_p95_error_rad": 0.0028283476829528815, + "rapid_planner_path_rms_error_rad": 0.0014402327416891609, + "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, + 98, + 120, + 140, + 158, + 177, + 188, + 198, + 208, + 219, + 234, + 248, + 255, + 262, + 269, + 276, + 286, + 297, + 308, + 318, + 329, + 340, + 358, + 376, + 394, + 412, + 426, + 446, + 466, + 486, + 529, + 568, + 604, + 650, + 696, + 737, + 778, + 839, + 880, + 931, + 993, + 1126, + 1189, + 2137, + 2446, + 2765, + 3393, + 3544, + 3573, + 3598, + 3625, + 3654, + 3682, + 3711, + 3735, + 3759, + 3788, + 3802, + 3816, + 3836, + 3856, + 3876, + 3896, + 3919, + 3942, + 3960, + 3981, + 3996, + 4010, + 4023, + 4036, + 4045, + 4054, + 4064, + 4073, + 4084, + 4094, + 4105, + 4116, + 4132, + 4148, + 4163, + 4180, + 4220, + 4257, + 4278, + 4319, + 4353, + 4445, + 4494, + 4543, + 4590, + 4662, + 4965, + 5152, + 5328, + 5612, + 5687, + 6274, + 6320, + 6565, + 6588, + 6609, + 6628, + 6646, + 6658, + 6671, + 6690, + 6714, + 6729, + 6746, + 6760, + 6773, + 6784, + 6794, + 6808, + 6822, + 6834, + 6850, + 6880, + 6911, + 6941, + 6982, + 7066, + 7216 + ], + "rapid_planner_selected_max_joint_step_deg": 4.98292865048966, + "rapid_planner_selected_samples": 126, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 7217, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 126, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005763337016105652, + "raw_replay_rms_error_rad": 0.0008535820732408712, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9790642606985328, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9548665432192911, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.985591462861804, + "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": 0.9799484394621372, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9924900313316796, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9922453364329747, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007149055600166321, + 0.0004959255456924438, + 0.0007163286209106445, + 0.004243023693561554, + 0.002230525016784668, + 0.006355404853820801 + ], + "replay_smoothing_max_deviation_normalized": 0.7282757560832707, + "replay_smoothing_max_deviation_rad": 0.006355404853820801, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002144030062481761, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.891676425933838, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.98032760620117, + "replay_smoothing_raw_accel_rms_rad_s2": 4.222723140782701, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1354.881103515625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16785.501953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1074.4322359771995, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1190216541290283, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22536291521779467, + "replay_smoothing_rms_deviation_rad": 0.0009441060119607858, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.74739408493042, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.092674255371094, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.161879877584414, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1327.713623046875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16659.443359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1066.1003754616297, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0498952865600586, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22439711966304648, + "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": 0.9673781683947055, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9957144876573201, + "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": 17.258, + "replay_smoothing_wrist_max_deviation_rad": 0.006355404853820801, + "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": 0.005763337016105652, + "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": 0.03378969430923462, + "stage_planned_to_measured_rms_error_rad": 0.0060899349853959575, + "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": 1167, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.75517737865448, + "target_wall_accel_peak_abs_rad_s2": 2.859238386154175, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 3.1333880439633504, + "target_wall_accel_rms_rad_s2": 0.36866969538436717, + "target_wall_jerk_p95_abs_rad_s3": 19.82379150390625, + "target_wall_jerk_peak_abs_rad_s3": 80.47821807861328, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 25.93338926206343, + "target_wall_jerk_rms_rad_s3": 9.086654820234736, + "target_wall_smoothness_samples": 1167, + "target_wall_velocity_peak_abs_rad_s": 0.61594158411026, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 3.633501352975145, + "target_wall_velocity_rms_rad_s": 0.10366655398517899, + "tcp_pose_count": 1167, + "timestamp_count": 1167, + "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": 1.1000000000000028, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2599999999999993, + "window_lag_best_lag_p95_abs_s": 1.1000000000000028, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 18.0, + "window_lag_worst_max_error_rad": 0.005763337016105652, + "window_lag_worst_rms_error_rad": 0.001522519500966001, + "window_lag_worst_start_s": 17.0, + "zero_lag_max_error_rad": 0.005763337016105652, + "zero_lag_p95_error_rad": 0.0019288940820842981, + "zero_lag_rms_error_rad": 0.0008535820732408712, + "zero_lag_samples": 1167, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 17.558 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.npz new file mode 100644 index 0000000000000000000000000000000000000000..74e08010e1c7e757a37835cc2bfefe84dcc8b736 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141509.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2da62a8af5ad18dfc9f2d8f3fcc8785e7121d2fae6a6e581f2515067d14cb59 +size 124340 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.json new file mode 100644 index 0000000000000000000000000000000000000000..4440b8e4be43601e79dd8c9188a747a388b486c6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.json @@ -0,0 +1,671 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:17:04", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1139, + "actual_playback_duration_s": 37.97713242995087, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005714058876037598, + "aligned_p95_error_rad": 0.001819853438064456, + "aligned_rms_error_rad": 0.0008015230127932569, + "aligned_samples": 1139, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 3.627, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1139, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1139, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.829606033143078, + "image_frame_counts": { + "cam_scene": 1139, + "cam_wrist": 1139 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0034321099519729614, + 0.0038582682609558105, + 0.005535483360290527, + 0.004414417780935764, + 0.004663586616516113, + 0.005714058876037598 + ], + "joint_lag_p95_error_rad": [ + 0.0016342803137376904, + 0.0015214299783110619, + 0.0019245680887252092, + 0.0010794323170557618, + 0.001959168817847967, + 0.0022538183256983757 + ], + "joint_lag_rms_error_rad": [ + 0.0007144588543201908, + 0.0007580715716205318, + 0.0009343316298145252, + 0.00046089777127240514, + 0.0008714762093269639, + 0.0009615808569999209 + ], + "joint_lag_samples": [ + 1139, + 1139, + 1139, + 1139, + 1139, + 1139 + ], + "joint_lag_worst_time_s": [ + 2.1949999999999994, + 19.953, + 3.627, + 4.415, + 15.25, + 3.627 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.04162118898238987, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964767092838883, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004347494803369045, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004673169646412136, + "leadthrough_capture_egm_poll_duration_warn_count": 2762, + "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": 0.050171129987575114, + "leadthrough_capture_host_loop_dt_median_s": 0.003987765987403691, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043731210054829715, + "leadthrough_capture_host_loop_dt_p99_s": 0.004711536737158895, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.006801818963140249, + "leadthrough_capture_host_receive_dt_median_s": 0.00399020453915, + "leadthrough_capture_host_receive_dt_p95_s": 0.004366967832902446, + "leadthrough_capture_host_receive_dt_p99_s": 0.004665945431916044, + "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": 0.0934879524866119, + "leadthrough_capture_loop_late_median_s": 0.0907498705200851, + "leadthrough_capture_loop_late_p95_s": 0.09106014362769202, + "leadthrough_capture_loop_late_p99_s": 0.09143967570504173, + "leadthrough_capture_loop_late_warn_count": 7114, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.05016767594497651, + "leadthrough_capture_read_duration_median_s": 0.003977549495175481, + "leadthrough_capture_read_duration_p95_s": 0.00436239680275321, + "leadthrough_capture_read_duration_p99_s": 0.004698057710193097, + "leadthrough_capture_read_duration_warn_count": 3036, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003786608576774597, + 0.002777576446533203, + 0.004626311361789703, + 0.0023201480507850647, + 0.0036684274673461914, + 0.006898164749145508 + ], + "leadthrough_delta_max_abs_rad": 0.006898164749145508, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019430884858593345, + 0.002267649630084634, + 0.0035299703013151884, + 0.00045998499263077974, + 0.002055197022855282, + 0.004931601695716381 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008079229155555367, + 0.0009649384883232415, + 0.0013286892790347338, + 0.0002846468996722251, + 0.0008396675111725926, + 0.0015931098023429513 + ], + "leadthrough_delta_samples": 5190, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006898164749145508, + "leadthrough_delta_worst_from_rad": -0.5671438574790955, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5720000000000001, + "leadthrough_delta_worst_to_rad": -0.574042022228241, + "leadthrough_duration_s": 20.757, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5189, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6759999999999984, + "leadthrough_final_stillness_removed_samples": 169, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5190, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7113, + "leadthrough_initial_stillness_first_motion_index": 1754, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.011, + "leadthrough_initial_stillness_removed_samples": 1753, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1753, + "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": [ + 0.003786608576774597, + 0.002777576446533203, + 0.004626311361789703, + 0.0023201480507850647, + 0.0036684274673461914, + 0.006898164749145508 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006898164749145508, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.255417863527886, + 0.9001493453989811, + 1.542103787263176, + 0.7621968785921444, + 1.2187957763671413, + 2.284387747446609 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9416844844818115, + "leadthrough_velocity_rms_rad_s": 0.27216323815221, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005714058876037598, + "measured_wall_accel_p95_abs_rad_s2": 0.4107342064380646, + "measured_wall_accel_peak_abs_rad_s2": 2.6104276180267334, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 14.167340870946646, + "measured_wall_accel_rms_rad_s2": 0.20606152353513207, + "measured_wall_jerk_p95_abs_rad_s3": 6.852572441101074, + "measured_wall_jerk_peak_abs_rad_s3": 49.58799362182617, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 40.10353074700106, + "measured_wall_jerk_rms_rad_s3": 3.364259474564627, + "measured_wall_smoothness_samples": 1139, + "measured_wall_velocity_peak_abs_rad_s": 0.6083385944366455, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.3001825469546, + "measured_wall_velocity_rms_rad_s": 0.10080853924457266, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005714058876037598, + "moving_aligned_p95_error_rad": 0.0019426915096119046, + "moving_aligned_rms_error_rad": 0.0008953920345988582, + "moving_aligned_samples": 835, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 3.627, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0034321099519729614, + 0.0038582682609558105, + 0.005535483360290527, + 0.0027642352506518364, + 0.004478335380554199, + 0.003995418548583984 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001898098737001419, + 0.0016320645809173584, + 0.002208677353337407, + 0.0018629402620717883, + 0.0021754975896328688, + 0.0025406330823898315 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008688931936884914, + 0.0008338742766436918, + 0.0011262692092497703, + 0.0008212689694489033, + 0.0010114229696671412, + 0.001320715616157323 + ], + "moving_joint_lag_samples": [ + 726, + 796, + 665, + 275, + 663, + 521 + ], + "moving_joint_lag_worst_time_s": [ + 2.1949999999999994, + 19.953, + 3.627, + 19.469, + 20.069, + 3.6870000000000003 + ], + "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": 2.4720280170440674, + "playback_velocity_rms_rad_s": 0.5204236915125652, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 71.51400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.757, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1747, + 4332 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44136170152434645, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08510959148406982, + "rapid_planner_max_dt_s": 2.3160000000000025, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007703214883804321, + "rapid_planner_median_dt_s": 0.07199999999999918, + "rapid_planner_path_max_error_rad": 0.005714058876037598, + "rapid_planner_path_p95_error_rad": 0.0028061032295227046, + "rapid_planner_path_rms_error_rad": 0.0013852280089806856, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 18, + 35, + 47, + 59, + 71, + 83, + 92, + 101, + 110, + 119, + 132, + 144, + 151, + 158, + 171, + 182, + 192, + 202, + 213, + 224, + 234, + 245, + 256, + 267, + 278, + 290, + 301, + 314, + 326, + 339, + 352, + 366, + 379, + 409, + 432, + 458, + 481, + 501, + 579, + 632, + 667, + 729, + 806, + 936, + 973, + 1355, + 1747, + 2298, + 2356, + 2419, + 2447, + 2476, + 2500, + 2524, + 2544, + 2563, + 2579, + 2594, + 2610, + 2625, + 2640, + 2660, + 2681, + 2702, + 2722, + 2752, + 2781, + 2804, + 2826, + 2843, + 2861, + 2870, + 2880, + 2889, + 2898, + 2908, + 2917, + 2926, + 2936, + 2954, + 2971, + 2990, + 3005, + 3021, + 3062, + 3102, + 3158, + 3189, + 3218, + 3238, + 3278, + 3382, + 3961, + 4332, + 4607, + 4684, + 4715, + 4739, + 4763, + 4778, + 4794, + 4810, + 4827, + 4844, + 4860, + 4879, + 4896, + 4913, + 4933, + 4952, + 4972, + 5002, + 5040, + 5081, + 5190 + ], + "rapid_planner_selected_max_joint_step_deg": 4.876420388119773, + "rapid_planner_selected_samples": 116, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5191, + "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": 116, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005714058876037598, + "raw_replay_rms_error_rad": 0.0008015230127932569, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9932018840531236, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9558822551524349, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9862509015765888, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0104803957342767, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9554318913148312, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9895560715750745, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005436614155769348, + 0.0009322762489318848, + 0.001183152198791504, + 0.0027514658868312836, + 0.00272977352142334, + 0.005278468132019043 + ], + "replay_smoothing_max_deviation_normalized": 0.6048678972035177, + "replay_smoothing_max_deviation_rad": 0.005278468132019043, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021644458174705505, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 13.457969665527344, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.54574584960938, + "replay_smoothing_raw_accel_rms_rad_s2": 6.1303508138227585, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 3001.44189453125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19059.92578125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1564.6868295579497, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0432913303375244, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2730662780957911, + "replay_smoothing_rms_deviation_rad": 0.0009291624052690763, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 13.366480827331543, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.60989761352539, + "replay_smoothing_smoothed_accel_rms_rad_s2": 6.04606401711347, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 3032.898193359375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18210.4609375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1548.345352302623, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9416844844818115, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.27216323815221, + "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": 0.9502729521008006, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966929642507365, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3159999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.005278468132019043, + "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": 0.005714058876037598, + "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": 0.036145031452178955, + "stage_planned_to_measured_rms_error_rad": 0.005972349149940497, + "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": 1139, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8327383399009705, + "target_wall_accel_peak_abs_rad_s2": 3.001493215560913, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.3001595699461177, + "target_wall_accel_rms_rad_s2": 0.36999517942585436, + "target_wall_jerk_p95_abs_rad_s3": 20.302167892456055, + "target_wall_jerk_peak_abs_rad_s3": 74.86774444580078, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 9.866720423917286, + "target_wall_jerk_rms_rad_s3": 9.003897441009872, + "target_wall_smoothness_samples": 1139, + "target_wall_velocity_peak_abs_rad_s": 0.6363041996955872, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.30007024796214, + "target_wall_velocity_rms_rad_s": 0.10172241761886329, + "tcp_pose_count": 1139, + "timestamp_count": 1139, + "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": -1.2899999999999994, + "window_lag_best_lag_p95_abs_s": 1.1874999999999984, + "window_lag_count": 22, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.2899999999999994, + "window_lag_worst_end_s": 18.0, + "window_lag_worst_max_error_rad": 0.31396281719207764, + "window_lag_worst_rms_error_rad": 0.018952085654036104, + "window_lag_worst_start_s": 17.0, + "zero_lag_max_error_rad": 0.005714058876037598, + "zero_lag_p95_error_rad": 0.001819853438064456, + "zero_lag_rms_error_rad": 0.0008015230127932569, + "zero_lag_samples": 1139, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 3.627 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.npz new file mode 100644 index 0000000000000000000000000000000000000000..f5c8f0a468773922fdef3639d062db24b7ec8612 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141702.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49d9fe32f10b6379e93e25ca4700f4528c5af2ec64dfc80237bee5a9bf2d0fa0 +size 120172 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.json new file mode 100644 index 0000000000000000000000000000000000000000..3161eb2d84a75e4690e4467bb8d0b38bf8b0446a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.json @@ -0,0 +1,675 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:19:32", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1166, + "actual_playback_duration_s": 38.87956707703415, + "aligned_best_lag_s": -0.009999999999998233, + "aligned_max_error_rad": 0.019498467445373535, + "aligned_p95_error_rad": 0.008789854124188423, + "aligned_rms_error_rad": 0.003879393807956005, + "aligned_samples": 1165, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 1.1400000000000006, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1166, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1166, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6696541731956605, + "image_frame_counts": { + "cam_scene": 1166, + "cam_wrist": 1166 + }, + "joint_lag_best_lag_s": [ + 0.0, + -0.009999999999998233, + 0.0, + 0.0, + -0.009999999999998233, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00497889518737793, + 0.008393198251724243, + 0.16513341665267944, + 0.004923246800899506, + 0.0066111087799072266, + 0.00580596923828125 + ], + "joint_lag_p95_error_rad": [ + 0.0017591528594493866, + 0.006950180046260357, + 0.0021628960967063904, + 0.0014270320534706116, + 0.004468202590942383, + 0.002550732344388962 + ], + "joint_lag_rms_error_rad": [ + 0.0007991939589560794, + 0.003517929916309984, + 0.00494211340772669, + 0.0005964339375025977, + 0.0020299455525360738, + 0.001169369594826493 + ], + "joint_lag_samples": [ + 1166, + 1165, + 1166, + 1166, + 1165, + 1166 + ], + "joint_lag_worst_time_s": [ + 13.898, + 11.351, + 23.286, + 13.898, + 1.58, + 1.468 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005966432043351233, + "leadthrough_capture_egm_poll_duration_median_s": 0.003975247964262962, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004351522168144583, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00472585843410343, + "leadthrough_capture_egm_poll_duration_warn_count": 3034, + "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": 0.006029395968653262, + "leadthrough_capture_host_loop_dt_median_s": 0.003999207983724773, + "leadthrough_capture_host_loop_dt_p95_s": 0.004381181095959618, + "leadthrough_capture_host_loop_dt_p99_s": 0.004788715647300705, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005964181036688387, + "leadthrough_capture_host_receive_dt_median_s": 0.003999362525064498, + "leadthrough_capture_host_receive_dt_p95_s": 0.00436769012012519, + "leadthrough_capture_host_receive_dt_p99_s": 0.004716738861752673, + "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": 0.03782332199625671, + "leadthrough_capture_loop_late_median_s": 0.03442085720598698, + "leadthrough_capture_loop_late_p95_s": 0.03476272448897362, + "leadthrough_capture_loop_late_p99_s": 0.03523376697208733, + "leadthrough_capture_loop_late_warn_count": 6929, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006008006981573999, + "leadthrough_capture_read_duration_median_s": 0.003988933051005006, + "leadthrough_capture_read_duration_p95_s": 0.00436861861962825, + "leadthrough_capture_read_duration_p99_s": 0.0047726032882928855, + "leadthrough_capture_read_duration_warn_count": 3270, + "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": [ + 0.003312438726425171, + 0.002896606922149658, + 0.003953995648771524, + 0.0037654340267181396, + 0.0024291276931762695, + 0.006959199905395508 + ], + "leadthrough_delta_max_abs_rad": 0.006959199905395508, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018660393543541431, + 0.0020954387728124857, + 0.0033791654277592897, + 0.0006998777389526367, + 0.0013528725830838084, + 0.004890082404017448 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007230847841128707, + 0.000906117376871407, + 0.0013041166821494699, + 0.00044345526839606464, + 0.0005397351342253387, + 0.001529610832221806 + ], + "leadthrough_delta_samples": 5822, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006959199905395508, + "leadthrough_delta_worst_from_rad": -1.1797157526016235, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.2000000000000002, + "leadthrough_delta_worst_to_rad": -1.186674952507019, + "leadthrough_duration_s": 23.286, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5821, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.2749999999999986, + "leadthrough_final_stillness_removed_samples": 69, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5822, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6929, + "leadthrough_initial_stillness_first_motion_index": 1038, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.148, + "leadthrough_initial_stillness_removed_samples": 1037, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1037, + "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": [ + 0.003312438726425171, + 0.002896606922149658, + 0.003953995532356203, + 0.0037654340267181396, + 0.0024291276931762695, + 0.006959199905395508 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006959199905395508, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.095761855443277, + 0.7241517305371727, + 0.988498912192551, + 1.2497554222742242, + 0.6072819232941342, + 1.7397999763490686 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7370134592056274, + "leadthrough_velocity_rms_rad_s": 0.24799758420476595, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.33324897289276123, + "measured_wall_accel_p95_abs_rad_s2": 0.46597373485565186, + "measured_wall_accel_peak_abs_rad_s2": 208.4116668701172, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.566076151910238, + "measured_wall_accel_rms_rad_s2": 6.5276615754713205, + "measured_wall_jerk_p95_abs_rad_s3": 7.758060932159424, + "measured_wall_jerk_peak_abs_rad_s3": 3564.261962890625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.59071793500334, + "measured_wall_jerk_rms_rad_s3": 93.52283189103453, + "measured_wall_smoothness_samples": 1166, + "measured_wall_velocity_peak_abs_rad_s": 13.088509559631348, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.52790071896743, + "measured_wall_velocity_rms_rad_s": 0.30503563244499354, + "moving_aligned_best_lag_s": -0.009999999999998233, + "moving_aligned_max_error_rad": 0.019498467445373535, + "moving_aligned_p95_error_rad": 0.00966698955744505, + "moving_aligned_rms_error_rad": 0.004490525610508339, + "moving_aligned_samples": 869, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 1.1400000000000006, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.009999999999998233, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.00497889518737793, + 0.0048905909061431885, + 0.005029354244470596, + 0.004923246800899506, + 0.0066111087799072266, + 0.00580596923828125 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021939275320619345, + 0.0019243923015892506, + 0.0022542171645909548, + 0.002154697896912694, + 0.0051290360279381275, + 0.003006964921951294 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009859037771027107, + 0.0009377185883116318, + 0.0011585118377775018, + 0.0011192347739069925, + 0.0028193521326014444, + 0.0016534142436045078 + ], + "moving_joint_lag_samples": [ + 722, + 825, + 788, + 273, + 600, + 521 + ], + "moving_joint_lag_worst_time_s": [ + 13.898, + 13.898, + 1.3719999999999999, + 13.898, + 1.58, + 1.468 + ], + "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": 13.43702507019043, + "playback_velocity_rms_rad_s": 0.5361212937047057, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 76.572, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.286, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1753, + 4806 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43701599366492583, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08625456690788269, + "rapid_planner_max_dt_s": 3.088000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007627367973327637, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.33324897289276123, + "rapid_planner_path_p95_error_rad": 0.0029779323376715183, + "rapid_planner_path_rms_error_rad": 0.009870854482504137, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 54, + 71, + 88, + 98, + 109, + 120, + 130, + 145, + 160, + 176, + 191, + 198, + 206, + 214, + 221, + 228, + 236, + 244, + 251, + 264, + 276, + 286, + 296, + 306, + 317, + 325, + 333, + 354, + 377, + 394, + 412, + 429, + 446, + 475, + 508, + 545, + 576, + 617, + 680, + 721, + 764, + 832, + 881, + 1033, + 1160, + 1237, + 1753, + 2433, + 2510, + 2604, + 2632, + 2655, + 2678, + 2703, + 2724, + 2746, + 2772, + 2786, + 2799, + 2814, + 2828, + 2841, + 2854, + 2868, + 2881, + 2894, + 2908, + 2927, + 2946, + 2964, + 2982, + 3002, + 3014, + 3026, + 3038, + 3049, + 3064, + 3079, + 3097, + 3118, + 3139, + 3206, + 3248, + 3283, + 3318, + 3356, + 3393, + 3412, + 3451, + 3524, + 3557, + 3604, + 3655, + 3767, + 4034, + 4806, + 5090, + 5136, + 5184, + 5246, + 5307, + 5370, + 5399, + 5428, + 5452, + 5474, + 5488, + 5502, + 5516, + 5537, + 5558, + 5578, + 5597, + 5621, + 5658, + 5689, + 5753, + 5795, + 5822 + ], + "rapid_planner_selected_max_joint_step_deg": 4.942022647550454, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5823, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.33324897289276123, + "raw_replay_rms_error_rad": 0.004890618326423176, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9907270644723247, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9424171012706833, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9606458557391166, + "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": 0.9223312881892796, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9631237040049098, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9804415748855974, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000848814845085144, + 0.0005498975515365601, + 0.0007822811603546143, + 0.0029895007610321045, + 0.0030265450477600098, + 0.006521046161651611 + ], + "replay_smoothing_max_deviation_normalized": 0.7472568519337707, + "replay_smoothing_max_deviation_rad": 0.006521046161651611, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0024155050050467253, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.419914722442627, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 47.1588249206543, + "replay_smoothing_raw_accel_rms_rad_s2": 2.727269658120685, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 679.5863037109375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12939.87890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 664.9264461455414, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7397403717041016, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24911261777731147, + "replay_smoothing_rms_deviation_rad": 0.001054121395005666, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.378929138183594, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.44328308105469, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.6199402945566734, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 626.8037109375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12462.7041015625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 651.9215320420179, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7370134592056274, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24799758420476595, + "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": 0.9984325750308346, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.995523977940201, + "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": 22.369, + "replay_smoothing_wrist_max_deviation_rad": 0.006521046161651611, + "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": 0.33324897289276123, + "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": 0.5015703439712524, + "stage_planned_to_measured_rms_error_rad": 0.011872398794221167, + "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": 1166, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8305616974830627, + "target_wall_accel_peak_abs_rad_s2": 271.4570617675781, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.03338862303644419, + "target_wall_accel_rms_rad_s2": 6.330797690148702, + "target_wall_jerk_p95_abs_rad_s3": 20.56061553955078, + "target_wall_jerk_peak_abs_rad_s3": 4064.184814453125, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672231701668352, + "target_wall_jerk_rms_rad_s3": 77.7380313741739, + "target_wall_smoothness_samples": 1166, + "target_wall_velocity_peak_abs_rad_s": 18.107421875, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.226007826626301e-06, + "target_wall_velocity_rms_rad_s": 0.3301006443241454, + "tcp_pose_count": 1166, + "timestamp_count": 1166, + "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": -1.3999999999999995, + "window_lag_best_lag_p95_abs_s": 1.1874999999999991, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.7999999999999989, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.05041372776031494, + "window_lag_worst_rms_error_rad": 0.007330842026593188, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.33324897289276123, + "zero_lag_p95_error_rad": 0.00200058426707983, + "zero_lag_rms_error_rad": 0.004890618326423176, + "zero_lag_samples": 1166, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 23.286 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.npz new file mode 100644 index 0000000000000000000000000000000000000000..d5b7b38bab237f73047473627ff5189d7c1ad4cd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_141931.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4085d4e4c4777840ed9235a57e273809fee4a5d54c87abe67e872dd65f4395d +size 124837 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc0b0774a3d8cff0357f2012d542188dc7e95e5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:22:56", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1135, + "actual_playback_duration_s": 37.84438482695259, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005652308464050293, + "aligned_p95_error_rad": 0.002392666880041361, + "aligned_rms_error_rad": 0.0010286153397935335, + "aligned_samples": 1135, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 3.755000000000001, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1135, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1135, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7471208543904986, + "image_frame_counts": { + "cam_scene": 1135, + "cam_wrist": 1135 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0054267048835754395, + 0.005626201629638672, + 0.005042612552642822, + 0.0045392997562885284, + 0.005652308464050293, + 0.0055231451988220215 + ], + "joint_lag_p95_error_rad": [ + 0.0022069027181714773, + 0.002286199014633894, + 0.002475258894264698, + 0.0016537769697606564, + 0.0023851783480495214, + 0.0027409878093749285 + ], + "joint_lag_rms_error_rad": [ + 0.0009788020728305213, + 0.001013031969850462, + 0.0011326870248336393, + 0.0006904987557383039, + 0.0010174785022914513, + 0.0012525888804021384 + ], + "joint_lag_samples": [ + 1135, + 1135, + 1135, + 1135, + 1135, + 1135 + ], + "joint_lag_worst_time_s": [ + 13.106, + 3.755000000000001, + 13.089999999999998, + 13.610000000000001, + 3.755000000000001, + 13.118 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005871532019227743, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972726524807513, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004350893222726882, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004677157306578012, + "leadthrough_capture_egm_poll_duration_warn_count": 3612, + "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": 0.005916710011661053, + "leadthrough_capture_host_loop_dt_median_s": 0.003996832994744182, + "leadthrough_capture_host_loop_dt_p95_s": 0.004376215161755681, + "leadthrough_capture_host_loop_dt_p99_s": 0.004709271886385977, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005866653053089976, + "leadthrough_capture_host_receive_dt_median_s": 0.003999663982540369, + "leadthrough_capture_host_receive_dt_p95_s": 0.004371749353595078, + "leadthrough_capture_host_receive_dt_p99_s": 0.004673666609451174, + "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": 0.014317148947156966, + "leadthrough_capture_loop_late_median_s": 0.007851206348277628, + "leadthrough_capture_loop_late_p95_s": 0.008181939454516396, + "leadthrough_capture_loop_late_p99_s": 0.008523442365694796, + "leadthrough_capture_loop_late_warn_count": 8814, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005900764022953808, + "leadthrough_capture_read_duration_median_s": 0.003986096533481032, + "leadthrough_capture_read_duration_p95_s": 0.00436328025534749, + "leadthrough_capture_read_duration_p99_s": 0.004696850186446683, + "leadthrough_capture_read_duration_warn_count": 3987, + "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": [ + 0.0037099123001098633, + 0.0025917887687683105, + 0.004442952573299408, + 0.003215968608856201, + 0.003671407699584961, + 0.007541656494140625 + ], + "leadthrough_delta_max_abs_rad": 0.007541656494140625, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018207048997282982, + 0.0022111907601356506, + 0.0036604851484298706, + 0.0005340471980161965, + 0.0021148622035980225, + 0.0048019252717494965 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007675235974602401, + 0.0009423830779269338, + 0.0013115175534039736, + 0.00034389906795695424, + 0.0008079218678176403, + 0.001630072365514934 + ], + "leadthrough_delta_samples": 5416, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007541656494140625, + "leadthrough_delta_worst_from_rad": -0.880499005317688, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8710000000000004, + "leadthrough_delta_worst_to_rad": -0.8880406618118286, + "leadthrough_duration_s": 21.661, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5415, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.779999999999994, + "leadthrough_final_stillness_removed_samples": 195, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5416, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8814, + "leadthrough_initial_stillness_first_motion_index": 3203, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 12.807, + "leadthrough_initial_stillness_removed_samples": 3202, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 3202, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0037099123001098633, + 0.0025917887687683105, + 0.004442952573299408, + 0.003215968608856201, + 0.003671407699584961, + 0.007541656494140625 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007541656494140625, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9274780750279799, + 0.8383641640344938, + 1.4081460734207891, + 0.8039921522144959, + 1.2135903040567575, + 2.5110840797423366 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.1882193088531494, + "leadthrough_velocity_rms_rad_s": 0.26793143110865253, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005652308464050293, + "measured_wall_accel_p95_abs_rad_s2": 0.4267165958881378, + "measured_wall_accel_peak_abs_rad_s2": 3.1678178310394287, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 15.213230457971804, + "measured_wall_accel_rms_rad_s2": 0.20870180156838755, + "measured_wall_jerk_p95_abs_rad_s3": 7.48592472076416, + "measured_wall_jerk_peak_abs_rad_s3": 56.77716064453125, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.447637630975805, + "measured_wall_jerk_rms_rad_s3": 3.589923608167923, + "measured_wall_smoothness_samples": 1135, + "measured_wall_velocity_peak_abs_rad_s": 0.5255268812179565, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 15.34729572897777, + "measured_wall_velocity_rms_rad_s": 0.09917780381927925, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005652308464050293, + "moving_aligned_p95_error_rad": 0.002678610384464264, + "moving_aligned_rms_error_rad": 0.0011949051704157202, + "moving_aligned_samples": 835, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 3.755000000000001, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0054267048835754395, + 0.004961474798619747, + 0.005042612552642822, + 0.0045392997562885284, + 0.005652308464050293, + 0.0055231451988220215 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0027667877729982138, + 0.0025937461759895086, + 0.0027919297572225332, + 0.0028463478665798903, + 0.0028086602687835693, + 0.00325602269731462 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011989893289661387, + 0.0011667848909431722, + 0.0013721017890790414, + 0.001258319321079474, + 0.0012515250456450293, + 0.001741240421700019 + ], + "moving_joint_lag_samples": [ + 714, + 800, + 697, + 290, + 676, + 555 + ], + "moving_joint_lag_worst_time_s": [ + 13.106, + 12.845999999999998, + 13.089999999999998, + 13.610000000000001, + 3.755000000000001, + 13.118 + ], + "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": 3.364741802215576, + "playback_velocity_rms_rad_s": 0.5469460385806916, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.322, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.661, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1886, + 4658 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44692024820912035, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08491458743810654, + "rapid_planner_max_dt_s": 2.4639999999999986, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007800229825079441, + "rapid_planner_median_dt_s": 0.07499999999999574, + "rapid_planner_path_max_error_rad": 0.005652308464050293, + "rapid_planner_path_p95_error_rad": 0.003415507078170776, + "rapid_planner_path_rms_error_rad": 0.0016782059101811194, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 24, + 46, + 59, + 72, + 90, + 108, + 120, + 131, + 142, + 154, + 162, + 170, + 178, + 185, + 192, + 198, + 205, + 212, + 221, + 230, + 238, + 247, + 258, + 269, + 280, + 291, + 302, + 313, + 333, + 348, + 364, + 375, + 386, + 398, + 409, + 422, + 436, + 457, + 483, + 511, + 566, + 612, + 649, + 675, + 856, + 1024, + 1162, + 1278, + 1886, + 2502, + 2652, + 2688, + 2724, + 2754, + 2784, + 2812, + 2831, + 2850, + 2868, + 2886, + 2904, + 2922, + 2940, + 2959, + 2979, + 2999, + 3014, + 3029, + 3044, + 3058, + 3068, + 3078, + 3090, + 3103, + 3114, + 3125, + 3141, + 3160, + 3186, + 3247, + 3304, + 3338, + 3373, + 3438, + 3496, + 3567, + 3778, + 3985, + 4241, + 4340, + 4658, + 4913, + 4966, + 4998, + 5019, + 5040, + 5059, + 5082, + 5099, + 5117, + 5133, + 5149, + 5165, + 5184, + 5207, + 5230, + 5261, + 5297, + 5337, + 5369, + 5416 + ], + "rapid_planner_selected_max_joint_step_deg": 4.865247479298102, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5417, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005652308464050293, + "raw_replay_rms_error_rad": 0.0010286153397935335, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.975637248168739, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9937329538842398, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9906693093067536, + "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": 0.9758059821501258, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9876972431379674, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9974029896856228, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006774961948394775, + 0.0006193667650222778, + 0.001015007495880127, + 0.004295796155929565, + 0.003047943115234375, + 0.007360100746154785 + ], + "replay_smoothing_max_deviation_normalized": 0.8434054256248422, + "replay_smoothing_max_deviation_rad": 0.007360100746154785, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023307970259338617, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.932374477386475, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 72.11532592773438, + "replay_smoothing_raw_accel_rms_rad_s2": 4.945078303581495, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1641.9085693359375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20748.65234375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1253.479209639598, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.2429397106170654, + "replay_smoothing_raw_velocity_rms_rad_s": 0.26892767044101046, + "replay_smoothing_rms_deviation_rad": 0.001029396120933034, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.739120006561279, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 71.66337585449219, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.898937307476892, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1602.1842041015625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 20493.38671875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1250.2239112033064, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1882193088531494, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26793143110865253, + "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": 0.9756032667731128, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962955119838571, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.2400000000000002, + "replay_smoothing_wrist_max_deviation_rad": 0.007360100746154785, + "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": 0.005652308464050293, + "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": 0.030150434002280235, + "stage_planned_to_measured_rms_error_rad": 0.005879485038175637, + "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": 1135, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8363022208213806, + "target_wall_accel_peak_abs_rad_s2": 2.9992964267730713, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.2667208630591631, + "target_wall_accel_rms_rad_s2": 0.3839944887211113, + "target_wall_jerk_p95_abs_rad_s3": 21.518918991088867, + "target_wall_jerk_peak_abs_rad_s3": 58.27865219116211, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 9.03339141595643, + "target_wall_jerk_rms_rad_s3": 9.62302828040753, + "target_wall_smoothness_samples": 1135, + "target_wall_velocity_peak_abs_rad_s": 0.5371996760368347, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.400054699042812, + "target_wall_velocity_rms_rad_s": 0.10028044945244324, + "tcp_pose_count": 1135, + "timestamp_count": 1135, + "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": 1.3500000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2099999999999993, + "window_lag_best_lag_p95_abs_s": 1.3360000000000025, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.3500000000000032, + "window_lag_worst_end_s": 19.0, + "window_lag_worst_max_error_rad": 0.0070518553256988525, + "window_lag_worst_rms_error_rad": 0.002963210044963863, + "window_lag_worst_start_s": 18.0, + "zero_lag_max_error_rad": 0.005652308464050293, + "zero_lag_p95_error_rad": 0.002392666880041361, + "zero_lag_rms_error_rad": 0.0010286153397935335, + "zero_lag_samples": 1135, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 3.755000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.npz new file mode 100644 index 0000000000000000000000000000000000000000..12591fc6659cd67cac0b3318b21f5851b8599ebd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142255.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d46c31bbff451986512bd447568eff54d02025ef145d4eb0ff4cffb8280a2df +size 120806 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.json new file mode 100644 index 0000000000000000000000000000000000000000..33506316cd2de3d2724c06e3c15aec24e8ec1391 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.json @@ -0,0 +1,665 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:24:40", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1125, + "actual_playback_duration_s": 37.51109310996253, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005154848098754883, + "aligned_p95_error_rad": 0.002279756125062704, + "aligned_rms_error_rad": 0.0009874851008951672, + "aligned_samples": 1125, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 2.548, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1125, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1125, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7752528684317335, + "image_frame_counts": { + "cam_scene": 1125, + "cam_wrist": 1125 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004265099763870239, + 0.004016369581222534, + 0.004856526851654053, + 0.004458300769329071, + 0.005154848098754883, + 0.004942633211612701 + ], + "joint_lag_p95_error_rad": [ + 0.001891600782983005, + 0.0022819130681455135, + 0.0022991534788161516, + 0.0019463059725239873, + 0.002545284805819392, + 0.002547537675127387 + ], + "joint_lag_rms_error_rad": [ + 0.0008074423773605381, + 0.0009665249561473754, + 0.0011021937071307353, + 0.0007868377170315143, + 0.0010488665253143813, + 0.0011534997678453538 + ], + "joint_lag_samples": [ + 1125, + 1125, + 1125, + 1125, + 1125, + 1125 + ], + "joint_lag_worst_time_s": [ + 2.532, + 20.046000000000003, + 19.918000000000003, + 19.934, + 2.548, + 19.67 + ], + "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": 2, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0061082589672878385, + "leadthrough_capture_egm_poll_duration_median_s": 0.003984384529758245, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00432516242726706, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004592049070633947, + "leadthrough_capture_egm_poll_duration_warn_count": 2602, + "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": 0.05011128599289805, + "leadthrough_capture_host_loop_dt_median_s": 0.004008832038380206, + "leadthrough_capture_host_loop_dt_p95_s": 0.004351985931862146, + "leadthrough_capture_host_loop_dt_p99_s": 0.004640540787950158, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.005989980068989098, + "leadthrough_capture_host_receive_dt_median_s": 0.004011266049928963, + "leadthrough_capture_host_receive_dt_p95_s": 0.004339939961209893, + "leadthrough_capture_host_receive_dt_p99_s": 0.004568987730890514, + "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": 0.09920000308193266, + "leadthrough_capture_loop_late_median_s": 0.096581764111761, + "leadthrough_capture_loop_late_p95_s": 0.09686887295683846, + "leadthrough_capture_loop_late_p99_s": 0.09726965090609156, + "leadthrough_capture_loop_late_warn_count": 5820, + "leadthrough_capture_none_reads": 2, + "leadthrough_capture_read_duration_max_s": 0.050102374982088804, + "leadthrough_capture_read_duration_median_s": 0.003998633474111557, + "leadthrough_capture_read_duration_p95_s": 0.00433883122750558, + "leadthrough_capture_read_duration_p99_s": 0.004627195193897933, + "leadthrough_capture_read_duration_warn_count": 2883, + "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": [ + 0.002604171633720398, + 0.0031171441078186035, + 0.005366921424865723, + 0.0019468367099761963, + 0.0029259920120239258, + 0.006657809019088745 + ], + "leadthrough_delta_max_abs_rad": 0.006657809019088745, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016741162398830056, + 0.0022098601330071688, + 0.003474034136161208, + 0.0008647787617519498, + 0.0016613600309938192, + 0.004283970221877098 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007220233674161136, + 0.0009476460400037467, + 0.0013299731072038412, + 0.0003360913833603263, + 0.000639242643956095, + 0.001495514647103846 + ], + "leadthrough_delta_samples": 5283, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006657809019088745, + "leadthrough_delta_worst_from_rad": -0.49474838376045227, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8680000000000001, + "leadthrough_delta_worst_to_rad": -0.501406192779541, + "leadthrough_duration_s": 21.130000000000003, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5282, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.3319999999999972, + "leadthrough_final_stillness_removed_samples": 83, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5283, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5818, + "leadthrough_initial_stillness_first_motion_index": 452, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.804, + "leadthrough_initial_stillness_removed_samples": 451, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 451, + "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": [ + 0.002604171633720398, + 0.0031171441078186035, + 0.005366921424865723, + 0.0019468367099761963, + 0.0029259920120239258, + 0.006657809019088745 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006657809019088745, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.6510429084304603, + 0.7792860269543906, + 1.3417303562159826, + 0.48670917749404863, + 0.7314980030059808, + 1.6644522547721847 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6519501209259033, + "leadthrough_velocity_rms_rad_s": 0.247494649530133, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005154848098754883, + "measured_wall_accel_p95_abs_rad_s2": 0.4639396667480469, + "measured_wall_accel_peak_abs_rad_s2": 3.375032424926758, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 23.255464309011586, + "measured_wall_accel_rms_rad_s2": 0.22832410553439675, + "measured_wall_jerk_p95_abs_rad_s3": 7.915897369384766, + "measured_wall_jerk_peak_abs_rad_s3": 51.757144927978516, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 23.321782487095334, + "measured_wall_jerk_rms_rad_s3": 3.9144783097512295, + "measured_wall_smoothness_samples": 1125, + "measured_wall_velocity_peak_abs_rad_s": 0.4338303208351135, + "measured_wall_velocity_peak_joint": 2, + "measured_wall_velocity_peak_time_s": 30.85528525803238, + "measured_wall_velocity_rms_rad_s": 0.09735461905083194, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005154848098754883, + "moving_aligned_p95_error_rad": 0.0026016158517450094, + "moving_aligned_rms_error_rad": 0.0011486103219445556, + "moving_aligned_samples": 829, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 2.548, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004265099763870239, + 0.004016369581222534, + 0.004856526851654053, + 0.004458300769329071, + 0.005154848098754883, + 0.004942633211612701 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0022504120133817196, + 0.002606526482850313, + 0.0031864047050476074, + 0.0030960708390921354, + 0.003062671050429344, + 0.002982983598485589 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009542187960508277, + 0.0011350870449319942, + 0.0014024726562468861, + 0.0013156856754566381, + 0.001262780977554497, + 0.0015759958512437731 + ], + "moving_joint_lag_samples": [ + 714, + 788, + 671, + 323, + 675, + 530 + ], + "moving_joint_lag_worst_time_s": [ + 2.532, + 20.046000000000003, + 19.918000000000003, + 19.934, + 2.548, + 19.67 + ], + "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": 2.510831356048584, + "playback_velocity_rms_rad_s": 0.4712166509266696, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.26, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.130000000000003, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1811, + 4273 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4276278986507433, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.084469735622406, + "rapid_planner_max_dt_s": 2.3200000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007463514804840088, + "rapid_planner_median_dt_s": 0.08000000000000007, + "rapid_planner_path_max_error_rad": 0.005154848098754883, + "rapid_planner_path_p95_error_rad": 0.00340062528848648, + "rapid_planner_path_rms_error_rad": 0.0016083252032445608, + "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, + 71, + 87, + 103, + 116, + 129, + 142, + 155, + 170, + 185, + 197, + 209, + 222, + 234, + 246, + 258, + 266, + 274, + 289, + 297, + 305, + 313, + 321, + 330, + 340, + 357, + 369, + 381, + 400, + 420, + 444, + 460, + 478, + 496, + 510, + 547, + 584, + 661, + 711, + 772, + 820, + 898, + 990, + 1201, + 1343, + 1467, + 1536, + 1811, + 2391, + 2450, + 2511, + 2540, + 2559, + 2578, + 2592, + 2607, + 2620, + 2633, + 2650, + 2665, + 2689, + 2713, + 2734, + 2756, + 2779, + 2801, + 2817, + 2833, + 2848, + 2864, + 2878, + 2893, + 2905, + 2917, + 2929, + 2941, + 2960, + 2982, + 3014, + 3042, + 3074, + 3109, + 3142, + 3174, + 3210, + 3275, + 3324, + 3468, + 3539, + 3744, + 4273, + 4614, + 4693, + 4743, + 4784, + 4806, + 4827, + 4842, + 4858, + 4870, + 4883, + 4905, + 4933, + 4964, + 5002, + 5039, + 5071, + 5106, + 5283 + ], + "rapid_planner_selected_max_joint_step_deg": 4.83975934774973, + "rapid_planner_selected_samples": 110, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5284, + "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": 110, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005154848098754883, + "raw_replay_rms_error_rad": 0.0009874851008951672, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7861801849226288, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.6816139381869712, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.745880099890375, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9157190918922424, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9157190918922424 + ], + "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": 0.40723098778251793, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9115648894900226, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.6745181614157977, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.000703863799571991, + 0.0009766221046447754, + 0.001474142074584961, + 0.0050957947969436646, + 0.0028194189071655273, + 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": 0.002467148005962372, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.501889705657959, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 15.460893630981445, + "replay_smoothing_raw_accel_rms_rad_s2": 1.281025806346938, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 277.8746032714844, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 3149.79248046875, + "replay_smoothing_raw_jerk_rms_rad_s3": 184.50748842670296, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6629583835601807, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24892580149714955, + "replay_smoothing_rms_deviation_rad": 0.0012159878457623464, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.9669361114501953, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 10.538360595703125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.9554916564002023, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 113.15914916992188, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 2871.240234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 124.45365186102624, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6519501209259033, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.247494649530133, + "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": 0.9933803138171684, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9942506885248176, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.9959999999999998, + "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": 0.005154848098754883, + "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": 0.0252266526222229, + "stage_planned_to_measured_rms_error_rad": 0.005774212594227101, + "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": 1125, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7812337279319763, + "target_wall_accel_peak_abs_rad_s2": 3.951890707015991, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 10.000059625017457, + "target_wall_accel_rms_rad_s2": 0.36346943901219514, + "target_wall_jerk_p95_abs_rad_s3": 19.104568481445312, + "target_wall_jerk_peak_abs_rad_s3": 80.60455322265625, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.1000582500128075, + "target_wall_jerk_rms_rad_s3": 8.65763065042232, + "target_wall_smoothness_samples": 1125, + "target_wall_velocity_peak_abs_rad_s": 0.4829919934272766, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.300056764972396, + "target_wall_velocity_rms_rad_s": 0.09838107155270917, + "tcp_pose_count": 1125, + "timestamp_count": 1125, + "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": 1.1300000000000026, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2699999999999994, + "window_lag_best_lag_p95_abs_s": 1.1600000000000001, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.1699999999999993, + "window_lag_worst_end_s": 18.0, + "window_lag_worst_max_error_rad": 0.012889087200164795, + "window_lag_worst_rms_error_rad": 0.0031925763160868498, + "window_lag_worst_start_s": 17.0, + "zero_lag_max_error_rad": 0.005154848098754883, + "zero_lag_p95_error_rad": 0.002279756125062704, + "zero_lag_rms_error_rad": 0.0009874851008951672, + "zero_lag_samples": 1125, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 2.548 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.npz new file mode 100644 index 0000000000000000000000000000000000000000..9142d0ed7fb0e8b44c9a80a2e1c2d30038f3d6f5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142439.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77693f3dd50dd6d7064d69fc4e362c316905b3d8b227714296c07fd05d13954b +size 118780 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.json new file mode 100644 index 0000000000000000000000000000000000000000..29f7cb2541dd86aab7747f5004c2fc126cf9ad1e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.json @@ -0,0 +1,665 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:28:16", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1131, + "actual_playback_duration_s": 37.71235580602661, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005647778511047363, + "aligned_p95_error_rad": 0.0023246705532073975, + "aligned_rms_error_rad": 0.0010178878768331897, + "aligned_samples": 1131, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 16.186, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1131, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1131, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 2.171620166188334, + "image_frame_counts": { + "cam_scene": 1131, + "cam_wrist": 1131 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00543135404586792, + 0.004472196102142334, + 0.0054021477699279785, + 0.004846596159040928, + 0.005647778511047363, + 0.005465507507324219 + ], + "joint_lag_p95_error_rad": [ + 0.002191193401813507, + 0.0020677843131124973, + 0.002078492194414139, + 0.0013987307902425528, + 0.0025124549865722656, + 0.003043055534362793 + ], + "joint_lag_rms_error_rad": [ + 0.0009990930114895668, + 0.0009525592338080408, + 0.0010274687272195198, + 0.0006567383705791737, + 0.001087885849421019, + 0.0012808300219498442 + ], + "joint_lag_samples": [ + 1131, + 1131, + 1131, + 1131, + 1131, + 1131 + ], + "joint_lag_worst_time_s": [ + 16.177999999999997, + 2.664, + 1.999, + 16.177999999999997, + 16.186, + 1.124 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 20, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007005680003203452, + "leadthrough_capture_egm_poll_duration_median_s": 0.003967280441429466, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004348659183597192, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004625394678441808, + "leadthrough_capture_egm_poll_duration_warn_count": 2050, + "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": 0.0070523450849577785, + "leadthrough_capture_host_loop_dt_median_s": 0.00398918695282191, + "leadthrough_capture_host_loop_dt_p95_s": 0.004374825593549758, + "leadthrough_capture_host_loop_dt_p99_s": 0.004679513631854205, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006933298078365624, + "leadthrough_capture_host_receive_dt_median_s": 0.003991506993770599, + "leadthrough_capture_host_receive_dt_p95_s": 0.00436992032919079, + "leadthrough_capture_host_receive_dt_p99_s": 0.004624117847997694, + "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": 0.012712394003756344, + "leadthrough_capture_loop_late_median_s": 0.007595630770083517, + "leadthrough_capture_loop_late_p95_s": 0.007904074195539578, + "leadthrough_capture_loop_late_p99_s": 0.008263249024748806, + "leadthrough_capture_loop_late_warn_count": 5304, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007036671042442322, + "leadthrough_capture_read_duration_median_s": 0.003979216970037669, + "leadthrough_capture_read_duration_p95_s": 0.004363429307704792, + "leadthrough_capture_read_duration_p99_s": 0.004664012001594529, + "leadthrough_capture_read_duration_warn_count": 2293, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0038137733936309814, + 0.003064364194869995, + 0.00508570671081543, + 0.002646118402481079, + 0.004190325736999512, + 0.00823676586151123 + ], + "leadthrough_delta_max_abs_rad": 0.00823676586151123, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017852066084742546, + 0.0023652310483157635, + 0.003557162592187524, + 0.0004665132728405297, + 0.00221317820250988, + 0.00550102349370718 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008471474866382778, + 0.0010844208300113678, + 0.0014844551915302873, + 0.0003973374259658158, + 0.0009229491115547717, + 0.00184710044413805 + ], + "leadthrough_delta_samples": 4342, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00823676586151123, + "leadthrough_delta_worst_from_rad": -0.7745369076728821, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7599999999999998, + "leadthrough_delta_worst_to_rad": -0.7827736735343933, + "leadthrough_duration_s": 17.366, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4341, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6149999999999984, + "leadthrough_final_stillness_removed_samples": 154, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4342, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5304, + "leadthrough_initial_stillness_first_motion_index": 808, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.228, + "leadthrough_initial_stillness_removed_samples": 807, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 807, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000000782, + "leadthrough_sample_dt_median_s": 0.0039999999999995595, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0038137733936309814, + 0.003064364194869995, + 0.00508570671081543, + 0.002646118402481079, + 0.004190325736999512, + 0.00823676586151123 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00823676586151123, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.953443348407427, + 0.8530120054880455, + 1.5908430020013842, + 0.6615296006206364, + 1.047581434249528, + 2.741992473602191 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.444326162338257, + "leadthrough_velocity_rms_rad_s": 0.3044580070660057, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005647778511047363, + "measured_wall_accel_p95_abs_rad_s2": 0.3931879997253418, + "measured_wall_accel_peak_abs_rad_s2": 2.0002903938293457, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 40.618771895067766, + "measured_wall_accel_rms_rad_s2": 0.18952904988555702, + "measured_wall_jerk_p95_abs_rad_s3": 6.784178733825684, + "measured_wall_jerk_peak_abs_rad_s3": 39.34670639038086, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 40.65348996699322, + "measured_wall_jerk_rms_rad_s3": 3.2803890225892145, + "measured_wall_smoothness_samples": 1131, + "measured_wall_velocity_peak_abs_rad_s": 0.5949627757072449, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.78574334003497, + "measured_wall_velocity_rms_rad_s": 0.10066740834014776, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005647778511047363, + "moving_aligned_p95_error_rad": 0.0026993677020072937, + "moving_aligned_rms_error_rad": 0.0011793458060064721, + "moving_aligned_samples": 836, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 16.186, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.00543135404586792, + 0.004472196102142334, + 0.0054021477699279785, + 0.004846596159040928, + 0.005647778511047363, + 0.005465507507324219 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0028268862515687943, + 0.002435524482280016, + 0.002308937255293131, + 0.003303906414657831, + 0.003276013769209385, + 0.003618973307311535 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0012011244203161235, + 0.0011172405412080983, + 0.0012145424561928041, + 0.0013537055208715648, + 0.0013651106266321638, + 0.0018184387082246897 + ], + "moving_joint_lag_samples": [ + 744, + 799, + 780, + 223, + 700, + 507 + ], + "moving_joint_lag_worst_time_s": [ + 16.177999999999997, + 2.664, + 1.999, + 16.177999999999997, + 16.186, + 1.124 + ], + "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": 3.652698516845703, + "playback_velocity_rms_rad_s": 0.5607799833885573, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 64.732, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 17.366, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1399, + 3606 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42420255878198193, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08724997937679291, + "rapid_planner_max_dt_s": 2.1760000000000006, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007403731346130371, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.005647778511047363, + "rapid_planner_path_p95_error_rad": 0.0037332475185394287, + "rapid_planner_path_rms_error_rad": 0.001698401237753715, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 25, + 43, + 57, + 70, + 82, + 93, + 104, + 114, + 125, + 140, + 148, + 156, + 166, + 175, + 184, + 194, + 200, + 206, + 212, + 219, + 226, + 232, + 239, + 246, + 253, + 260, + 266, + 273, + 291, + 301, + 313, + 330, + 347, + 360, + 373, + 388, + 403, + 423, + 447, + 475, + 531, + 599, + 644, + 855, + 1399, + 1923, + 1954, + 2007, + 2045, + 2069, + 2092, + 2111, + 2130, + 2148, + 2167, + 2194, + 2222, + 2246, + 2270, + 2294, + 2319, + 2346, + 2374, + 2401, + 2428, + 2452, + 2476, + 2489, + 2502, + 2517, + 2532, + 2544, + 2556, + 2568, + 2581, + 2595, + 2611, + 2644, + 2681, + 2720, + 2743, + 2780, + 2817, + 2871, + 2907, + 3007, + 3146, + 3523, + 3606, + 3860, + 3896, + 3924, + 3950, + 3976, + 3996, + 4016, + 4036, + 4060, + 4073, + 4086, + 4113, + 4128, + 4143, + 4167, + 4186, + 4208, + 4259, + 4296, + 4342 + ], + "rapid_planner_selected_max_joint_step_deg": 4.999055580893706, + "rapid_planner_selected_samples": 110, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4343, + "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": 110, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005647778511047363, + "raw_replay_rms_error_rad": 0.0010178878768331897, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9872987650804296, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.007250251723456, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9825399436718046, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.807853102684021, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.807853102684021 + ], + "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": 0.9976557746835817, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0043172671938687, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9901105043113185, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0010215044021606445, + 0.0006792545318603516, + 0.0013374388217926025, + 0.004891514778137207, + 0.0034515857696533203, + 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": 0.002806910080835223, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.659915924072266, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 79.24192810058594, + "replay_smoothing_raw_accel_rms_rad_s2": 5.858596475756095, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2531.674072265625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21563.572265625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1494.5642051821387, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.446662187576294, + "replay_smoothing_raw_velocity_rms_rad_s": 0.30587145459359366, + "replay_smoothing_rms_deviation_rad": 0.0012159430719851877, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.524521827697754, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 79.81645202636719, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.756305051285227, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2525.7392578125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21656.66796875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1479.7837189185323, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.444326162338257, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.3044580070660057, + "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": 0.9990452195444475, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953789492077121, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.1549999999999998, + "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": 0.005647778511047363, + "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": 0.03413879871368408, + "stage_planned_to_measured_rms_error_rad": 0.005968634176983133, + "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": 1131, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8228564858436584, + "target_wall_accel_peak_abs_rad_s2": 3.2136294841766357, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 23.366721007972956, + "target_wall_accel_rms_rad_s2": 0.3774477282886078, + "target_wall_jerk_p95_abs_rad_s3": 20.363754272460938, + "target_wall_jerk_peak_abs_rad_s3": 84.45635223388672, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 23.333388970931992, + "target_wall_jerk_rms_rad_s3": 9.53621906287471, + "target_wall_smoothness_samples": 1131, + "target_wall_velocity_peak_abs_rad_s": 0.6234689950942993, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.53338849497959, + "target_wall_velocity_rms_rad_s": 0.10175608351302702, + "tcp_pose_count": 1131, + "timestamp_count": 1131, + "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": 1.0100000000000025, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2299999999999993, + "window_lag_best_lag_p95_abs_s": 1.209999999999999, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.0, + "window_lag_worst_max_error_rad": 0.00532221794128418, + "window_lag_worst_rms_error_rad": 0.0022055971173132855, + "window_lag_worst_start_s": 2.0, + "zero_lag_max_error_rad": 0.005647778511047363, + "zero_lag_p95_error_rad": 0.0023246705532073975, + "zero_lag_rms_error_rad": 0.0010178878768331897, + "zero_lag_samples": 1131, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 16.186 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.npz new file mode 100644 index 0000000000000000000000000000000000000000..7bc11bd38523e937298eac0af73c9b91f38b1a7b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_142815.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe0c92763bf9809efa447489f2df791cd699e7bbfbf3a02038a23c32734cc08 +size 119509 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.json new file mode 100644 index 0000000000000000000000000000000000000000..684f477c8462f100f354090a60b717788d297917 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:30:08", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1167, + "actual_playback_duration_s": 38.9103919750778, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.007144026458263397, + "aligned_p95_error_rad": 0.0023745500948280096, + "aligned_rms_error_rad": 0.0010934055066517206, + "aligned_samples": 1167, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 22.076999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1167, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1167, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6260768095230809, + "image_frame_counts": { + "cam_scene": 1167, + "cam_wrist": 1167 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005681514739990234, + 0.00461190938949585, + 0.006995663046836853, + 0.007144026458263397, + 0.007018685340881348, + 0.005342543125152588 + ], + "joint_lag_p95_error_rad": [ + 0.002091210801154375, + 0.002236161381006241, + 0.002434727270156145, + 0.0027659665793180466, + 0.0019787547644227743, + 0.0026014430914074183 + ], + "joint_lag_rms_error_rad": [ + 0.0010017607652751555, + 0.0009990128726541142, + 0.0012024727523079982, + 0.0011638358805135195, + 0.0010205135947964742, + 0.0011531520226346 + ], + "joint_lag_samples": [ + 1167, + 1167, + 1167, + 1167, + 1167, + 1167 + ], + "joint_lag_worst_time_s": [ + 22.076999999999998, + 22.933, + 22.953, + 22.076999999999998, + 22.085, + 22.404999999999998 + ], + "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": 24, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006427443935535848, + "leadthrough_capture_egm_poll_duration_median_s": 0.003991530044004321, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004228627518750727, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004588106595911082, + "leadthrough_capture_egm_poll_duration_warn_count": 3190, + "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": 0.006466708029620349, + "leadthrough_capture_host_loop_dt_median_s": 0.004015190526843071, + "leadthrough_capture_host_loop_dt_p95_s": 0.004256722237914801, + "leadthrough_capture_host_loop_dt_p99_s": 0.004630538651254027, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006418899050913751, + "leadthrough_capture_host_receive_dt_median_s": 0.004016341466922313, + "leadthrough_capture_host_receive_dt_p95_s": 0.004245037952205166, + "leadthrough_capture_host_receive_dt_p99_s": 0.004579921187832951, + "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": 0.014969675918109715, + "leadthrough_capture_loop_late_median_s": 0.00918908091261983, + "leadthrough_capture_loop_late_p95_s": 0.009469873877242208, + "leadthrough_capture_loop_late_p99_s": 0.009923990746028719, + "leadthrough_capture_loop_late_warn_count": 6865, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006451254012063146, + "leadthrough_capture_read_duration_median_s": 0.004004757036454976, + "leadthrough_capture_read_duration_p95_s": 0.004246001783758402, + "leadthrough_capture_read_duration_p99_s": 0.004618820077739653, + "leadthrough_capture_read_duration_warn_count": 3557, + "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": 9, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0035417377948760986, + 0.003634810447692871, + 0.005615413188934326, + 0.00304219126701355, + 0.004058480262756348, + 0.006511032581329346 + ], + "leadthrough_delta_max_abs_rad": 0.006511032581329346, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016214295756071806, + 0.002540575573220849, + 0.003917610738426447, + 0.0005122646107338369, + 0.0016118872445076704, + 0.004369378089904785 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006926357746124268, + 0.0009818836115300655, + 0.0013498378684744239, + 0.000383991573471576, + 0.000700177566614002, + 0.001412958838045597 + ], + "leadthrough_delta_samples": 5983, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006511032581329346, + "leadthrough_delta_worst_from_rad": -0.6491717100143433, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7359999999999998, + "leadthrough_delta_worst_to_rad": -0.6556827425956726, + "leadthrough_duration_s": 23.929, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5920, + "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": 5921, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6865, + "leadthrough_initial_stillness_first_motion_index": 882, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.524, + "leadthrough_initial_stillness_removed_samples": 881, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 881, + "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": [ + 0.0035417377948760986, + 0.003634810447692871, + 0.005615413188934326, + 0.00304219126701355, + 0.004058480262756348, + 0.006511032581329346 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006511032581329346, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8854344487195154, + 1.1886954307555702, + 1.8610258897144885, + 0.7605478167531334, + 1.014620065688748, + 2.162357171376464 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8912560939788818, + "leadthrough_velocity_rms_rad_s": 0.2518843162489643, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.007144026458263397, + "measured_wall_accel_p95_abs_rad_s2": 0.42730411887168884, + "measured_wall_accel_peak_abs_rad_s2": 2.62701153755188, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 24.216635363991372, + "measured_wall_accel_rms_rad_s2": 0.23186259983286545, + "measured_wall_jerk_p95_abs_rad_s3": 7.423410892486572, + "measured_wall_jerk_peak_abs_rad_s3": 67.64097595214844, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 23.884587705950253, + "measured_wall_jerk_rms_rad_s3": 4.027638458208872, + "measured_wall_smoothness_samples": 1167, + "measured_wall_velocity_peak_abs_rad_s": 0.5667331218719482, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.7505470829783, + "measured_wall_velocity_rms_rad_s": 0.09756353101240633, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.007144026458263397, + "moving_aligned_p95_error_rad": 0.0027409493923187256, + "moving_aligned_rms_error_rad": 0.001264849903583771, + "moving_aligned_samples": 866, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 22.076999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005681514739990234, + 0.00461190938949585, + 0.006995663046836853, + 0.007144026458263397, + 0.007018685340881348, + 0.005342543125152588 + ], + "moving_joint_lag_p95_error_rad": [ + 0.00279982085339725, + 0.0024815015494823456, + 0.0025059282779693604, + 0.005242319777607918, + 0.0024377107620239258, + 0.0037049392703920603 + ], + "moving_joint_lag_rms_error_rad": [ + 0.001216274416534686, + 0.0011488896922975834, + 0.0013578965697392436, + 0.002027368505664564, + 0.0012725450083175673, + 0.0017181645592002498 + ], + "moving_joint_lag_samples": [ + 744, + 836, + 801, + 332, + 701, + 490 + ], + "moving_joint_lag_worst_time_s": [ + 22.076999999999998, + 22.933, + 22.953, + 22.076999999999998, + 22.085, + 22.404999999999998 + ], + "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": 2.847482681274414, + "playback_velocity_rms_rad_s": 0.5559417574138155, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.858, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.929, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2126, + 5079 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4452463716147912, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08532166481018066, + "rapid_planner_max_dt_s": 2.1720000000000006, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007771015167236328, + "rapid_planner_median_dt_s": 0.07199999999999984, + "rapid_planner_path_max_error_rad": 0.007144026458263397, + "rapid_planner_path_p95_error_rad": 0.003863129019737245, + "rapid_planner_path_rms_error_rad": 0.001772381291913229, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 26, + 43, + 61, + 70, + 80, + 89, + 98, + 111, + 124, + 136, + 149, + 162, + 175, + 188, + 195, + 202, + 216, + 230, + 239, + 248, + 257, + 266, + 281, + 296, + 308, + 319, + 336, + 354, + 378, + 404, + 435, + 469, + 541, + 599, + 666, + 756, + 858, + 1000, + 1067, + 1103, + 1173, + 1478, + 1663, + 2126, + 2669, + 2776, + 2867, + 2909, + 2927, + 2944, + 2956, + 2969, + 2982, + 2996, + 3010, + 3024, + 3038, + 3052, + 3068, + 3084, + 3097, + 3110, + 3135, + 3162, + 3189, + 3218, + 3237, + 3256, + 3274, + 3293, + 3304, + 3314, + 3325, + 3336, + 3351, + 3369, + 3394, + 3436, + 3472, + 3502, + 3535, + 3560, + 3606, + 3646, + 3700, + 3759, + 3921, + 4445, + 4716, + 5079, + 5369, + 5421, + 5438, + 5454, + 5468, + 5482, + 5496, + 5509, + 5537, + 5553, + 5569, + 5594, + 5616, + 5631, + 5646, + 5668, + 5692, + 5716, + 5764, + 5799, + 5906, + 5983 + ], + "rapid_planner_selected_max_joint_step_deg": 4.888571294653226, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5984, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.007144026458263397, + "raw_replay_rms_error_rad": 0.0010934055066517206, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9750318879240927, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9598460502753016, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9682365134383893, + "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": 0.9754748552821997, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9918867959759446, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9807771415236168, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00087694451212883, + 0.001020289957523346, + 0.00148695707321167, + 0.003084510564804077, + 0.0030137300491333008, + 0.007597446441650391 + ], + "replay_smoothing_max_deviation_normalized": 0.8706032391105173, + "replay_smoothing_max_deviation_rad": 0.007597446441650391, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0022908791434019804, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.128688335418701, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 64.47258758544922, + "replay_smoothing_raw_accel_rms_rad_s2": 4.1354754110695575, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1039.19921875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17991.0234375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1057.7790296651867, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9296479225158691, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25305250611893776, + "replay_smoothing_rms_deviation_rad": 0.001082822914517574, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.000634670257568, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.883758544921875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.004118293424178, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1013.7127075195312, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17845.05859375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1037.445493078647, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8912560939788818, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2518843162489643, + "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": 0.980104231404591, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953836067941394, + "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": 13.43, + "replay_smoothing_wrist_max_deviation_rad": 0.007597446441650391, + "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": 0.007144026458263397, + "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": 0.033167481422424316, + "stage_planned_to_measured_rms_error_rad": 0.005786066523226447, + "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": 1167, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.9033483266830444, + "target_wall_accel_peak_abs_rad_s2": 4.66919469833374, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 10.133388406015001, + "target_wall_accel_rms_rad_s2": 0.3968284176551294, + "target_wall_jerk_p95_abs_rad_s3": 21.141555786132812, + "target_wall_jerk_peak_abs_rad_s3": 109.37879943847656, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 10.066721856012009, + "target_wall_jerk_rms_rad_s3": 9.581311637962997, + "target_wall_smoothness_samples": 1167, + "target_wall_velocity_peak_abs_rad_s": 0.6277005672454834, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.600075830006972, + "target_wall_velocity_rms_rad_s": 0.09876189037649837, + "tcp_pose_count": 1167, + "timestamp_count": 1167, + "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": 1.9700000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.009999999999998233, + "window_lag_best_lag_p95_abs_s": 1.9700000000000033, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.9700000000000033, + "window_lag_worst_end_s": 8.5, + "window_lag_worst_max_error_rad": 0.015369176864624023, + "window_lag_worst_rms_error_rad": 0.004830143155020446, + "window_lag_worst_start_s": 7.5, + "zero_lag_max_error_rad": 0.007144026458263397, + "zero_lag_p95_error_rad": 0.0023745500948280096, + "zero_lag_rms_error_rad": 0.0010934055066517206, + "zero_lag_samples": 1167, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 22.076999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.npz new file mode 100644 index 0000000000000000000000000000000000000000..fb46a9298cf8c26c6421eaa127c47ccf7f2b44bf --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143007.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:402e932c5d321de9f4ef6cef9773adf4efec68a7363feafbd3f861bf93d333b5 +size 123646 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.json new file mode 100644 index 0000000000000000000000000000000000000000..17fa29910e6a0a99919e96c2441f022f5e4507b9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:32:09", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.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": 38.28512131900061, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006950706243515015, + "aligned_p95_error_rad": 0.002151393797248602, + "aligned_rms_error_rad": 0.0009927687239380347, + "aligned_samples": 1148, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 20.222, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.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": 1.767386267149876, + "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": [ + 0.003205716609954834, + 0.006107985973358154, + 0.005208134651184082, + 0.004783299285918474, + 0.006521940231323242, + 0.006950706243515015 + ], + "joint_lag_p95_error_rad": [ + 0.0017112669302150607, + 0.002130604814738035, + 0.0022054582368582487, + 0.0013359033036977053, + 0.002317097969353199, + 0.003096646163612604 + ], + "joint_lag_rms_error_rad": [ + 0.0006880883544501308, + 0.0010202998201306076, + 0.0010139255606709387, + 0.0006214124183506693, + 0.0010817547774176239, + 0.001347096616490713 + ], + "joint_lag_samples": [ + 1148, + 1148, + 1148, + 1148, + 1148, + 1148 + ], + "joint_lag_worst_time_s": [ + 15.931, + 3.3040000000000003, + 2.1400000000000006, + 20.222, + 20.229999999999997, + 20.222 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 6, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0063739538891240954, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973866463638842, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004361271276138723, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004837148936931044, + "leadthrough_capture_egm_poll_duration_warn_count": 2924, + "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": 0.00641529296990484, + "leadthrough_capture_host_loop_dt_median_s": 0.003996392944827676, + "leadthrough_capture_host_loop_dt_p95_s": 0.00438827786128968, + "leadthrough_capture_host_loop_dt_p99_s": 0.004871121854521332, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006360582076013088, + "leadthrough_capture_host_receive_dt_median_s": 0.0039996260311454535, + "leadthrough_capture_host_receive_dt_p95_s": 0.004374930681660771, + "leadthrough_capture_host_receive_dt_p99_s": 0.004846128742210566, + "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": 0.01574754703324288, + "leadthrough_capture_loop_late_median_s": 0.008706388296559453, + "leadthrough_capture_loop_late_p95_s": 0.009067436947952956, + "leadthrough_capture_loop_late_p99_s": 0.009578238060930744, + "leadthrough_capture_loop_late_warn_count": 7054, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006398875964805484, + "leadthrough_capture_read_duration_median_s": 0.003986402996815741, + "leadthrough_capture_read_duration_p95_s": 0.004377265920629724, + "leadthrough_capture_read_duration_p99_s": 0.004857233311049641, + "leadthrough_capture_read_duration_warn_count": 3206, + "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": [ + 0.003677964210510254, + 0.0032201558351516724, + 0.0035497285425662994, + 0.0029301419854164124, + 0.004011094570159912, + 0.007541090250015259 + ], + "leadthrough_delta_max_abs_rad": 0.007541090250015259, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016650035977363586, + 0.0021772459149360657, + 0.003078445792198181, + 0.00047217821702361107, + 0.0016866624355316162, + 0.005268573760986328 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007475984166376293, + 0.0009953569388017058, + 0.0012752630282193422, + 0.00030294034513644874, + 0.0007368907099589705, + 0.0016424903878942132 + ], + "leadthrough_delta_samples": 5416, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007541090250015259, + "leadthrough_delta_worst_from_rad": -0.4803523123264313, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8600000000000003, + "leadthrough_delta_worst_to_rad": -0.48789340257644653, + "leadthrough_duration_s": 21.662, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5415, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.570999999999998, + "leadthrough_final_stillness_removed_samples": 143, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5416, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7054, + "leadthrough_initial_stillness_first_motion_index": 1495, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.975, + "leadthrough_initial_stillness_removed_samples": 1494, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1494, + "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": [ + 0.003677964210510254, + 0.0032201558351516724, + 0.0035497285425662994, + 0.0029301419854164124, + 0.004011094570159912, + 0.007541090250015259 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007541090250015259, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9194910526280731, + 0.8050389587883643, + 1.1727232486009154, + 0.7325354963532078, + 1.0027736425387526, + 2.4705529212950723 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.141498327255249, + "leadthrough_velocity_rms_rad_s": 0.26176065311524255, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006950706243515015, + "measured_wall_accel_p95_abs_rad_s2": 0.42882177233695984, + "measured_wall_accel_peak_abs_rad_s2": 2.769669771194458, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 39.11088307702448, + "measured_wall_accel_rms_rad_s2": 0.21580958052890137, + "measured_wall_jerk_p95_abs_rad_s3": 7.632594585418701, + "measured_wall_jerk_peak_abs_rad_s3": 47.67692947387695, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 41.64273647603113, + "measured_wall_jerk_rms_rad_s3": 3.6316371997007852, + "measured_wall_smoothness_samples": 1148, + "measured_wall_velocity_peak_abs_rad_s": 0.8533082008361816, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.975958255003206, + "measured_wall_velocity_rms_rad_s": 0.102266115531882, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006950706243515015, + "moving_aligned_p95_error_rad": 0.0024665212258696556, + "moving_aligned_rms_error_rad": 0.0011476121474768802, + "moving_aligned_samples": 853, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 20.222, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0029103457927703857, + 0.006107985973358154, + 0.005208134651184082, + 0.004783299285918474, + 0.006521940231323242, + 0.006950706243515015 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001828711829148233, + 0.0027639211621135473, + 0.0024850096087902784, + 0.0031246154103428125, + 0.002784162759780884, + 0.0039060618728399277 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0007905802917279753, + 0.0011782364813998094, + 0.001171625998953694, + 0.0012211462876074099, + 0.0013467145880457392, + 0.0018822879525369086 + ], + "moving_joint_lag_samples": [ + 744, + 812, + 803, + 268, + 691, + 533 + ], + "moving_joint_lag_worst_time_s": [ + 20.142000000000003, + 3.3040000000000003, + 2.1400000000000006, + 20.222, + 20.229999999999997, + 20.222 + ], + "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": 2.498776435852051, + "playback_velocity_rms_rad_s": 0.47563601431289526, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.324, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.662, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2102, + 4683 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4495301808848586, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08722925186157227, + "rapid_planner_max_dt_s": 3.0840000000000014, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007845781743526459, + "rapid_planner_median_dt_s": 0.0840000000000014, + "rapid_planner_path_max_error_rad": 0.006950706243515015, + "rapid_planner_path_p95_error_rad": 0.003510184586048124, + "rapid_planner_path_rms_error_rad": 0.001673386689771511, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 80, + 109, + 132, + 154, + 169, + 183, + 196, + 208, + 214, + 220, + 232, + 240, + 247, + 254, + 262, + 272, + 282, + 292, + 301, + 308, + 314, + 320, + 327, + 334, + 340, + 353, + 370, + 390, + 415, + 440, + 458, + 476, + 511, + 559, + 588, + 646, + 704, + 752, + 864, + 976, + 1362, + 1622, + 2102, + 2873, + 2928, + 3018, + 3063, + 3098, + 3118, + 3138, + 3158, + 3178, + 3200, + 3223, + 3246, + 3268, + 3288, + 3309, + 3337, + 3365, + 3388, + 3412, + 3435, + 3458, + 3486, + 3505, + 3516, + 3527, + 3542, + 3550, + 3558, + 3568, + 3578, + 3588, + 3597, + 3609, + 3620, + 3640, + 3695, + 3743, + 3776, + 3802, + 3857, + 3886, + 3926, + 4039, + 4096, + 4411, + 4683, + 4889, + 4941, + 4960, + 4978, + 4994, + 5010, + 5028, + 5045, + 5069, + 5082, + 5095, + 5106, + 5118, + 5139, + 5161, + 5182, + 5206, + 5230, + 5268, + 5294, + 5324, + 5416 + ], + "rapid_planner_selected_max_joint_step_deg": 4.99786798175177, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5417, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006950706243515015, + "raw_replay_rms_error_rad": 0.0009927687239380347, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9457173849499874, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9413407249994579, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9756698941398054, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.8389325141906738, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8389325141906738 + ], + "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": 0.9551742336947535, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.957766361388221, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9910672217042452, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006695911288261414, + 0.0006060460582375526, + 0.001295626163482666, + 0.002996685914695263, + 0.003399491310119629, + 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": 0.0021487949416041374, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.634593486785889, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 74.24132537841797, + "replay_smoothing_raw_accel_rms_rad_s2": 3.1930527329397353, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 596.1599731445312, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20453.279296875, + "replay_smoothing_raw_jerk_rms_rad_s3": 787.7213826706931, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.2055251598358154, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2629488928548711, + "replay_smoothing_rms_deviation_rad": 0.0010097931418196254, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.3830156326293945, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 69.88638305664062, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.115365421930128, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 569.4366455078125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19589.462890625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 780.6848422004704, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.141498327255249, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26176065311524255, + "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": 0.9709698017748604, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9954811000467517, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.4640000000000004, + "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": 0.006950706243515015, + "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": 0.05204641819000244, + "stage_planned_to_measured_rms_error_rad": 0.006066506608380282, + "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": 0.7689235806465149, + "target_wall_accel_peak_abs_rad_s2": 3.3315494060516357, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 9.200070405961014, + "target_wall_accel_rms_rad_s2": 0.3680295949468776, + "target_wall_jerk_p95_abs_rad_s3": 20.16175651550293, + "target_wall_jerk_peak_abs_rad_s3": 111.46613311767578, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 36.08368864702061, + "target_wall_jerk_rms_rad_s3": 9.022531112257818, + "target_wall_smoothness_samples": 1148, + "target_wall_velocity_peak_abs_rad_s": 0.9091513156890869, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.166858462034725, + "target_wall_velocity_rms_rad_s": 0.10323489487696198, + "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": 1.230000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1099999999999992, + "window_lag_best_lag_p95_abs_s": 1.2120000000000022, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.0, + "window_lag_worst_max_error_rad": 0.006107985973358154, + "window_lag_worst_rms_error_rad": 0.001905150899620621, + "window_lag_worst_start_s": 3.0, + "zero_lag_max_error_rad": 0.006950706243515015, + "zero_lag_p95_error_rad": 0.002151393797248602, + "zero_lag_rms_error_rad": 0.0009927687239380347, + "zero_lag_samples": 1148, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 20.222 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.npz new file mode 100644 index 0000000000000000000000000000000000000000..90404e817a935ce1bbb6f85848a4ef8ded5b40e1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143208.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fc43666f52b79bdc873166145ecb45ff98c6ccd1317b8ec42cf677366e23fe0 +size 122550 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc27677fa4a90d5a58a95a66bdd872d52f26bf0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.json @@ -0,0 +1,678 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:34:07", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1146, + "actual_playback_duration_s": 38.213995133992285, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.004574775695800781, + "aligned_p95_error_rad": 0.0022038593888282776, + "aligned_rms_error_rad": 0.000911227799551985, + "aligned_samples": 1146, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 0.968, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1146, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1146, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6935074289382797, + "image_frame_counts": { + "cam_scene": 1146, + "cam_wrist": 1146 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004280388355255127, + 0.004530191421508789, + 0.004238128662109375, + 0.0039621880277991295, + 0.004380226135253906, + 0.004574775695800781 + ], + "joint_lag_p95_error_rad": [ + 0.0016426891088485718, + 0.0020485427230596542, + 0.0022102324292063713, + 0.0009620870696380734, + 0.0021880120038986206, + 0.0028252452611923218 + ], + "joint_lag_rms_error_rad": [ + 0.0007880898184336793, + 0.0009217863504624448, + 0.0010424496529822785, + 0.0005111061612346108, + 0.0008978866579211247, + 0.001164950531444487 + ], + "joint_lag_samples": [ + 1146, + 1146, + 1146, + 1146, + 1146, + 1146 + ], + "joint_lag_worst_time_s": [ + 11.894, + 11.01, + 11.867, + 11.158000000000001, + 1.967, + 0.968 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006325874011963606, + "leadthrough_capture_egm_poll_duration_median_s": 0.00395329890307039, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004352650954388082, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004873606096953152, + "leadthrough_capture_egm_poll_duration_warn_count": 2318, + "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": 0.006400114973075688, + "leadthrough_capture_host_loop_dt_median_s": 0.004001686465926468, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044011320103891196, + "leadthrough_capture_host_loop_dt_p99_s": 0.004932265162933617, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006306729977950454, + "leadthrough_capture_host_receive_dt_median_s": 0.004004783520940691, + "leadthrough_capture_host_receive_dt_p95_s": 0.004388128698337823, + "leadthrough_capture_host_receive_dt_p99_s": 0.004882508753798902, + "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": 0.01771032507531345, + "leadthrough_capture_loop_late_median_s": 0.011303592124022543, + "leadthrough_capture_loop_late_p95_s": 0.011620856542140245, + "leadthrough_capture_loop_late_p99_s": 0.012252332721836848, + "leadthrough_capture_loop_late_warn_count": 6253, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006375071010552347, + "leadthrough_capture_read_duration_median_s": 0.003981089917942882, + "leadthrough_capture_read_duration_p95_s": 0.004381576552987099, + "leadthrough_capture_read_duration_p99_s": 0.0049109958205372055, + "leadthrough_capture_read_duration_warn_count": 2736, + "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": 4, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0036475956439971924, + 0.0028674304485321045, + 0.004458129405975342, + 0.0016202665865421295, + 0.003370523452758789, + 0.009405821561813354 + ], + "leadthrough_delta_max_abs_rad": 0.009405821561813354, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0015961212338879704, + 0.0023297369480133057, + 0.003170169424265623, + 0.0004948590067215264, + 0.0017441770760342479, + 0.005387206561863422 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007110689766705036, + 0.0009426161414012313, + 0.0012716444907709956, + 0.000225050316657871, + 0.0006964608910493553, + 0.0018029256025329232 + ], + "leadthrough_delta_samples": 5642, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.009405821561813354, + "leadthrough_delta_worst_from_rad": -0.47826945781707764, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.556, + "leadthrough_delta_worst_to_rad": -0.487675279378891, + "leadthrough_duration_s": 22.565, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5641, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4519999999999982, + "leadthrough_final_stillness_removed_samples": 113, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5642, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6253, + "leadthrough_initial_stillness_first_motion_index": 498, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 1.988, + "leadthrough_initial_stillness_removed_samples": 497, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 497, + "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": [ + 0.0036475956439971924, + 0.0028674304485321045, + 0.004458129405975342, + 0.0016202665865421295, + 0.003370523452758789, + 0.009405821561813354 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.009405821561813354, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2158652146656848, + 0.9447534879048307, + 1.1145323514938346, + 0.5336975057919617, + 1.117904980977334, + 2.3514553904533364 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.271376609802246, + "leadthrough_velocity_rms_rad_s": 0.2685533384421695, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.004574775695800781, + "measured_wall_accel_p95_abs_rad_s2": 0.41533902287483215, + "measured_wall_accel_peak_abs_rad_s2": 2.4330430030822754, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 42.99126034195069, + "measured_wall_accel_rms_rad_s2": 0.19984475940920127, + "measured_wall_jerk_p95_abs_rad_s3": 7.262646198272705, + "measured_wall_jerk_peak_abs_rad_s3": 35.274742126464844, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 43.39125048194546, + "measured_wall_jerk_rms_rad_s3": 3.394535394123843, + "measured_wall_smoothness_samples": 1146, + "measured_wall_velocity_peak_abs_rad_s": 0.6228232979774475, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 37.89412362698931, + "measured_wall_velocity_rms_rad_s": 0.10366364059199487, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.004574775695800781, + "moving_aligned_p95_error_rad": 0.0024913931265473366, + "moving_aligned_rms_error_rad": 0.00105384574766263, + "moving_aligned_samples": 835, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 0.968, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004280388355255127, + 0.004530191421508789, + 0.004238128662109375, + 0.0039621880277991295, + 0.004212021827697754, + 0.004574775695800781 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020111293997615576, + 0.0023241431917995214, + 0.0026676717679947615, + 0.0022771679796278477, + 0.002208113670349121, + 0.003328680759295821 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009391450789030788, + 0.0010462999493989463, + 0.0012294980633309777, + 0.0008909725904553559, + 0.0009797155054764501, + 0.0017241137402555253 + ], + "moving_joint_lag_samples": [ + 722, + 787, + 779, + 279, + 701, + 470 + ], + "moving_joint_lag_worst_time_s": [ + 11.894, + 11.01, + 11.867, + 11.158000000000001, + 1.939, + 0.968 + ], + "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": 3.157069206237793, + "playback_velocity_rms_rad_s": 0.5726471187576847, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.13, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.565, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1515, + 4809 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44745593781129034, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08669093251228333, + "rapid_planner_max_dt_s": 2.7880000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007809579372406006, + "rapid_planner_median_dt_s": 0.07200000000000006, + "rapid_planner_path_max_error_rad": 0.004574775695800781, + "rapid_planner_path_p95_error_rad": 0.003319978713989258, + "rapid_planner_path_rms_error_rad": 0.0015547513044974028, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 27, + 44, + 63, + 72, + 82, + 90, + 98, + 106, + 115, + 120, + 126, + 132, + 137, + 142, + 148, + 154, + 159, + 166, + 174, + 182, + 189, + 196, + 204, + 212, + 219, + 227, + 235, + 250, + 263, + 276, + 288, + 301, + 326, + 346, + 365, + 388, + 411, + 467, + 557, + 610, + 672, + 787, + 855, + 934, + 1515, + 2009, + 2075, + 2130, + 2167, + 2202, + 2229, + 2256, + 2283, + 2310, + 2338, + 2365, + 2386, + 2408, + 2425, + 2442, + 2460, + 2477, + 2502, + 2528, + 2548, + 2558, + 2569, + 2582, + 2594, + 2602, + 2610, + 2618, + 2626, + 2634, + 2642, + 2650, + 2657, + 2666, + 2676, + 2693, + 2711, + 2729, + 2774, + 2808, + 2839, + 2874, + 2902, + 2940, + 3017, + 3094, + 3161, + 3223, + 3399, + 3731, + 3828, + 3925, + 4112, + 4809, + 5061, + 5097, + 5125, + 5151, + 5172, + 5193, + 5210, + 5227, + 5241, + 5256, + 5276, + 5288, + 5300, + 5308, + 5316, + 5332, + 5345, + 5357, + 5377, + 5398, + 5431, + 5454, + 5506, + 5642 + ], + "rapid_planner_selected_max_joint_step_deg": 4.967024555007285, + "rapid_planner_selected_samples": 123, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5643, + "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": 0.004574775695800781, + "raw_replay_rms_error_rad": 0.000911227799551985, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.967733765999252, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9932603093043375, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9750588658004701, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.871616005897522, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.871616005897522 + ], + "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": 0.9957393023429637, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9947265049275599, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9864880940366685, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006424784660339355, + 0.0007518045604228973, + 0.0014497041702270508, + 0.002217619912698865, + 0.004615306854248047, + 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": 0.0019693896174430847, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.390363693237305, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.5330810546875, + "replay_smoothing_raw_accel_rms_rad_s2": 3.721386788302367, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1293.4755859375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16949.07421875, + "replay_smoothing_raw_jerk_rms_rad_s3": 928.3829933476519, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.350557565689087, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2695427342163027, + "replay_smoothing_rms_deviation_rad": 0.0009624135102618603, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.184170722961426, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 60.12510681152344, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.6285711810069596, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1287.9644775390625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16859.693359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 915.8387696435822, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.271376609802246, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2685533384421695, + "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": 0.9663139686333833, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963293546865216, + "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": 0.952, + "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": 0.004574775695800781, + "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": 0.03593331575393677, + "stage_planned_to_measured_rms_error_rad": 0.0061411885834896365, + "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": 1146, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7873119711875916, + "target_wall_accel_peak_abs_rad_s2": 4.083337306976318, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 2.5000595620367676, + "target_wall_accel_rms_rad_s2": 0.3674801297753196, + "target_wall_jerk_p95_abs_rad_s3": 19.409570693969727, + "target_wall_jerk_peak_abs_rad_s3": 92.33929443359375, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.4667366560315713, + "target_wall_jerk_rms_rad_s3": 9.04696569742046, + "target_wall_smoothness_samples": 1146, + "target_wall_velocity_peak_abs_rad_s": 0.6814446449279785, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 21.93348764698021, + "target_wall_velocity_rms_rad_s": 0.10453628242207787, + "tcp_pose_count": 1146, + "timestamp_count": 1146, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.010000000000001563, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -2.0, + "window_lag_best_lag_p95_abs_s": 1.278999999999999, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.4499999999999995, + "window_lag_worst_end_s": 7.0, + "window_lag_worst_max_error_rad": 0.03518414497375488, + "window_lag_worst_rms_error_rad": 0.011412293842665394, + "window_lag_worst_start_s": 6.0, + "zero_lag_max_error_rad": 0.004574775695800781, + "zero_lag_p95_error_rad": 0.0022038593888282776, + "zero_lag_rms_error_rad": 0.000911227799551985, + "zero_lag_samples": 1146, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 0.968 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.npz new file mode 100644 index 0000000000000000000000000000000000000000..d45aeef06ca4ff4ff0d43a2d9481025440b65b4e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143406.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:109e8eac61f0b10dfc5254c113aa9ca2db1b626104e7603b31db39d96b2dd0cb +size 120034 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.json new file mode 100644 index 0000000000000000000000000000000000000000..d918a0198757a17ec38e935565c0f9c7f7b38f1f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.json @@ -0,0 +1,661 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:35:53", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1110, + "actual_playback_duration_s": 37.01360122195911, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0061653852462768555, + "aligned_p95_error_rad": 0.0020512868650257587, + "aligned_rms_error_rad": 0.0008959494343999826, + "aligned_samples": 1110, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 4.031000000000001, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1110, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1110, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9907277589393377, + "image_frame_counts": { + "cam_scene": 1110, + "cam_wrist": 1110 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0049699097871780396, + 0.004653245210647583, + 0.0043601393699646, + 0.004709209315478802, + 0.0061653852462768555, + 0.006147623062133789 + ], + "joint_lag_p95_error_rad": [ + 0.0017896569333970547, + 0.0018864038866013288, + 0.001990078017115593, + 0.0016577341593801975, + 0.0025269268080592155, + 0.0020856019109487534 + ], + "joint_lag_rms_error_rad": [ + 0.0008372982736373344, + 0.0008854094419150244, + 0.0009037613464484985, + 0.0006965736528632984, + 0.0010863260660472374, + 0.0009215369271874938 + ], + "joint_lag_samples": [ + 1110, + 1110, + 1110, + 1110, + 1110, + 1110 + ], + "joint_lag_worst_time_s": [ + 2.495, + 18.029, + 2.495, + 11.538, + 4.031000000000001, + 4.031000000000001 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 27, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007041741046123207, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972890030127019, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004354778805281967, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005479838603641837, + "leadthrough_capture_egm_poll_duration_warn_count": 2596, + "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": 0.0071047269739210606, + "leadthrough_capture_host_loop_dt_median_s": 0.003997568041086197, + "leadthrough_capture_host_loop_dt_p95_s": 0.004382889159023761, + "leadthrough_capture_host_loop_dt_p99_s": 0.005516292508691551, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007095166016370058, + "leadthrough_capture_host_receive_dt_median_s": 0.0040002219611778855, + "leadthrough_capture_host_receive_dt_p95_s": 0.004367642966099083, + "leadthrough_capture_host_receive_dt_p99_s": 0.005489091374911368, + "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": 0.015997783979400992, + "leadthrough_capture_loop_late_median_s": 0.010058753134217113, + "leadthrough_capture_loop_late_p95_s": 0.010411843797191978, + "leadthrough_capture_loop_late_p99_s": 0.011682745496509597, + "leadthrough_capture_loop_late_warn_count": 6014, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007081657997332513, + "leadthrough_capture_read_duration_median_s": 0.003987324016634375, + "leadthrough_capture_read_duration_p95_s": 0.004370978299994021, + "leadthrough_capture_read_duration_p99_s": 0.005498061222024261, + "leadthrough_capture_read_duration_warn_count": 2793, + "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": 27, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003777027130126953, + 0.0035749077796936035, + 0.0051288604736328125, + 0.0034083127975463867, + 0.004499495029449463, + 0.007115006446838379 + ], + "leadthrough_delta_max_abs_rad": 0.007115006446838379, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018714554607868195, + 0.002396023366600275, + 0.0036412954796105623, + 0.0006567357340827584, + 0.002117753028869629, + 0.004241718910634518 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008437047363258898, + 0.0010513869347050786, + 0.001404913840815425, + 0.0004395608848426491, + 0.0009060801821760833, + 0.0015484144678339362 + ], + "leadthrough_delta_samples": 4649, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007115006446838379, + "leadthrough_delta_worst_from_rad": -0.7028874158859253, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8789999999999996, + "leadthrough_delta_worst_to_rad": -0.7100024223327637, + "leadthrough_duration_s": 18.593, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4648, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.36100000000000065, + "leadthrough_final_stillness_removed_samples": 90, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4649, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6014, + "leadthrough_initial_stillness_first_motion_index": 1275, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.096, + "leadthrough_initial_stillness_removed_samples": 1274, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1274, + "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": [ + 0.003777027130126953, + 0.0035749077796936035, + 0.0051288604736328125, + 0.0034083127975463867, + 0.004499495029449463, + 0.007115006446838379 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007115006446838379, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.219724615414891, + 1.1707146962483281, + 1.617471377054789, + 1.1361042658487526, + 1.4986197153726646, + 2.3684700330104587 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.09199595451355, + "leadthrough_velocity_rms_rad_s": 0.2838180653211363, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0061653852462768555, + "measured_wall_accel_p95_abs_rad_s2": 0.358559787273407, + "measured_wall_accel_peak_abs_rad_s2": 3.0005972385406494, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 23.210183548973873, + "measured_wall_accel_rms_rad_s2": 0.19513081842263363, + "measured_wall_jerk_p95_abs_rad_s3": 6.385265827178955, + "measured_wall_jerk_peak_abs_rad_s3": 55.72372817993164, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 23.1434799679555, + "measured_wall_jerk_rms_rad_s3": 3.5782394222985605, + "measured_wall_smoothness_samples": 1110, + "measured_wall_velocity_peak_abs_rad_s": 0.43620386719703674, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.246318629942834, + "measured_wall_velocity_rms_rad_s": 0.09593990974158101, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005003929138183594, + "moving_aligned_p95_error_rad": 0.0022418457083404064, + "moving_aligned_rms_error_rad": 0.001020884289267648, + "moving_aligned_samples": 817, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 2.495, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0049699097871780396, + 0.004653245210647583, + 0.0043601393699646, + 0.004709209315478802, + 0.005003929138183594, + 0.0036345720291137695 + ], + "moving_joint_lag_p95_error_rad": [ + 0.00224187970161438, + 0.002006330993026495, + 0.0022212557960301638, + 0.002734590321779251, + 0.0027666150126606226, + 0.002465885831043124 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010382657024022096, + 0.0010167029966542855, + 0.0010981111506977391, + 0.0013571100751044532, + 0.0012974373085896539, + 0.0012394651539034559 + ], + "moving_joint_lag_samples": [ + 701, + 775, + 703, + 260, + 638, + 518 + ], + "moving_joint_lag_worst_time_s": [ + 2.495, + 18.029, + 2.495, + 11.538, + 2.495, + 1.396 + ], + "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": 3.3809776306152344, + "playback_velocity_rms_rad_s": 0.5301138000596589, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 67.186, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 18.593, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1762, + 3958 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.438177125823828, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08712071180343628, + "rapid_planner_max_dt_s": 1.9909999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0076476335525512695, + "rapid_planner_median_dt_s": 0.07200000000000006, + "rapid_planner_path_max_error_rad": 0.0061653852462768555, + "rapid_planner_path_p95_error_rad": 0.0029017271939665076, + "rapid_planner_path_rms_error_rad": 0.001497298228625645, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 25, + 59, + 73, + 91, + 103, + 115, + 130, + 145, + 160, + 168, + 175, + 187, + 199, + 206, + 214, + 222, + 230, + 237, + 244, + 257, + 268, + 278, + 294, + 310, + 326, + 338, + 358, + 372, + 386, + 400, + 414, + 437, + 470, + 506, + 580, + 652, + 702, + 809, + 875, + 1093, + 1167, + 1229, + 1362, + 1762, + 2260, + 2315, + 2364, + 2388, + 2411, + 2427, + 2443, + 2454, + 2466, + 2480, + 2494, + 2513, + 2534, + 2555, + 2568, + 2581, + 2596, + 2610, + 2621, + 2632, + 2643, + 2654, + 2673, + 2703, + 2719, + 2739, + 2759, + 2774, + 2792, + 2821, + 2862, + 2909, + 2946, + 3006, + 3046, + 3086, + 3194, + 3381, + 3465, + 3620, + 3958, + 4172, + 4220, + 4254, + 4273, + 4292, + 4314, + 4337, + 4353, + 4369, + 4386, + 4399, + 4416, + 4433, + 4450, + 4467, + 4491, + 4528, + 4565, + 4604, + 4649 + ], + "rapid_planner_selected_max_joint_step_deg": 4.991649094512474, + "rapid_planner_selected_samples": 106, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4650, + "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": 106, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0061653852462768555, + "raw_replay_rms_error_rad": 0.0008959494343999826, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0020129070431236, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9785671935236716, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9902875641604898, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0026711082290993, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9858531091567277, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9940328564306317, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0009208023548126221, + 0.0008904337882995605, + 0.0015478730201721191, + 0.0023895539343357086, + 0.0034801363945007324, + 0.005579829216003418 + ], + "replay_smoothing_max_deviation_normalized": 0.6394013339146108, + "replay_smoothing_max_deviation_rad": 0.005579829216003418, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023490304592996836, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 15.344300270080566, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 69.83345794677734, + "replay_smoothing_raw_accel_rms_rad_s2": 6.763456693425231, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 3742.759033203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19875.861328125, + "replay_smoothing_raw_jerk_rms_rad_s3": 1725.8976969880623, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.115676164627075, + "replay_smoothing_raw_velocity_rms_rad_s": 0.284845820976139, + "replay_smoothing_rms_deviation_rad": 0.0010190870189424495, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 15.375186920166016, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 68.33673095703125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 6.6977670542370324, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 3752.75634765625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19594.6796875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1715.5990176440923, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.09199595451355, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2838180653211363, + "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": 0.9888072614753405, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996391887894017, + "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": 10.027, + "replay_smoothing_wrist_max_deviation_rad": 0.005579829216003418, + "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": 0.0061653852462768555, + "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": 0.024765610694885254, + "stage_planned_to_measured_rms_error_rad": 0.0056884818934052166, + "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": 1110, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7733363509178162, + "target_wall_accel_peak_abs_rad_s2": 3.8521084785461426, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 9.333390240906738, + "target_wall_accel_rms_rad_s2": 0.3546317362397812, + "target_wall_jerk_p95_abs_rad_s3": 19.898714065551758, + "target_wall_jerk_peak_abs_rad_s3": 83.78675842285156, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 9.166720709996298, + "target_wall_jerk_rms_rad_s3": 8.837005522172209, + "target_wall_smoothness_samples": 1110, + "target_wall_velocity_peak_abs_rad_s": 0.4576007127761841, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.566721354960464, + "target_wall_velocity_rms_rad_s": 0.09695276350775861, + "tcp_pose_count": 1110, + "timestamp_count": 1110, + "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": 1.0900000000000025, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1899999999999993, + "window_lag_best_lag_p95_abs_s": 1.0735000000000023, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 12.5, + "window_lag_worst_max_error_rad": 0.004709209315478802, + "window_lag_worst_rms_error_rad": 0.0014399297940710578, + "window_lag_worst_start_s": 11.5, + "zero_lag_max_error_rad": 0.0061653852462768555, + "zero_lag_p95_error_rad": 0.0020512868650257587, + "zero_lag_rms_error_rad": 0.0008959494343999826, + "zero_lag_samples": 1110, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 4.031000000000001 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.npz new file mode 100644 index 0000000000000000000000000000000000000000..5eed20188194799d669df628e9cebfa09d84a543 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143552.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e780ae915b82ad865a917d8c27d88ed645a044054c41d1ac665c1ad554f30b15 +size 118549 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.json new file mode 100644 index 0000000000000000000000000000000000000000..c7411d2b330d97c1679d28895b34087d90e32ac9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.json @@ -0,0 +1,662 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:37:56", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1102, + "actual_playback_duration_s": 36.75406012998428, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006807118654251099, + "aligned_p95_error_rad": 0.002199946902692318, + "aligned_rms_error_rad": 0.0010063459373488416, + "aligned_samples": 1102, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 17.118000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1102, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1102, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9289419612671501, + "image_frame_counts": { + "cam_scene": 1102, + "cam_wrist": 1102 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.006230801343917847, + 0.006343193352222443, + 0.00483211874961853, + 0.004839611705392599, + 0.006599843502044678, + 0.006807118654251099 + ], + "joint_lag_p95_error_rad": [ + 0.0020702239125967026, + 0.0018947985954582691, + 0.0022252551279962063, + 0.0017511401092633605, + 0.002086551859974861, + 0.002812617924064398 + ], + "joint_lag_rms_error_rad": [ + 0.0009773573548187383, + 0.001004265960395779, + 0.0010654631937659278, + 0.0007010328803077052, + 0.0009598165713953311, + 0.0012508831233235492 + ], + "joint_lag_samples": [ + 1102, + 1102, + 1102, + 1102, + 1102, + 1102 + ], + "joint_lag_worst_time_s": [ + 11.211, + 11.222, + 13.103, + 11.211, + 17.101999999999997, + 17.118000000000002 + ], + "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": 24, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006643366999924183, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964809002354741, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004358145431615412, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004824759722687305, + "leadthrough_capture_egm_poll_duration_warn_count": 2477, + "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": 0.006686453940346837, + "leadthrough_capture_host_loop_dt_median_s": 0.003987859992776066, + "leadthrough_capture_host_loop_dt_p95_s": 0.004384393751388415, + "leadthrough_capture_host_loop_dt_p99_s": 0.004861962671857329, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006639147992245853, + "leadthrough_capture_host_receive_dt_median_s": 0.003991227480582893, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043756025494076315, + "leadthrough_capture_host_receive_dt_p99_s": 0.004833610106725247, + "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": 0.017643403029069304, + "leadthrough_capture_loop_late_median_s": 0.013306676293723285, + "leadthrough_capture_loop_late_p95_s": 0.013623847672715782, + "leadthrough_capture_loop_late_p99_s": 0.014268933846615255, + "leadthrough_capture_loop_late_warn_count": 6359, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0066687510116025805, + "leadthrough_capture_read_duration_median_s": 0.003977551939897239, + "leadthrough_capture_read_duration_p95_s": 0.004372512176632881, + "leadthrough_capture_read_duration_p99_s": 0.004850371512584389, + "leadthrough_capture_read_duration_warn_count": 2687, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0030439943075180054, + 0.0033372044563293457, + 0.004811666905879974, + 0.0023818686604499817, + 0.0027384161949157715, + 0.00786280632019043 + ], + "leadthrough_delta_max_abs_rad": 0.00786280632019043, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019978508353233337, + 0.00226511899381876, + 0.0032288343645632267, + 0.0006948242080397904, + 0.0015522370813414454, + 0.00478817243129015 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007998665096238256, + 0.0009857709519565105, + 0.001355005195364356, + 0.00037354067899286747, + 0.0006341540720313787, + 0.0017251219833269715 + ], + "leadthrough_delta_samples": 4764, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00786280632019043, + "leadthrough_delta_worst_from_rad": -0.8072514533996582, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9879999999999995, + "leadthrough_delta_worst_to_rad": -0.8151142597198486, + "leadthrough_duration_s": 19.054000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4763, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9510000000000005, + "leadthrough_final_stillness_removed_samples": 238, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4764, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6359, + "leadthrough_initial_stillness_first_motion_index": 1357, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.423, + "leadthrough_initial_stillness_removed_samples": 1356, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1356, + "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": [ + 0.0030439943075180054, + 0.0033372044563293457, + 0.004811666905879974, + 0.0023818686604499817, + 0.0027384161949157715, + 0.00786280632019043 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00786280632019043, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8271833260853771, + 0.8343011140824284, + 1.2029167264701262, + 0.5954671651128255, + 0.728249549865695, + 2.219875653584714 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9611791372299194, + "leadthrough_velocity_rms_rad_s": 0.269344052700124, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006807118654251099, + "measured_wall_accel_p95_abs_rad_s2": 0.37117376923561096, + "measured_wall_accel_peak_abs_rad_s2": 2.7938413619995117, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 50.68418814998586, + "measured_wall_accel_rms_rad_s2": 0.18700248021702898, + "measured_wall_jerk_p95_abs_rad_s3": 6.759267330169678, + "measured_wall_jerk_peak_abs_rad_s3": 57.0301513671875, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 50.75007889897097, + "measured_wall_jerk_rms_rad_s3": 3.2813549803785182, + "measured_wall_smoothness_samples": 1102, + "measured_wall_velocity_peak_abs_rad_s": 0.5411617159843445, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 16.78491433907766, + "measured_wall_velocity_rms_rad_s": 0.10154284725803814, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006807118654251099, + "moving_aligned_p95_error_rad": 0.0025743874721229076, + "moving_aligned_rms_error_rad": 0.00117849703103587, + "moving_aligned_samples": 798, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 17.118000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.006230801343917847, + 0.006343193352222443, + 0.004542112350463867, + 0.004839611705392599, + 0.006599843502044678, + 0.006807118654251099 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0025463656056672335, + 0.0021717422641813755, + 0.0025184652768075466, + 0.0023376590106636286, + 0.002487846650183201, + 0.003278441494330764 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011633432428064232, + 0.0011810433743728978, + 0.001233084260683562, + 0.001201695264116573, + 0.00114126330088921, + 0.0017250030171234128 + ], + "moving_joint_lag_samples": [ + 744, + 770, + 729, + 289, + 689, + 540 + ], + "moving_joint_lag_worst_time_s": [ + 11.211, + 11.222, + 11.014999999999999, + 11.211, + 17.101999999999997, + 17.118000000000002 + ], + "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": 3.4081108570098877, + "playback_velocity_rms_rad_s": 0.5063523097023647, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 68.108, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.054000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1704, + 3914 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4401168995481116, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08567878603935242, + "rapid_planner_max_dt_s": 2.0679999999999996, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007681488990783691, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.006807118654251099, + "rapid_planner_path_p95_error_rad": 0.003299497067928315, + "rapid_planner_path_rms_error_rad": 0.0016780364558545166, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 46, + 67, + 87, + 108, + 123, + 138, + 153, + 168, + 183, + 190, + 198, + 205, + 212, + 220, + 227, + 236, + 244, + 253, + 262, + 271, + 280, + 288, + 297, + 304, + 310, + 317, + 324, + 337, + 349, + 361, + 376, + 396, + 417, + 439, + 461, + 484, + 506, + 533, + 574, + 613, + 652, + 696, + 758, + 832, + 899, + 947, + 1187, + 1704, + 2196, + 2286, + 2316, + 2341, + 2374, + 2407, + 2437, + 2460, + 2472, + 2485, + 2498, + 2512, + 2525, + 2538, + 2553, + 2568, + 2585, + 2602, + 2623, + 2644, + 2655, + 2666, + 2676, + 2685, + 2694, + 2704, + 2716, + 2737, + 2776, + 2837, + 2872, + 2906, + 2952, + 3011, + 3052, + 3098, + 3190, + 3539, + 3914, + 4159, + 4191, + 4214, + 4235, + 4265, + 4292, + 4306, + 4321, + 4335, + 4348, + 4369, + 4390, + 4439, + 4465, + 4495, + 4518, + 4574, + 4644, + 4764 + ], + "rapid_planner_selected_max_joint_step_deg": 4.909032833859292, + "rapid_planner_selected_samples": 107, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4765, + "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": 107, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006807118654251099, + "raw_replay_rms_error_rad": 0.0010063459373488416, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8915771943339179, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9657583978837057, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9228683518176494, + "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": 0.8540400642599475, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9567517973367304, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9594164444318272, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007812976837158203, + 0.00038433074951171875, + 0.000866234302520752, + 0.0030836304649710655, + 0.003074049949645996, + 0.007250785827636719 + ], + "replay_smoothing_max_deviation_normalized": 0.8308788585900034, + "replay_smoothing_max_deviation_rad": 0.007250785827636719, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002406907035037875, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.263061046600342, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 47.367767333984375, + "replay_smoothing_raw_accel_rms_rad_s2": 2.0659207937959057, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 797.997802734375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14798.099609375, + "replay_smoothing_raw_jerk_rms_rad_s3": 487.78414032744473, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.980748176574707, + "replay_smoothing_raw_velocity_rms_rad_s": 0.27038824688195695, + "replay_smoothing_rms_deviation_rad": 0.0010289010100537372, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.8008480072021484, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 45.745819091796875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.9065729179562374, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 681.5220947265625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14158.1083984375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 467.98812556319245, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9611791372299194, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.269344052700124, + "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": 0.9901203799775152, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961381672691979, + "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": 10.883000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.007250785827636719, + "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": 0.006807118654251099, + "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": 0.03121042251586914, + "stage_planned_to_measured_rms_error_rad": 0.006022795067837841, + "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": 1102, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7164532542228699, + "target_wall_accel_peak_abs_rad_s2": 2.9462077617645264, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 36.633502215961926, + "target_wall_accel_rms_rad_s2": 0.3378801143941212, + "target_wall_jerk_p95_abs_rad_s3": 17.96200180053711, + "target_wall_jerk_peak_abs_rad_s3": 80.09068298339844, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 9.133390467031859, + "target_wall_jerk_rms_rad_s3": 8.19640459569387, + "target_wall_smoothness_samples": 1102, + "target_wall_velocity_peak_abs_rad_s": 0.602454662322998, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.9333891510032117, + "target_wall_velocity_rms_rad_s": 0.10256012656264409, + "tcp_pose_count": 1102, + "timestamp_count": 1102, + "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": -0.899999999999999, + "window_lag_best_lag_p95_abs_s": 0.899999999999999, + "window_lag_count": 21, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.899999999999999, + "window_lag_worst_end_s": 16.5, + "window_lag_worst_max_error_rad": 0.3255962133407593, + "window_lag_worst_rms_error_rad": 0.020719516835661034, + "window_lag_worst_start_s": 15.5, + "zero_lag_max_error_rad": 0.006807118654251099, + "zero_lag_p95_error_rad": 0.002199946902692318, + "zero_lag_rms_error_rad": 0.0010063459373488416, + "zero_lag_samples": 1102, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 17.118000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.npz new file mode 100644 index 0000000000000000000000000000000000000000..a67b79054d96d255db092f970ac4716d769fcc44 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143755.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de5536185b85d23d352779e1a72864c8289a6b12f607e2d76f91c0f168c4f64f +size 114533 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.json new file mode 100644 index 0000000000000000000000000000000000000000..7548ad307a3a7bf3037280b90d93783c92ce4d73 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.json @@ -0,0 +1,674 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:39:45", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1120, + "actual_playback_duration_s": 37.34938903595321, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006242513656616211, + "aligned_p95_error_rad": 0.00199912884272635, + "aligned_rms_error_rad": 0.0009087617494781521, + "aligned_samples": 1120, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 19.506, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1120, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1120, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.849529020300743, + "image_frame_counts": { + "cam_scene": 1120, + "cam_wrist": 1120 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005510348826646805, + 0.006031453609466553, + 0.005242718383669853, + 0.005438171327114105, + 0.006242513656616211, + 0.00494229793548584 + ], + "joint_lag_p95_error_rad": [ + 0.0015969837550073862, + 0.0019157850183546543, + 0.001966838026419282, + 0.0018401728011667728, + 0.0022323783487081528, + 0.0025184801779687405 + ], + "joint_lag_rms_error_rad": [ + 0.0007428872607155109, + 0.000996036993885002, + 0.000887204350893154, + 0.0007501056489224028, + 0.0010125490654137742, + 0.0010178755689706548 + ], + "joint_lag_samples": [ + 1120, + 1120, + 1120, + 1120, + 1120, + 1120 + ], + "joint_lag_worst_time_s": [ + 18.826, + 19.506, + 1.416, + 12.663, + 19.506, + 1.4279999999999995 + ], + "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": 15, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00622667302377522, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971296013332903, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004354255832731724, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0046867084410041554, + "leadthrough_capture_egm_poll_duration_warn_count": 2392, + "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": 0.006266139098443091, + "leadthrough_capture_host_loop_dt_median_s": 0.003995142062194645, + "leadthrough_capture_host_loop_dt_p95_s": 0.004383435589261353, + "leadthrough_capture_host_loop_dt_p99_s": 0.004722645627334715, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006259583053179085, + "leadthrough_capture_host_receive_dt_median_s": 0.003998941043391824, + "leadthrough_capture_host_receive_dt_p95_s": 0.004369185585528612, + "leadthrough_capture_host_receive_dt_p99_s": 0.00468669458758086, + "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": 0.037614134955219924, + "leadthrough_capture_loop_late_median_s": 0.031025547592435032, + "leadthrough_capture_loop_late_p95_s": 0.03137693112366833, + "leadthrough_capture_loop_late_p99_s": 0.03170676997397095, + "leadthrough_capture_loop_late_warn_count": 5910, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0062509310664609075, + "leadthrough_capture_read_duration_median_s": 0.003984795475844294, + "leadthrough_capture_read_duration_p95_s": 0.004370373045094311, + "leadthrough_capture_read_duration_p99_s": 0.0047060120746027665, + "leadthrough_capture_read_duration_warn_count": 2645, + "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": [ + 0.002899385988712311, + 0.003905653953552246, + 0.006119966506958008, + 0.0025065019726753235, + 0.0037630796432495117, + 0.007734060287475586 + ], + "leadthrough_delta_max_abs_rad": 0.007734060287475586, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018831255147233605, + 0.0022888362873345613, + 0.003576315240934491, + 0.000898816273547709, + 0.0019743444863706827, + 0.005065334495157003 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007752449018880725, + 0.0009214092860929668, + 0.0013563932152464986, + 0.0003635407774709165, + 0.0007866838714107871, + 0.0016686847666278481 + ], + "leadthrough_delta_samples": 5049, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007734060287475586, + "leadthrough_delta_worst_from_rad": -1.1664701700210571, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.2239999999999998, + "leadthrough_delta_worst_to_rad": -1.1742042303085327, + "leadthrough_duration_s": 20.194000000000003, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5048, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.31599999999999895, + "leadthrough_final_stillness_removed_samples": 79, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5049, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5910, + "leadthrough_initial_stillness_first_motion_index": 782, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.124, + "leadthrough_initial_stillness_removed_samples": 781, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 781, + "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": [ + 0.002899385988712311, + 0.003905653953552246, + 0.006119966506958008, + 0.0025065019726753235, + 0.0037630796432495117, + 0.007734060287475586 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007734060287475586, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7248464971778357, + 0.9764134883881691, + 1.5299916267396705, + 0.6266254931686216, + 0.9407699108120637, + 2.320746580759596 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.0884792804718018, + "leadthrough_velocity_rms_rad_s": 0.26729622599808256, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006242513656616211, + "measured_wall_accel_p95_abs_rad_s2": 0.43449053168296814, + "measured_wall_accel_peak_abs_rad_s2": 2.631261110305786, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 40.97269054199569, + "measured_wall_accel_rms_rad_s2": 0.2250913046735954, + "measured_wall_jerk_p95_abs_rad_s3": 8.173590660095215, + "measured_wall_jerk_peak_abs_rad_s3": 56.623931884765625, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 41.50698611000553, + "measured_wall_jerk_rms_rad_s3": 3.992789201118088, + "measured_wall_smoothness_samples": 1120, + "measured_wall_velocity_peak_abs_rad_s": 0.5383478403091431, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.67911679693498, + "measured_wall_velocity_rms_rad_s": 0.10174717607018216, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006242513656616211, + "moving_aligned_p95_error_rad": 0.002306763082742691, + "moving_aligned_rms_error_rad": 0.0010570385562484056, + "moving_aligned_samples": 822, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 19.506, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005510348826646805, + 0.006031453609466553, + 0.005242718383669853, + 0.005438171327114105, + 0.006212949752807617, + 0.00494229793548584 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0018103383481502533, + 0.002307061105966568, + 0.002353052143007517, + 0.002825946779921651, + 0.002556562190875411, + 0.0031456470023840666 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008819459088487229, + 0.0011725107001123419, + 0.0011334610530229553, + 0.0013089575977215159, + 0.0011837026347099227, + 0.0016305816177726144 + ], + "moving_joint_lag_samples": [ + 716, + 775, + 662, + 270, + 643, + 399 + ], + "moving_joint_lag_worst_time_s": [ + 18.826, + 19.506, + 1.416, + 12.663, + 19.526, + 1.4279999999999995 + ], + "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": 2.891664743423462, + "playback_velocity_rms_rad_s": 0.49885094336747426, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.388, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.194000000000003, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1704, + 4170 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4112866710614878, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08685219287872314, + "rapid_planner_max_dt_s": 2.2360000000000007, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007178306579589844, + "rapid_planner_median_dt_s": 0.07800000000000029, + "rapid_planner_path_max_error_rad": 0.006242513656616211, + "rapid_planner_path_p95_error_rad": 0.003115528821945189, + "rapid_planner_path_rms_error_rad": 0.00158498005650485, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 31, + 61, + 84, + 106, + 127, + 148, + 160, + 172, + 186, + 193, + 200, + 208, + 216, + 224, + 232, + 248, + 263, + 272, + 282, + 290, + 298, + 306, + 315, + 328, + 346, + 368, + 388, + 407, + 434, + 458, + 491, + 514, + 537, + 578, + 637, + 680, + 726, + 774, + 861, + 929, + 1099, + 1580, + 1704, + 2263, + 2342, + 2414, + 2441, + 2461, + 2480, + 2498, + 2513, + 2528, + 2537, + 2546, + 2556, + 2565, + 2574, + 2584, + 2594, + 2604, + 2614, + 2625, + 2646, + 2667, + 2692, + 2716, + 2751, + 2786, + 2804, + 2822, + 2830, + 2838, + 2847, + 2856, + 2866, + 2875, + 2884, + 2893, + 2905, + 2923, + 2977, + 3005, + 3063, + 3126, + 3188, + 3223, + 3248, + 3454, + 3546, + 3620, + 3728, + 4170, + 4400, + 4459, + 4478, + 4496, + 4515, + 4526, + 4536, + 4546, + 4557, + 4570, + 4584, + 4605, + 4635, + 4664, + 4692, + 4721, + 4738, + 4755, + 4773, + 4790, + 4814, + 4910, + 4931, + 4981, + 5017, + 5049 + ], + "rapid_planner_selected_max_joint_step_deg": 4.97626409340702, + "rapid_planner_selected_samples": 119, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5050, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 119, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006242513656616211, + "raw_replay_rms_error_rad": 0.0009087617494781521, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8321194960961725, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.017049606189411, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9352829189920286, + "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": 0.6865750562447231, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0106916114505333, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9612413933391253, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005986765027046204, + 0.0005690306425094604, + 0.0006912350654602051, + 0.005039528012275696, + 0.0039348602294921875, + 0.00671839714050293 + ], + "replay_smoothing_max_deviation_normalized": 0.7698716084508651, + "replay_smoothing_max_deviation_rad": 0.00671839714050293, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0024241541977971792, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.072777271270752, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 67.51387023925781, + "replay_smoothing_raw_accel_rms_rad_s2": 2.575377488516758, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 713.5814819335938, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18323.177734375, + "replay_smoothing_raw_jerk_rms_rad_s3": 637.409176113759, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0737619400024414, + "replay_smoothing_raw_velocity_rms_rad_s": 0.26853913965101295, + "replay_smoothing_rms_deviation_rad": 0.0011270532813575929, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.3890373706817627, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 68.66495513916016, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.4087065749663132, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 489.92724609375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18519.08203125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 612.7040845747337, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0884792804718018, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26729622599808256, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0070969286230333, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.995371573564488, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3679999999999999, + "replay_smoothing_wrist_max_deviation_rad": 0.00671839714050293, + "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": 0.006242513656616211, + "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": 0.03164440393447876, + "stage_planned_to_measured_rms_error_rad": 0.006031710410972986, + "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": 1120, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7969129085540771, + "target_wall_accel_peak_abs_rad_s2": 3.480574131011963, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 4.3000598340295255, + "target_wall_accel_rms_rad_s2": 0.35791290243210677, + "target_wall_jerk_p95_abs_rad_s3": 18.8656005859375, + "target_wall_jerk_peak_abs_rad_s3": 103.00957489013672, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 4.2667227879865095, + "target_wall_jerk_rms_rad_s3": 8.554780843901364, + "target_wall_smoothness_samples": 1120, + "target_wall_velocity_peak_abs_rad_s": 0.6311514973640442, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.700058631016873, + "target_wall_velocity_rms_rad_s": 0.1026759695260768, + "tcp_pose_count": 1120, + "timestamp_count": 1120, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.8200000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1799999999999993, + "window_lag_best_lag_p95_abs_s": 1.7240000000000013, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.006242513656616211, + "window_lag_worst_rms_error_rad": 0.0017348522930153466, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.006242513656616211, + "zero_lag_p95_error_rad": 0.00199912884272635, + "zero_lag_rms_error_rad": 0.0009087617494781521, + "zero_lag_samples": 1120, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 19.506 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.npz new file mode 100644 index 0000000000000000000000000000000000000000..c0b846c31c7d796a13889980c94281a38700966e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_143944.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28602242c1000afb9ff863655680633179b08c321fae982270d6425ef08ebc04 +size 117897 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.json new file mode 100644 index 0000000000000000000000000000000000000000..e0c17add47b9de703e6f310f02d079fa7f5ea7fd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.json @@ -0,0 +1,664 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:41:55", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1089, + "actual_playback_duration_s": 36.312225456000306, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005296245217323303, + "aligned_p95_error_rad": 0.0020819674246013165, + "aligned_rms_error_rad": 0.0009341571457581352, + "aligned_samples": 1089, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 2.8759999999999977, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1089, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1089, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7181899051765073, + "image_frame_counts": { + "cam_scene": 1089, + "cam_wrist": 1089 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005296245217323303, + 0.004749581217765808, + 0.0048615336418151855, + 0.004583273082971573, + 0.004494786262512207, + 0.005212664604187012 + ], + "joint_lag_p95_error_rad": [ + 0.0019305109744891524, + 0.0018779713427647948, + 0.001970803365111351, + 0.0014852741733193398, + 0.002198541071265936, + 0.0026774643920361996 + ], + "joint_lag_rms_error_rad": [ + 0.0009399851780189838, + 0.0008713633359383099, + 0.0009604862074565547, + 0.0006371975082666454, + 0.0009049353811173139, + 0.0012023264017975977 + ], + "joint_lag_samples": [ + 1089, + 1089, + 1089, + 1089, + 1089, + 1089 + ], + "joint_lag_worst_time_s": [ + 2.8759999999999977, + 13.279, + 13.629999999999999, + 19.342, + 19.573999999999998, + 2.8759999999999977 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 33, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006223341100849211, + "leadthrough_capture_egm_poll_duration_median_s": 0.003977839020080864, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004337206773925573, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004483354836702346, + "leadthrough_capture_egm_poll_duration_warn_count": 4130, + "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": 0.006263663060963154, + "leadthrough_capture_host_loop_dt_median_s": 0.004001896013505757, + "leadthrough_capture_host_loop_dt_p95_s": 0.004364385805092752, + "leadthrough_capture_host_loop_dt_p99_s": 0.004513100883923471, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006264709052629769, + "leadthrough_capture_host_receive_dt_median_s": 0.00400456297211349, + "leadthrough_capture_host_receive_dt_p95_s": 0.004359643370844424, + "leadthrough_capture_host_receive_dt_p99_s": 0.004487067773006856, + "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": 0.0114829569356516, + "leadthrough_capture_loop_late_median_s": 0.0054358087363652885, + "leadthrough_capture_loop_late_p95_s": 0.0056896999885793775, + "leadthrough_capture_loop_late_p99_s": 0.005967772979056459, + "leadthrough_capture_loop_late_warn_count": 9746, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006245178054086864, + "leadthrough_capture_read_duration_median_s": 0.003991243487689644, + "leadthrough_capture_read_duration_p95_s": 0.004351798677816987, + "leadthrough_capture_read_duration_p99_s": 0.0045020033838227376, + "leadthrough_capture_read_duration_warn_count": 4578, + "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": 3, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002219080924987793, + 0.002998054027557373, + 0.004630714654922485, + 0.0032141730189323425, + 0.0027407407760620117, + 0.006249189376831055 + ], + "leadthrough_delta_max_abs_rad": 0.006249189376831055, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017351338174194098, + 0.0022568756248801947, + 0.003704204922541976, + 0.0005127473850734532, + 0.0012607790995389223, + 0.0046364241279661655 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006814844673499465, + 0.0009106997167691588, + 0.001305667799897492, + 0.00035151487099938095, + 0.00052518246229738, + 0.0015114493435248733 + ], + "leadthrough_delta_samples": 5284, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006249189376831055, + "leadthrough_delta_worst_from_rad": -1.1190893650054932, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.2759999999999998, + "leadthrough_delta_worst_to_rad": -1.1253385543823242, + "leadthrough_duration_s": 21.134, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5283, + "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": 5284, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 9746, + "leadthrough_initial_stillness_first_motion_index": 4352, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 17.402, + "leadthrough_initial_stillness_removed_samples": 4351, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 4351, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.002219080924987793, + 0.002998054027557373, + 0.004630714654922485, + 0.0032141730189323425, + 0.0027407407760620117, + 0.006249189376831055 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006249189376831055, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.5547702312462702, + 0.7495135068890929, + 1.1576786637302348, + 0.8035432547321036, + 0.6851851940152741, + 1.5622973442072419 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5240460634231567, + "leadthrough_velocity_rms_rad_s": 0.24235302859671906, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005296245217323303, + "measured_wall_accel_p95_abs_rad_s2": 0.4094489812850952, + "measured_wall_accel_peak_abs_rad_s2": 2.6020994186401367, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 48.78214619203936, + "measured_wall_accel_rms_rad_s2": 0.20779358915002913, + "measured_wall_jerk_p95_abs_rad_s3": 7.378119945526123, + "measured_wall_jerk_peak_abs_rad_s3": 74.9162826538086, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 48.82342294207774, + "measured_wall_jerk_rms_rad_s3": 3.715245958923794, + "measured_wall_smoothness_samples": 1089, + "measured_wall_velocity_peak_abs_rad_s": 0.5215083956718445, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 48.82342294207774, + "measured_wall_velocity_rms_rad_s": 0.09893480619657265, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005296245217323303, + "moving_aligned_p95_error_rad": 0.002418222138658166, + "moving_aligned_rms_error_rad": 0.0010895241893803084, + "moving_aligned_samples": 792, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 2.8759999999999977, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005296245217323303, + 0.004749581217765808, + 0.0048615336418151855, + 0.004583273082971573, + 0.004494786262512207, + 0.005212664604187012 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002186387777328491, + 0.002107802778482437, + 0.002531886100769043, + 0.0029357243329286575, + 0.002474665641784668, + 0.0030280218925327063 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010735998496665187, + 0.0010181849366706335, + 0.0012247054360361906, + 0.0012014778820979078, + 0.0011280807320032424, + 0.001504005515230884 + ], + "moving_joint_lag_samples": [ + 706, + 751, + 641, + 281, + 607, + 562 + ], + "moving_joint_lag_worst_time_s": [ + 2.8759999999999977, + 13.279, + 13.629999999999999, + 19.342, + 19.573999999999998, + 2.8759999999999977 + ], + "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": 2.3392910957336426, + "playback_velocity_rms_rad_s": 0.47030628978814193, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.268, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.134, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1951, + 4280 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44521905085811114, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0869024395942688, + "rapid_planner_max_dt_s": 2.3320000000000007, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007770538330078125, + "rapid_planner_median_dt_s": 0.07399999999999984, + "rapid_planner_path_max_error_rad": 0.005296245217323303, + "rapid_planner_path_p95_error_rad": 0.0034717105329036694, + "rapid_planner_path_rms_error_rad": 0.001554379131191603, + "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, + 61, + 82, + 104, + 123, + 132, + 142, + 152, + 161, + 170, + 180, + 193, + 206, + 220, + 233, + 248, + 262, + 277, + 284, + 292, + 301, + 310, + 320, + 329, + 338, + 348, + 360, + 371, + 384, + 396, + 413, + 431, + 449, + 467, + 486, + 505, + 535, + 569, + 615, + 669, + 771, + 858, + 948, + 997, + 1020, + 1374, + 1951, + 2534, + 2637, + 2679, + 2715, + 2739, + 2756, + 2773, + 2786, + 2799, + 2812, + 2825, + 2838, + 2850, + 2862, + 2874, + 2895, + 2912, + 2928, + 2944, + 2960, + 2975, + 2990, + 3005, + 3020, + 3036, + 3050, + 3087, + 3123, + 3159, + 3188, + 3236, + 3291, + 3377, + 3450, + 3568, + 3682, + 3774, + 4025, + 4280, + 4507, + 4567, + 4625, + 4671, + 4712, + 4740, + 4767, + 4792, + 4817, + 4851, + 4879, + 4909, + 4927, + 4955, + 4998, + 5017, + 5032, + 5048, + 5063, + 5081, + 5148, + 5284 + ], + "rapid_planner_selected_max_joint_step_deg": 4.979143018142181, + "rapid_planner_selected_samples": 109, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5285, + "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": 109, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005296245217323303, + "raw_replay_rms_error_rad": 0.0009341571457581352, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7051142282275285, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.4419512641776326, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.7194736695526842, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9245345592498779, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9245345592498779 + ], + "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": 0.29976416871326966, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9639986821006229, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.6569412650963885, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00046368688344955444, + 0.00042629241943359375, + 0.0005800127983093262, + 0.0028622951358556747, + 0.0024788379669189453, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002230119425803423, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.216233491897583, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 16.581266403198242, + "replay_smoothing_raw_accel_rms_rad_s2": 1.0370982037551864, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 244.645263671875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 1976.6156005859375, + "replay_smoothing_raw_jerk_rms_rad_s3": 140.3587972053129, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.561477780342102, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2433064792370768, + "replay_smoothing_rms_deviation_rad": 0.001027126029062623, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.5626977682113647, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 7.32811164855957, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.7461648503422413, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 73.33588409423828, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 1905.454833984375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 92.20748580346569, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5240460634231567, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24235302859671906, + "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": 0.976028018208018, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960812772296594, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 20.266, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "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": 0.005296245217323303, + "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": 0.030025571584701538, + "stage_planned_to_measured_rms_error_rad": 0.005864136697367109, + "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": 1089, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8339585661888123, + "target_wall_accel_peak_abs_rad_s2": 2.8432552814483643, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 25.933406642987393, + "target_wall_accel_rms_rad_s2": 0.35933146052742426, + "target_wall_jerk_p95_abs_rad_s3": 18.766891479492188, + "target_wall_jerk_peak_abs_rad_s3": 78.60855102539062, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 3.2673204679740593, + "target_wall_jerk_rms_rad_s3": 8.514521454275796, + "target_wall_smoothness_samples": 1089, + "target_wall_velocity_peak_abs_rad_s": 0.5035437941551208, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.866845017997548, + "target_wall_velocity_rms_rad_s": 0.09998044450154202, + "tcp_pose_count": 1089, + "timestamp_count": 1089, + "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": 1.3100000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2799999999999994, + "window_lag_best_lag_p95_abs_s": 1.301000000000002, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 14.0, + "window_lag_worst_max_error_rad": 0.005120992660522461, + "window_lag_worst_rms_error_rad": 0.0021625005328163764, + "window_lag_worst_start_s": 13.0, + "zero_lag_max_error_rad": 0.005296245217323303, + "zero_lag_p95_error_rad": 0.0020819674246013165, + "zero_lag_rms_error_rad": 0.0009341571457581352, + "zero_lag_samples": 1089, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 2.8759999999999977 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.npz new file mode 100644 index 0000000000000000000000000000000000000000..5adffb22b8c54cb44a56dccd22668dbae41fe9e2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144154.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59074fd4578761103899658ed060348dbd395664e6e4a1a7ee05d9ed707029d7 +size 113504 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a32457222010681b0ae84051cf7ac6646d3353 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:44:48", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1140, + "actual_playback_duration_s": 38.014883273048326, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.26713189482688904, + "aligned_p95_error_rad": 0.001973675098270178, + "aligned_rms_error_rad": 0.004785784728229141, + "aligned_samples": 1140, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 19.285, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1140, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1140, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.940921233179226, + "image_frame_counts": { + "cam_scene": 1140, + "cam_wrist": 1140 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.019168168306350708, + 0.22878345847129822, + 0.07767456769943237, + 0.14583763480186462, + 0.26713189482688904, + 0.004842042922973633 + ], + "joint_lag_p95_error_rad": [ + 0.0015333734918385744, + 0.0017218792345374823, + 0.0020887323189526796, + 0.001537437317892909, + 0.002140867058187723, + 0.0026034198235720396 + ], + "joint_lag_rms_error_rad": [ + 0.0009152639233563077, + 0.006828745676850157, + 0.0025141446142270276, + 0.0043671489111790935, + 0.007965723017247753, + 0.0010522743368723648 + ], + "joint_lag_samples": [ + 1140, + 1140, + 1140, + 1140, + 1140, + 1140 + ], + "joint_lag_worst_time_s": [ + 19.285, + 19.285, + 19.285, + 19.285, + 19.285, + 10.447000000000001 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005987356998957694, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973063896410167, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004354151082225144, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0047449005767703015, + "leadthrough_capture_egm_poll_duration_warn_count": 2377, + "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": 0.006038045044988394, + "leadthrough_capture_host_loop_dt_median_s": 0.003997263498604298, + "leadthrough_capture_host_loop_dt_p95_s": 0.004381015064427629, + "leadthrough_capture_host_loop_dt_p99_s": 0.004780961007345467, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006004435941576958, + "leadthrough_capture_host_receive_dt_median_s": 0.003999765031039715, + "leadthrough_capture_host_receive_dt_p95_s": 0.004369607503758743, + "leadthrough_capture_host_receive_dt_p99_s": 0.0047520787687972185, + "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": 0.016239363001659513, + "leadthrough_capture_loop_late_median_s": 0.011216642335057259, + "leadthrough_capture_loop_late_p95_s": 0.011581613216549158, + "leadthrough_capture_loop_late_p99_s": 0.01202322533354163, + "leadthrough_capture_loop_late_warn_count": 5761, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0060142530128359795, + "leadthrough_capture_read_duration_median_s": 0.00398672407027334, + "leadthrough_capture_read_duration_p95_s": 0.004368392983451486, + "leadthrough_capture_read_duration_p99_s": 0.004766777018085121, + "leadthrough_capture_read_duration_warn_count": 2653, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003336399793624878, + 0.0035453438758850098, + 0.005251079797744751, + 0.003444269299507141, + 0.005216121673583984, + 0.00833803415298462 + ], + "leadthrough_delta_max_abs_rad": 0.00833803415298462, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002004640642553568, + 0.002533152000978589, + 0.0038370254915207624, + 0.0007856866577640176, + 0.002045059110969305, + 0.003999360371381044 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008216822752729058, + 0.0010176966898143291, + 0.001393287442624569, + 0.0004608590097632259, + 0.0009245832916349173, + 0.0015947328647598624 + ], + "leadthrough_delta_samples": 4897, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00833803415298462, + "leadthrough_delta_worst_from_rad": -0.31509584188461304, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.552, + "leadthrough_delta_worst_to_rad": -0.32343387603759766, + "leadthrough_duration_s": 19.586000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4896, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5599999999999987, + "leadthrough_final_stillness_removed_samples": 140, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4897, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5761, + "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": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0039999999999995595, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.003336399793624878, + 0.0035453438758850098, + 0.005251079797744751, + 0.003444269299507141, + 0.005216121673583984, + 0.00833803415298462 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00833803415298462, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1009524265924673, + 1.1523564656575085, + 1.7500966787337593, + 1.1456906795501274, + 1.7303228378295243, + 2.084508538246153 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.075917959213257, + "leadthrough_velocity_rms_rad_s": 0.27914932887335053, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.26713189482688904, + "measured_wall_accel_p95_abs_rad_s2": 0.42740076780319214, + "measured_wall_accel_peak_abs_rad_s2": 269.04913330078125, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.333664008998312, + "measured_wall_accel_rms_rad_s2": 9.15034425295625, + "measured_wall_jerk_p95_abs_rad_s3": 7.961228370666504, + "measured_wall_jerk_peak_abs_rad_s3": 4090.506103515625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.367873971001245, + "measured_wall_jerk_rms_rad_s3": 114.05674836912819, + "measured_wall_smoothness_samples": 1140, + "measured_wall_velocity_peak_abs_rad_s": 17.53497314453125, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.30269916600082, + "measured_wall_velocity_rms_rad_s": 0.4609079299827928, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.26713189482688904, + "moving_aligned_p95_error_rad": 0.0022218346130102873, + "moving_aligned_rms_error_rad": 0.005558371843046602, + "moving_aligned_samples": 845, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 19.285, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.019168168306350708, + 0.22878345847129822, + 0.07767456769943237, + 0.003944705706089735, + 0.0055577754974365234, + 0.004842042922973633 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017088319873437285, + 0.001865251804701984, + 0.0024133636616170406, + 0.002305373316630721, + 0.002407711697742343, + 0.003176506608724594 + ], + "moving_joint_lag_rms_error_rad": [ + 0.001106591868162229, + 0.00808368238824746, + 0.003238666896272551, + 0.0011237937643668334, + 0.0011655969647664565, + 0.0014672970147488961 + ], + "moving_joint_lag_samples": [ + 743, + 813, + 680, + 318, + 664, + 526 + ], + "moving_joint_lag_worst_time_s": [ + 19.285, + 19.285, + 19.285, + 4.670999999999999, + 12.175, + 10.447000000000001 + ], + "moving_lag_velocity_threshold_rad_s": 0.03, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "playback_velocity_peak_abs_rad_s": 75.99437713623047, + "playback_velocity_rms_rad_s": 2.1825950625579007, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 69.172, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.586000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1959, + 4245 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4356431256417533, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08684718608856201, + "rapid_planner_max_dt_s": 1.959999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00760340690612793, + "rapid_planner_median_dt_s": 0.07200000000000006, + "rapid_planner_path_max_error_rad": 0.26713189482688904, + "rapid_planner_path_p95_error_rad": 0.0029524147510528558, + "rapid_planner_path_rms_error_rad": 0.008055135431488156, + "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, + 74, + 89, + 100, + 112, + 119, + 126, + 132, + 139, + 146, + 153, + 160, + 167, + 178, + 190, + 204, + 211, + 218, + 229, + 240, + 252, + 263, + 274, + 285, + 296, + 307, + 320, + 334, + 347, + 360, + 390, + 414, + 456, + 528, + 558, + 634, + 672, + 717, + 784, + 922, + 1028, + 1089, + 1193, + 1237, + 1465, + 1546, + 1959, + 2449, + 2491, + 2522, + 2545, + 2559, + 2581, + 2603, + 2624, + 2642, + 2660, + 2676, + 2692, + 2710, + 2722, + 2734, + 2747, + 2760, + 2776, + 2792, + 2823, + 2840, + 2857, + 2888, + 2908, + 2928, + 2946, + 2964, + 2986, + 3010, + 3075, + 3121, + 3154, + 3192, + 3247, + 3273, + 3307, + 3349, + 3429, + 3477, + 3498, + 3542, + 3574, + 3853, + 4245, + 4456, + 4507, + 4524, + 4540, + 4556, + 4568, + 4579, + 4598, + 4614, + 4630, + 4648, + 4666, + 4683, + 4699, + 4716, + 4731, + 4746, + 4771, + 4795, + 4828, + 4897 + ], + "rapid_planner_selected_max_joint_step_deg": 4.97597722546188, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4898, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.26713189482688904, + "raw_replay_rms_error_rad": 0.004785784728229141, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9815946047494722, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8102099877770144, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9775097354363388, + "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": 0.9932835588538127, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8062741594866204, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9862685541599877, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006607919931411743, + 0.0005879625678062439, + 0.001282334327697754, + 0.0038406848907470703, + 0.004166543483734131, + 0.00773465633392334 + ], + "replay_smoothing_max_deviation_normalized": 0.8863263347016834, + "replay_smoothing_max_deviation_rad": 0.00773465633392334, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0025098740588873625, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.893854141235352, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.215049743652344, + "replay_smoothing_raw_accel_rms_rad_s2": 4.754085796822669, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2273.92822265625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17200.35546875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1200.9425479755444, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.083908796310425, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2804347961653781, + "replay_smoothing_rms_deviation_rad": 0.001175739579530651, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.711753845214844, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.786834716796875, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.647165149493783, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2258.655517578125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13868.2021484375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1184.4518704210518, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.075917959213257, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.27914932887335053, + "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": 0.9961654573792693, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9954161633662982, + "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": 10.266, + "replay_smoothing_wrist_max_deviation_rad": 0.00773465633392334, + "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": 0.26713189482688904, + "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": 0.5440987944602966, + "stage_planned_to_measured_rms_error_rad": 0.013616686124691883, + "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": 1140, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.2671", + "target_wall_accel_p95_abs_rad_s2": 0.7605137228965759, + "target_wall_accel_peak_abs_rad_s2": 276.4794616699219, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 6.391084752976894e-06, + "target_wall_accel_rms_rad_s2": 7.35803403743322, + "target_wall_jerk_p95_abs_rad_s3": 18.972307205200195, + "target_wall_jerk_peak_abs_rad_s3": 4142.4931640625, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06672235811129212, + "target_wall_jerk_rms_rad_s3": 90.34896694851777, + "target_wall_smoothness_samples": 1140, + "target_wall_velocity_peak_abs_rad_s": 18.445594787597656, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.391084752976894e-06, + "target_wall_velocity_rms_rad_s": 0.3780025097525999, + "tcp_pose_count": 1140, + "timestamp_count": 1140, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.2671", + "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": 1.380000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.95, + "window_lag_best_lag_p95_abs_s": 1.2720000000000007, + "window_lag_count": 25, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 19.5, + "window_lag_worst_max_error_rad": 0.26713189482688904, + "window_lag_worst_rms_error_rad": 0.01453807404137787, + "window_lag_worst_start_s": 18.5, + "zero_lag_max_error_rad": 0.26713189482688904, + "zero_lag_p95_error_rad": 0.001973675098270178, + "zero_lag_rms_error_rad": 0.004785784728229141, + "zero_lag_samples": 1140, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 19.285 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.npz new file mode 100644 index 0000000000000000000000000000000000000000..f40c9b923c94b9119089cb5bc45281f70c1d2e61 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144447.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24228ec1df51db7f87d68bccd6ec4dd1c4cbccbcf2eaacbc2f9486fd7c9ec308 +size 119375 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.json new file mode 100644 index 0000000000000000000000000000000000000000..eec54705bfdd4d5af933a86793b61290a5b2163a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:46:37", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1123, + "actual_playback_duration_s": 37.448535980074666, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.37263208627700806, + "aligned_p95_error_rad": 0.0019148244755342603, + "aligned_rms_error_rad": 0.005749427476067414, + "aligned_samples": 1123, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 21.834, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1123, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1123, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6867190334237758, + "image_frame_counts": { + "cam_scene": 1123, + "cam_wrist": 1123 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.03325989842414856, + 0.1924259066581726, + 0.1756085455417633, + 0.10184434056282043, + 0.37263208627700806, + 0.005149245262145996 + ], + "joint_lag_p95_error_rad": [ + 0.0016745541943237185, + 0.001622395240701735, + 0.0017500316025689244, + 0.0018726667622104287, + 0.001956702908501029, + 0.0024407212622463703 + ], + "joint_lag_rms_error_rad": [ + 0.0012185610653274957, + 0.005790279774032547, + 0.005308807124776839, + 0.0031204537000589267, + 0.011151468707578114, + 0.0010234002958102047 + ], + "joint_lag_samples": [ + 1123, + 1123, + 1123, + 1123, + 1123, + 1123 + ], + "joint_lag_worst_time_s": [ + 21.834, + 21.834, + 21.834, + 21.834, + 21.834, + 3.46 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 29, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00662273692432791, + "leadthrough_capture_egm_poll_duration_median_s": 0.00397167494520545, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043785559944808485, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005204643672332167, + "leadthrough_capture_egm_poll_duration_warn_count": 2696, + "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": 0.0066817119950428605, + "leadthrough_capture_host_loop_dt_median_s": 0.003997092484496534, + "leadthrough_capture_host_loop_dt_p95_s": 0.004410089965676889, + "leadthrough_capture_host_loop_dt_p99_s": 0.005235181214520709, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006468820967711508, + "leadthrough_capture_host_receive_dt_median_s": 0.003999447508249432, + "leadthrough_capture_host_receive_dt_p95_s": 0.00439186252770014, + "leadthrough_capture_host_receive_dt_p99_s": 0.0051803442940581606, + "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": 0.01468897599261254, + "leadthrough_capture_loop_late_median_s": 0.010219344985671341, + "leadthrough_capture_loop_late_p95_s": 0.010592237906530499, + "leadthrough_capture_loop_late_p99_s": 0.011524809980764985, + "leadthrough_capture_loop_late_warn_count": 6685, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006659121019765735, + "leadthrough_capture_read_duration_median_s": 0.003986019059084356, + "leadthrough_capture_read_duration_p95_s": 0.004400612018071115, + "leadthrough_capture_read_duration_p99_s": 0.005222285408526659, + "leadthrough_capture_read_duration_warn_count": 3029, + "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": 12, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0033435970544815063, + 0.002553880214691162, + 0.0038832947611808777, + 0.004167512059211731, + 0.0026239752769470215, + 0.006721943616867065 + ], + "leadthrough_delta_max_abs_rad": 0.006721943616867065, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0013893768191337585, + 0.0018759295344352722, + 0.0030286163091659546, + 0.0005764458328485489, + 0.0018623769283294678, + 0.00442996621131897 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006942782201804221, + 0.0008135546813718975, + 0.0011960319243371487, + 0.00046522082993760705, + 0.0006916897254996002, + 0.001471918891184032 + ], + "leadthrough_delta_samples": 5551, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006721943616867065, + "leadthrough_delta_worst_from_rad": -0.40902280807495117, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7569999999999997, + "leadthrough_delta_worst_to_rad": -0.41574475169181824, + "leadthrough_duration_s": 22.201999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5550, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.40800000000000125, + "leadthrough_final_stillness_removed_samples": 102, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5551, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6685, + "leadthrough_initial_stillness_first_motion_index": 1032, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.123, + "leadthrough_initial_stillness_removed_samples": 1031, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1031, + "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": [ + 0.0033435970544815063, + 0.002553880214691162, + 0.0038832947611808777, + 0.004167512059211731, + 0.0026239752769470215, + 0.006721943616867065 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006721943616867065, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8358992636200975, + 0.7190555334090915, + 1.1342366536457904, + 1.0418780148025848, + 0.6949106852213278, + 2.2392471631367155 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9782873392105103, + "leadthrough_velocity_rms_rad_s": 0.24162903535469193, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.37263208627700806, + "measured_wall_accel_p95_abs_rad_s2": 0.4132760465145111, + "measured_wall_accel_peak_abs_rad_s2": 243.36863708496094, + "measured_wall_accel_peak_joint": 1, + "measured_wall_accel_peak_time_s": 14.13305877300445, + "measured_wall_accel_rms_rad_s2": 8.316696444944705, + "measured_wall_jerk_p95_abs_rad_s3": 7.854096412658691, + "measured_wall_jerk_peak_abs_rad_s3": 3726.328369140625, + "measured_wall_jerk_peak_joint": 1, + "measured_wall_jerk_peak_time_s": 14.164461544947699, + "measured_wall_jerk_rms_rad_s3": 103.62020240707199, + "measured_wall_smoothness_samples": 1123, + "measured_wall_velocity_peak_abs_rad_s": 15.402617454528809, + "measured_wall_velocity_peak_joint": 1, + "measured_wall_velocity_peak_time_s": 14.101169551955536, + "measured_wall_velocity_rms_rad_s": 0.4034073516582235, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.37263208627700806, + "moving_aligned_p95_error_rad": 0.0021458955015987158, + "moving_aligned_rms_error_rad": 0.0067318932198790465, + "moving_aligned_samples": 819, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 21.834, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.03325989842414856, + 0.1924259066581726, + 0.005133330821990967, + 0.004259113222360611, + 0.005153059959411621, + 0.005149245262145996 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019165289122611284, + 0.001831553876399994, + 0.002039829036220908, + 0.0030827047303318977, + 0.002330387942492962, + 0.0030913827940821648 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0014958917530329405, + 0.006896783749481887, + 0.0010744618935342345, + 0.0014696759014527624, + 0.0011061084494705224, + 0.0016929185571763685 + ], + "moving_joint_lag_samples": [ + 730, + 791, + 687, + 219, + 588, + 365 + ], + "moving_joint_lag_worst_time_s": [ + 21.834, + 21.834, + 3.4959999999999996, + 14.466999999999999, + 20.721999999999998, + 3.46 + ], + "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": 3.0076725482940674, + "playback_velocity_rms_rad_s": 0.43204833726176045, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.404, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.201999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1829, + 4716 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.39759555687019726, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08595478534698486, + "rapid_planner_max_dt_s": 2.7559999999999993, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006939351558685303, + "rapid_planner_median_dt_s": 0.09199999999999875, + "rapid_planner_path_max_error_rad": 0.37263208627700806, + "rapid_planner_path_p95_error_rad": 0.0027870379388332364, + "rapid_planner_path_rms_error_rad": 0.011205962340434398, + "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, + 76, + 95, + 117, + 133, + 141, + 149, + 156, + 164, + 171, + 178, + 185, + 192, + 200, + 207, + 218, + 228, + 238, + 248, + 259, + 270, + 282, + 293, + 306, + 318, + 330, + 342, + 360, + 375, + 393, + 412, + 431, + 460, + 488, + 520, + 555, + 600, + 664, + 703, + 742, + 826, + 897, + 973, + 1070, + 1224, + 1829, + 2518, + 2600, + 2653, + 2690, + 2724, + 2759, + 2806, + 2830, + 2855, + 2880, + 2905, + 2926, + 2948, + 2970, + 2992, + 3014, + 3037, + 3056, + 3074, + 3092, + 3110, + 3132, + 3153, + 3183, + 3211, + 3242, + 3274, + 3297, + 3309, + 3321, + 3336, + 3350, + 3361, + 3372, + 3400, + 3425, + 3446, + 3482, + 3545, + 3591, + 3653, + 3824, + 3909, + 3979, + 4206, + 4716, + 4988, + 5028, + 5063, + 5088, + 5120, + 5148, + 5167, + 5193, + 5206, + 5218, + 5239, + 5257, + 5284, + 5305, + 5326, + 5357, + 5393, + 5434, + 5551 + ], + "rapid_planner_selected_max_joint_step_deg": 4.924846429335164, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5552, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.37263208627700806, + "raw_replay_rms_error_rad": 0.005749427476067414, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9387419998208554, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9823079561090138, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9901186096382802, + "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": 0.8950494973963296, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9871156260296197, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9964169282713844, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0012026038020849228, + 0.00030738115310668945, + 0.0006758570671081543, + 0.0028196871280670166, + 0.002074599266052246, + 0.0057694315910339355 + ], + "replay_smoothing_max_deviation_normalized": 0.6611281658327255, + "replay_smoothing_max_deviation_rad": 0.0057694315910339355, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001769247930496931, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.707810163497925, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.93984985351562, + "replay_smoothing_raw_accel_rms_rad_s2": 3.9755485415581115, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 463.9809875488281, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18732.265625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1006.6573800803808, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9988807439804077, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24229076213129191, + "replay_smoothing_rms_deviation_rad": 0.0007987417262149822, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.4806771278381348, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 64.77323913574219, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9362645945170103, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 415.28594970703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18490.912109375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1003.0504544814125, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9782873392105103, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24162903535469193, + "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": 0.9896975320654251, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9972688732711922, + "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": 20.977999999999998, + "replay_smoothing_wrist_max_deviation_rad": 0.0057694315910339355, + "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": 0.37263208627700806, + "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": 0.4917205572128296, + "stage_planned_to_measured_rms_error_rad": 0.012739101922392962, + "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": 1123, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3726", + "target_wall_accel_p95_abs_rad_s2": 0.6970301270484924, + "target_wall_accel_peak_abs_rad_s2": 283.8815002441406, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 0.03351951204240322, + "target_wall_accel_rms_rad_s2": 6.9809232315234855, + "target_wall_jerk_p95_abs_rad_s3": 16.284610748291016, + "target_wall_jerk_peak_abs_rad_s3": 4262.76513671875, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06681485008448362, + "target_wall_jerk_rms_rad_s3": 85.9339583080677, + "target_wall_smoothness_samples": 1123, + "target_wall_velocity_peak_abs_rad_s": 18.96550750732422, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 7.0160022005438805e-06, + "target_wall_velocity_rms_rad_s": 0.36234015430533567, + "tcp_pose_count": 1123, + "timestamp_count": 1123, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3726", + "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": -1.0099999999999991, + "window_lag_best_lag_p95_abs_s": 0.7124999999999988, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 22.0, + "window_lag_worst_max_error_rad": 0.37263208627700806, + "window_lag_worst_rms_error_rad": 0.019502811231679112, + "window_lag_worst_start_s": 21.0, + "zero_lag_max_error_rad": 0.37263208627700806, + "zero_lag_p95_error_rad": 0.0019148244755342603, + "zero_lag_rms_error_rad": 0.005749427476067414, + "zero_lag_samples": 1123, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 21.834 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.npz new file mode 100644 index 0000000000000000000000000000000000000000..94bf993c24fe0a07d8a3a691e63ee3fa943c2bf7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144636.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5cf0333b6b8395efa2bacd8f066cb35fa1c10aadfba1a6d31e737a3418bfc55 +size 116474 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9c6aee4fe9e7006b01515e5f0d67de8a2f8d3b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.json @@ -0,0 +1,669 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:48:33", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1149, + "actual_playback_duration_s": 38.31012986600399, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.2519184350967407, + "aligned_p95_error_rad": 0.0019578607752919197, + "aligned_rms_error_rad": 0.005273110153256768, + "aligned_samples": 1149, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 19.201, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1149, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1149, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9127330304061108, + "image_frame_counts": { + "cam_scene": 1149, + "cam_wrist": 1149 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.01912538707256317, + 0.24234724044799805, + 0.043428897857666016, + 0.24916881322860718, + 0.2519184350967407, + 0.005430042743682861 + ], + "joint_lag_p95_error_rad": [ + 0.001637586741708219, + 0.0017827270785346627, + 0.002076780190691352, + 0.0013651509070768952, + 0.0017786858370527625, + 0.0026920728851109743 + ], + "joint_lag_rms_error_rad": [ + 0.0009291509028544062, + 0.007200260769362039, + 0.001616831585171428, + 0.00737115290009476, + 0.007473173169889755, + 0.0011535644345441033 + ], + "joint_lag_samples": [ + 1149, + 1149, + 1149, + 1149, + 1149, + 1149 + ], + "joint_lag_worst_time_s": [ + 19.201, + 19.201, + 19.201, + 19.201, + 19.201, + 0.835 + ], + "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": 26, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006595579092390835, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039778450154699385, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004350713058374822, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005130872942972929, + "leadthrough_capture_egm_poll_duration_warn_count": 2537, + "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": 0.006648151087574661, + "leadthrough_capture_host_loop_dt_median_s": 0.004002273082733154, + "leadthrough_capture_host_loop_dt_p95_s": 0.004377552215009926, + "leadthrough_capture_host_loop_dt_p99_s": 0.005164035325869921, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006610005046240985, + "leadthrough_capture_host_receive_dt_median_s": 0.004005013965070248, + "leadthrough_capture_host_receive_dt_p95_s": 0.004372835345566273, + "leadthrough_capture_host_receive_dt_p99_s": 0.005084320523310459, + "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": 0.04649118008092046, + "leadthrough_capture_loop_late_median_s": 0.039829464396461844, + "leadthrough_capture_loop_late_p95_s": 0.0400989368907176, + "leadthrough_capture_loop_late_p99_s": 0.04099929669173434, + "leadthrough_capture_loop_late_warn_count": 5980, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006628920091316104, + "leadthrough_capture_read_duration_median_s": 0.003991805482655764, + "leadthrough_capture_read_duration_p95_s": 0.004366755182854831, + "leadthrough_capture_read_duration_p99_s": 0.0051511298294644806, + "leadthrough_capture_read_duration_warn_count": 2808, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 11, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0031270831823349, + 0.002823472023010254, + 0.004451334476470947, + 0.002305760979652405, + 0.0028312206268310547, + 0.01219034194946289 + ], + "leadthrough_delta_max_abs_rad": 0.01219034194946289, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017327896784991026, + 0.0023587674368172884, + 0.003495005192235112, + 0.0005851277965120971, + 0.001992991426959634, + 0.0033233212307095528 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007553853210993111, + 0.0009906805353239179, + 0.0013462890638038516, + 0.0003423504822421819, + 0.0007437541498802602, + 0.0018181856721639633 + ], + "leadthrough_delta_samples": 5008, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.01219034194946289, + "leadthrough_delta_worst_from_rad": -1.0428924560546875, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.875, + "leadthrough_delta_worst_to_rad": -1.0550827980041504, + "leadthrough_duration_s": 20.029, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5007, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.40800000000000125, + "leadthrough_final_stillness_removed_samples": 102, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5008, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5980, + "leadthrough_initial_stillness_first_motion_index": 870, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.476, + "leadthrough_initial_stillness_removed_samples": 869, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 869, + "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": [ + 0.0031270831823349, + 0.002823472023010254, + 0.004451334476470947, + 0.002305760979652405, + 0.0028312206268310547, + 0.01219034194946289 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.01219034194946289, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7817707955834639, + 0.9411573410033823, + 1.3949573040008016, + 0.5764402449134207, + 0.8892218271890939, + 3.991742928822684 + ], + "leadthrough_velocity_peak_abs_rad_s": 3.582003593444824, + "leadthrough_velocity_rms_rad_s": 0.2794828135291534, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.2519184350967407, + "measured_wall_accel_p95_abs_rad_s2": 0.3998238444328308, + "measured_wall_accel_peak_abs_rad_s2": 302.9789733886719, + "measured_wall_accel_peak_joint": 2, + "measured_wall_accel_peak_time_s": 14.680146150989458, + "measured_wall_accel_rms_rad_s2": 9.820757802434068, + "measured_wall_jerk_p95_abs_rad_s3": 6.625565052032471, + "measured_wall_jerk_peak_abs_rad_s3": 4697.56982421875, + "measured_wall_jerk_peak_joint": 2, + "measured_wall_jerk_peak_time_s": 14.711042657960206, + "measured_wall_jerk_rms_rad_s3": 124.2043727437313, + "measured_wall_smoothness_samples": 1149, + "measured_wall_velocity_peak_abs_rad_s": 18.89433479309082, + "measured_wall_velocity_peak_joint": 2, + "measured_wall_velocity_peak_time_s": 14.648677133023739, + "measured_wall_velocity_rms_rad_s": 0.4641564871170097, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.2519184350967407, + "moving_aligned_p95_error_rad": 0.002148360013961792, + "moving_aligned_rms_error_rad": 0.006108354797660033, + "moving_aligned_samples": 856, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 19.201, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + -0.02999999999999825, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.01912538707256317, + 0.24234724044799805, + 0.043428897857666016, + 0.017818644642829895, + 0.0041411519050598145, + 0.005430042743682861 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001924042939208448, + 0.001999101834371686, + 0.002401112811639905, + 0.016734866425395012, + 0.0020440996158868074, + 0.003728613257408142 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011289181482679513, + 0.008535562877997265, + 0.0020488954329625987, + 0.009341525267751094, + 0.0009673881989171544, + 0.0017709473416946686 + ], + "moving_joint_lag_samples": [ + 743, + 817, + 693, + 214, + 655, + 441 + ], + "moving_joint_lag_worst_time_s": [ + 19.201, + 19.201, + 19.201, + 18.581, + 19.077, + 0.835 + ], + "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": 21.096969604492188, + "playback_velocity_rms_rad_s": 0.8512539281778541, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.05799999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.029, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1651, + 4164 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.42662386084275145, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08715081214904785, + "rapid_planner_max_dt_s": 2.4240000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007445991039276123, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.2519184350967407, + "rapid_planner_path_p95_error_rad": 0.0030902415513992306, + "rapid_planner_path_rms_error_rad": 0.007581993443802336, + "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, + 67, + 91, + 102, + 114, + 126, + 132, + 139, + 146, + 154, + 162, + 169, + 175, + 181, + 187, + 193, + 198, + 202, + 206, + 210, + 214, + 218, + 222, + 226, + 232, + 238, + 250, + 262, + 275, + 288, + 300, + 316, + 332, + 348, + 365, + 386, + 407, + 444, + 482, + 519, + 569, + 663, + 724, + 795, + 847, + 977, + 1182, + 1342, + 1651, + 2257, + 2316, + 2365, + 2389, + 2432, + 2458, + 2485, + 2510, + 2523, + 2536, + 2554, + 2572, + 2590, + 2608, + 2626, + 2644, + 2662, + 2679, + 2698, + 2716, + 2729, + 2743, + 2756, + 2770, + 2783, + 2796, + 2810, + 2823, + 2851, + 2879, + 2905, + 2944, + 2985, + 3016, + 3047, + 3069, + 3100, + 3125, + 3170, + 3221, + 3280, + 3361, + 3439, + 3776, + 4164, + 4427, + 4477, + 4508, + 4532, + 4555, + 4576, + 4596, + 4613, + 4630, + 4648, + 4667, + 4686, + 4705, + 4728, + 4750, + 4784, + 4817, + 4856, + 5008 + ], + "rapid_planner_selected_max_joint_step_deg": 4.993373717277902, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5009, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.2519184350967407, + "raw_replay_rms_error_rad": 0.005273110153256768, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7954508228756879, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9794033045149751, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9808370458711689, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.7401862144470215, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7401862144470215 + ], + "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": 0.3834009795252979, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0006742353327704, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9961191837278488, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00047081708908081055, + 0.00036200135946273804, + 0.0006843805313110352, + 0.0030301809310913086, + 0.002177596092224121, + 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": 0.0017692690016701818, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.940321922302246, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 89.01820373535156, + "replay_smoothing_raw_accel_rms_rad_s2": 3.4484624786238904, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 352.0132751464844, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 26554.966796875, + "replay_smoothing_raw_jerk_rms_rad_s3": 893.82365066775, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 3.567843198776245, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2804580577273703, + "replay_smoothing_rms_deviation_rad": 0.0009333113344802588, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.338881492614746, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 87.18472290039062, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.3823797503310256, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 134.9622344970703, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 26572.87109375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 890.354885299805, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 3.582003593444824, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2794828135291534, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0039688948980259, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965226736356958, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.0030000000000001, + "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": 0.2519184350967407, + "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": 0.5971351861953735, + "stage_planned_to_measured_rms_error_rad": 0.01410242336058434, + "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": 1149, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.2519", + "target_wall_accel_p95_abs_rad_s2": 0.748526394367218, + "target_wall_accel_peak_abs_rad_s2": 285.8171081542969, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 6.354996003210545e-06, + "target_wall_accel_rms_rad_s2": 7.220891582395485, + "target_wall_jerk_p95_abs_rad_s3": 18.10531997680664, + "target_wall_jerk_peak_abs_rad_s3": 4285.53076171875, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06682399706915021, + "target_wall_jerk_rms_rad_s3": 88.85277320786446, + "target_wall_smoothness_samples": 1149, + "target_wall_velocity_peak_abs_rad_s": 19.097623825073242, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 6.354996003210545e-06, + "target_wall_velocity_rms_rad_s": 0.37297251027967926, + "tcp_pose_count": 1149, + "timestamp_count": 1149, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.2519", + "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": -1.2199999999999993, + "window_lag_best_lag_p95_abs_s": 1.1209999999999989, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.009999999999998233, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.2519516944885254, + "window_lag_worst_rms_error_rad": 0.025132970078329677, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.2519184350967407, + "zero_lag_p95_error_rad": 0.0019578607752919197, + "zero_lag_rms_error_rad": 0.005273110153256768, + "zero_lag_samples": 1149, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 19.201 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.npz new file mode 100644 index 0000000000000000000000000000000000000000..e11fe162f8ce0c4d1978c3343eb96a3895aab5f5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_144831.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1c0c4eb5413a115b709d02762ef7363a57d4d474a321e5634baf93047bd5b67 +size 120552 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.json new file mode 100644 index 0000000000000000000000000000000000000000..fabc2693dcb6ce00331fd88cedc40394f2c25513 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:50:18", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1130, + "actual_playback_duration_s": 37.67668373207562, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0062468647956848145, + "aligned_p95_error_rad": 0.0025690943002700806, + "aligned_rms_error_rad": 0.00111679983154893, + "aligned_samples": 1130, + "aligned_worst_joint": 2, + "aligned_worst_time_s": 2.691, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1130, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1130, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9257185654012585, + "image_frame_counts": { + "cam_scene": 1130, + "cam_wrist": 1130 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.006099611520767212, + 0.00506165623664856, + 0.0062468647956848145, + 0.0037388354539871216, + 0.005090832710266113, + 0.0062247514724731445 + ], + "joint_lag_p95_error_rad": [ + 0.0020401773508638144, + 0.0021318409126251936, + 0.002543350216001272, + 0.001874241977930069, + 0.0027377945370972157, + 0.0037545827217400074 + ], + "joint_lag_rms_error_rad": [ + 0.0009253537683358928, + 0.0010102852481733877, + 0.0012003450575104665, + 0.0007409302844698452, + 0.0010800996914820317, + 0.001565271227667001 + ], + "joint_lag_samples": [ + 1130, + 1130, + 1130, + 1130, + 1130, + 1130 + ], + "joint_lag_worst_time_s": [ + 12.53, + 13.686000000000002, + 2.691, + 18.793, + 13.842, + 2.691 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005631161970086396, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964032977819443, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004348874231800437, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004512276966124772, + "leadthrough_capture_egm_poll_duration_warn_count": 2234, + "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": 0.005813825991936028, + "leadthrough_capture_host_loop_dt_median_s": 0.003986961964983493, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043728057644329965, + "leadthrough_capture_host_loop_dt_p99_s": 0.004565430129878221, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005633128923363984, + "leadthrough_capture_host_receive_dt_median_s": 0.003990453027654439, + "leadthrough_capture_host_receive_dt_p95_s": 0.004370997310616076, + "leadthrough_capture_host_receive_dt_p99_s": 0.00452188424533233, + "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": 0.017550526070408523, + "leadthrough_capture_loop_late_median_s": 0.011788090807385743, + "leadthrough_capture_loop_late_p95_s": 0.012095622741617263, + "leadthrough_capture_loop_late_p99_s": 0.012381242094561457, + "leadthrough_capture_loop_late_warn_count": 5857, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005804079934023321, + "leadthrough_capture_read_duration_median_s": 0.003976534935645759, + "leadthrough_capture_read_duration_p95_s": 0.0043619464384391906, + "leadthrough_capture_read_duration_p99_s": 0.004547279644757509, + "leadthrough_capture_read_duration_warn_count": 2450, + "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": [ + 0.003873303532600403, + 0.0035181641578674316, + 0.005010202527046204, + 0.004486903548240662, + 0.004374265670776367, + 0.013766825199127197 + ], + "leadthrough_delta_max_abs_rad": 0.013766825199127197, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018939077854156494, + 0.0029544744174927473, + 0.004100169520825148, + 0.0008191509987227619, + 0.002324875444173813, + 0.004459252581000328 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008208866347558796, + 0.0011378308990970254, + 0.0014644755283370614, + 0.0004527654673438519, + 0.0009098666487261653, + 0.00205865572206676 + ], + "leadthrough_delta_samples": 4892, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.013766825199127197, + "leadthrough_delta_worst_from_rad": -0.6356703042984009, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6750000000000003, + "leadthrough_delta_worst_to_rad": -0.6494371294975281, + "leadthrough_duration_s": 19.564999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4891, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5330000000000013, + "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": 4892, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5857, + "leadthrough_initial_stillness_first_motion_index": 832, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.324, + "leadthrough_initial_stillness_removed_samples": 831, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 831, + "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": [ + 0.003873303532600403, + 0.0035181641578674316, + 0.005010202527046204, + 0.004486903548240662, + 0.004374265670776367, + 0.013766825199127197 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.013766825199127197, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.250753800074212, + 1.1641979217528855, + 1.6584793726602562, + 1.4740576346714733, + 1.4462868372598736, + 4.575192928314036 + ], + "leadthrough_velocity_peak_abs_rad_s": 3.9541380405426025, + "leadthrough_velocity_rms_rad_s": 0.3232024352097544, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0062468647956848145, + "measured_wall_accel_p95_abs_rad_s2": 0.420300155878067, + "measured_wall_accel_peak_abs_rad_s2": 2.126328945159912, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 23.479794524027966, + "measured_wall_accel_rms_rad_s2": 0.19004846504021955, + "measured_wall_jerk_p95_abs_rad_s3": 7.139778137207031, + "measured_wall_jerk_peak_abs_rad_s3": 49.712432861328125, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 23.41474248492159, + "measured_wall_jerk_rms_rad_s3": 3.3370371695956136, + "measured_wall_smoothness_samples": 1130, + "measured_wall_velocity_peak_abs_rad_s": 0.5755826830863953, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.81381300499197, + "measured_wall_velocity_rms_rad_s": 0.10284578518321126, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0062468647956848145, + "moving_aligned_p95_error_rad": 0.0029483377002179623, + "moving_aligned_rms_error_rad": 0.0013017219882035054, + "moving_aligned_samples": 827, + "moving_aligned_worst_joint": 2, + "moving_aligned_worst_time_s": 2.691, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.006099611520767212, + 0.00506165623664856, + 0.0062468647956848145, + 0.0037388354539871216, + 0.005090832710266113, + 0.0062247514724731445 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002421480370685458, + 0.002422095276415348, + 0.0029621717985719442, + 0.0025336998514831066, + 0.0031675787176936865, + 0.0043850610964000225 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010993715986392638, + 0.0011846815225470737, + 0.0014445498180457677, + 0.0013342841490111101, + 0.0013370424893232819, + 0.001999711014129194 + ], + "moving_joint_lag_samples": [ + 738, + 808, + 725, + 295, + 692, + 634 + ], + "moving_joint_lag_worst_time_s": [ + 12.53, + 13.686000000000002, + 2.691, + 18.793, + 13.842, + 2.691 + ], + "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": 5.443349361419678, + "playback_velocity_rms_rad_s": 0.7116359827499092, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 69.13, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 19.564999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1893, + 4162 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4403730316419871, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08645416051149368, + "rapid_planner_max_dt_s": 3.896, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007685959339141846, + "rapid_planner_median_dt_s": 0.06950000000000056, + "rapid_planner_path_max_error_rad": 0.0062468647956848145, + "rapid_planner_path_p95_error_rad": 0.004078664630651474, + "rapid_planner_path_rms_error_rad": 0.0019082425175418638, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 34, + 68, + 86, + 104, + 114, + 124, + 133, + 138, + 142, + 146, + 150, + 154, + 158, + 162, + 167, + 172, + 176, + 180, + 184, + 188, + 193, + 197, + 201, + 205, + 209, + 216, + 223, + 229, + 235, + 247, + 259, + 273, + 290, + 308, + 331, + 354, + 389, + 420, + 481, + 553, + 614, + 719, + 785, + 850, + 919, + 1893, + 2464, + 2566, + 2595, + 2619, + 2643, + 2667, + 2684, + 2702, + 2714, + 2726, + 2738, + 2749, + 2762, + 2775, + 2788, + 2801, + 2825, + 2849, + 2872, + 2896, + 2919, + 2937, + 2946, + 2954, + 2963, + 2972, + 2982, + 2993, + 3008, + 3025, + 3048, + 3086, + 3112, + 3173, + 3234, + 3274, + 3300, + 3392, + 3583, + 3711, + 3810, + 4162, + 4407, + 4445, + 4463, + 4479, + 4496, + 4508, + 4520, + 4535, + 4550, + 4571, + 4590, + 4609, + 4624, + 4642, + 4654, + 4667, + 4687, + 4706, + 4723, + 4741, + 4759, + 4779, + 4818, + 4892 + ], + "rapid_planner_selected_max_joint_step_deg": 4.953458518655171, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4893, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0062468647956848145, + "raw_replay_rms_error_rad": 0.00111679983154893, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9818273984845663, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9506148188193506, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9850057061988873, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.8692149519920349, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8692149519920349 + ], + "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": 0.9886092296894192, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9603210971009614, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9901055477975913, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008171126246452332, + 0.0009401068091392517, + 0.0013225376605987549, + 0.007309585809707642, + 0.003007650375366211, + 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": 0.0031713007483631372, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 14.817305564880371, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 137.39935302734375, + "replay_smoothing_raw_accel_rms_rad_s2": 7.588627660567992, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 3478.3935546875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 36621.515625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1936.1099571623422, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 4.089413166046143, + "replay_smoothing_raw_velocity_rms_rad_s": 0.3248943261727703, + "replay_smoothing_rms_deviation_rad": 0.0014105565372940975, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 14.548036575317383, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 130.61386108398438, + "replay_smoothing_smoothed_accel_rms_rad_s2": 7.474841547878185, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 3438.77197265625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 35168.4140625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1916.9532097325919, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 3.9541380405426025, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.3232024352097544, + "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": 0.9669206509563006, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9947924884286338, + "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": 0.9960000000000004, + "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": 0.0062468647956848145, + "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": 0.032803356647491455, + "stage_planned_to_measured_rms_error_rad": 0.006103138982993269, + "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": 1130, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8845970630645752, + "target_wall_accel_peak_abs_rad_s2": 3.6813745498657227, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 8.633403179002926, + "target_wall_accel_rms_rad_s2": 0.4150151657422638, + "target_wall_jerk_p95_abs_rad_s3": 21.958768844604492, + "target_wall_jerk_peak_abs_rad_s3": 102.30878448486328, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 8.66669973905664, + "target_wall_jerk_rms_rad_s3": 10.54253365155282, + "target_wall_smoothness_samples": 1130, + "target_wall_velocity_peak_abs_rad_s": 0.655924379825592, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 4.20005884708371, + "target_wall_velocity_rms_rad_s": 0.10435834402932945, + "tcp_pose_count": 1130, + "timestamp_count": 1130, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.010000000000001563, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.889999999999999, + "window_lag_best_lag_p95_abs_s": 0.889999999999999, + "window_lag_count": 20, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 13.5, + "window_lag_worst_max_error_rad": 0.006099611520767212, + "window_lag_worst_rms_error_rad": 0.0023432256086733235, + "window_lag_worst_start_s": 12.5, + "zero_lag_max_error_rad": 0.0062468647956848145, + "zero_lag_p95_error_rad": 0.0025690943002700806, + "zero_lag_rms_error_rad": 0.00111679983154893, + "zero_lag_samples": 1130, + "zero_lag_worst_joint": 2, + "zero_lag_worst_time_s": 2.691 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.npz new file mode 100644 index 0000000000000000000000000000000000000000..168bbdf48529e60aee779b74de9ea7c167194da2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145016.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfb8fcdad82ff9cdefd2ff92088b9ab81eaf00f3a1caa81a932c13dc45b784e5 +size 119377 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.json new file mode 100644 index 0000000000000000000000000000000000000000..0775b0cb3a10f8b10a40b497e56ac32fef461885 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:54:11", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1125, + "actual_playback_duration_s": 37.51120006700512, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006096482276916504, + "aligned_p95_error_rad": 0.0018693439196795225, + "aligned_rms_error_rad": 0.0008128159248199738, + "aligned_samples": 1125, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 20.386, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1125, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1125, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6532769212836669, + "image_frame_counts": { + "cam_scene": 1125, + "cam_wrist": 1125 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0033378005027770996, + 0.0037289559841156006, + 0.004115939140319824, + 0.006096482276916504, + 0.003369748592376709, + 0.005905866622924805 + ], + "joint_lag_p95_error_rad": [ + 0.0012861875584349036, + 0.0017445681151002645, + 0.0019069297704845667, + 0.0012682527303695679, + 0.0020264023914933205, + 0.0024025430902838707 + ], + "joint_lag_rms_error_rad": [ + 0.0005935117264336345, + 0.000794267133516329, + 0.0008237882772958537, + 0.0007203327678240092, + 0.0008145737490626276, + 0.0010582367892745953 + ], + "joint_lag_samples": [ + 1125, + 1125, + 1125, + 1125, + 1125, + 1125 + ], + "joint_lag_worst_time_s": [ + 11.603000000000002, + 14.331, + 3.5840000000000005, + 20.386, + 14.331, + 20.37 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005744421971030533, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039619290037080646, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00434662546031177, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004591696499846875, + "leadthrough_capture_egm_poll_duration_warn_count": 2623, + "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": 0.005799020989798009, + "leadthrough_capture_host_loop_dt_median_s": 0.0039869219763204455, + "leadthrough_capture_host_loop_dt_p95_s": 0.004373926389962435, + "leadthrough_capture_host_loop_dt_p99_s": 0.004639603269752114, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005748140974901617, + "leadthrough_capture_host_receive_dt_median_s": 0.003990257508121431, + "leadthrough_capture_host_receive_dt_p95_s": 0.004369001352461055, + "leadthrough_capture_host_receive_dt_p99_s": 0.004600495189661159, + "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": 0.01460184610914439, + "leadthrough_capture_loop_late_median_s": 0.010943183209747076, + "leadthrough_capture_loop_late_p95_s": 0.011256461380980909, + "leadthrough_capture_loop_late_p99_s": 0.011556905275210737, + "leadthrough_capture_loop_late_warn_count": 6749, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005778285092674196, + "leadthrough_capture_read_duration_median_s": 0.003976128995418549, + "leadthrough_capture_read_duration_p95_s": 0.004363329824991524, + "leadthrough_capture_read_duration_p99_s": 0.004622444300912319, + "leadthrough_capture_read_duration_warn_count": 2890, + "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": [ + 0.0021791309118270874, + 0.003275275230407715, + 0.0051340460777282715, + 0.002446591854095459, + 0.00258791446685791, + 0.006998777389526367 + ], + "leadthrough_delta_max_abs_rad": 0.006998777389526367, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017937836237251759, + 0.0017454683547839522, + 0.0029103276319801807, + 0.0003810979542322457, + 0.001298010116443038, + 0.004805188160389662 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006816979148425162, + 0.0008098992984741926, + 0.001172610092908144, + 0.0003642579249572009, + 0.000534998660441488, + 0.0015273973112925887 + ], + "leadthrough_delta_samples": 5673, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006998777389526367, + "leadthrough_delta_worst_from_rad": -0.4948238730430603, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9000000000000004, + "leadthrough_delta_worst_to_rad": -0.5018226504325867, + "leadthrough_duration_s": 22.689, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5619, + "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": 5620, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6749, + "leadthrough_initial_stillness_first_motion_index": 1076, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.3, + "leadthrough_initial_stillness_removed_samples": 1075, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1075, + "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": [ + 0.0021791309118270874, + 0.003275275230407715, + 0.0051340460777282715, + 0.002446591854095459, + 0.00258791446685791, + 0.006998777389526367 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006998777389526367, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.5858950316905753, + 0.8188188076016553, + 1.2835115194316393, + 0.7098714510599503, + 0.6469786167142615, + 1.749694347381396 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7438530921936035, + "leadthrough_velocity_rms_rad_s": 0.23349834630572197, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006096482276916504, + "measured_wall_accel_p95_abs_rad_s2": 0.3876935541629791, + "measured_wall_accel_peak_abs_rad_s2": 2.532327890396118, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 38.99533780105412, + "measured_wall_accel_rms_rad_s2": 0.18971112498167564, + "measured_wall_jerk_p95_abs_rad_s3": 6.963648796081543, + "measured_wall_jerk_peak_abs_rad_s3": 31.891084671020508, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.02812132600229, + "measured_wall_jerk_rms_rad_s3": 3.2173938537573568, + "measured_wall_smoothness_samples": 1125, + "measured_wall_velocity_peak_abs_rad_s": 0.722526490688324, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 38.86093277204782, + "measured_wall_velocity_rms_rad_s": 0.10169392426781568, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006096482276916504, + "moving_aligned_p95_error_rad": 0.002098656026646495, + "moving_aligned_rms_error_rad": 0.0009441582761040673, + "moving_aligned_samples": 820, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 20.386, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0033378005027770996, + 0.0035460591316223145, + 0.003074944019317627, + 0.006096482276916504, + 0.0032179951667785645, + 0.005905866622924805 + ], + "moving_joint_lag_p95_error_rad": [ + 0.00140724191442132, + 0.0018877106485888362, + 0.0021316781640052795, + 0.003002490382641554, + 0.0025433064438402653, + 0.0030691621359437704 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0006779905805454684, + 0.0009082854340768261, + 0.0010270197891296894, + 0.0013939304265749993, + 0.0010168036212862919, + 0.001641956942135863 + ], + "moving_joint_lag_samples": [ + 743, + 782, + 666, + 244, + 602, + 410 + ], + "moving_joint_lag_worst_time_s": [ + 11.603000000000002, + 21.113, + 3.46, + 20.386, + 21.105999999999998, + 20.37 + ], + "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": 2.0276942253112793, + "playback_velocity_rms_rad_s": 0.41023559673969207, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 75.378, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.689, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1862, + 4429 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4200771245232942, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0857333242893219, + "rapid_planner_max_dt_s": 2.1320000000000006, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007331728935241699, + "rapid_planner_median_dt_s": 0.09199999999999875, + "rapid_planner_path_max_error_rad": 0.006096482276916504, + "rapid_planner_path_p95_error_rad": 0.0028000950813293454, + "rapid_planner_path_rms_error_rad": 0.0014216480130263842, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 46, + 91, + 114, + 138, + 152, + 165, + 178, + 192, + 204, + 215, + 226, + 238, + 247, + 256, + 265, + 274, + 284, + 294, + 304, + 313, + 324, + 334, + 344, + 355, + 367, + 379, + 391, + 406, + 424, + 443, + 462, + 481, + 506, + 531, + 561, + 591, + 628, + 680, + 722, + 775, + 836, + 987, + 1098, + 1170, + 1455, + 1862, + 2395, + 2475, + 2505, + 2530, + 2554, + 2580, + 2600, + 2615, + 2630, + 2647, + 2664, + 2681, + 2698, + 2711, + 2724, + 2739, + 2754, + 2768, + 2783, + 2812, + 2840, + 2867, + 2889, + 2912, + 2924, + 2937, + 2950, + 2962, + 2974, + 2987, + 3000, + 3012, + 3022, + 3032, + 3046, + 3061, + 3101, + 3142, + 3201, + 3244, + 3287, + 3376, + 3485, + 3642, + 3923, + 4429, + 4719, + 4785, + 4853, + 4902, + 4955, + 5002, + 5038, + 5078, + 5113, + 5142, + 5171, + 5195, + 5219, + 5243, + 5301, + 5329, + 5369, + 5391, + 5673 + ], + "rapid_planner_selected_max_joint_step_deg": 4.912157645404573, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5674, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006096482276916504, + "raw_replay_rms_error_rad": 0.0008128159248199738, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8143554445660802, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9131670811130846, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8870062421001114, + "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": 0.7143327642817797, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9875956997983795, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9234914875947328, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.00042472779750823975, + 0.0004750490188598633, + 0.0008747726678848267, + 0.003938260488212109, + 0.0026167631149291992, + 0.005194664001464844 + ], + "replay_smoothing_max_deviation_normalized": 0.5952646511560896, + "replay_smoothing_max_deviation_rad": 0.005194664001464844, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0020525851286947727, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.6783699989318848, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 18.121004104614258, + "replay_smoothing_raw_accel_rms_rad_s2": 1.4964529879342632, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 381.94464111328125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 4711.57958984375, + "replay_smoothing_raw_jerk_rms_rad_s3": 329.6684542469638, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7496198415756226, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23423413534623022, + "replay_smoothing_rms_deviation_rad": 0.0008630953115276778, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.181145191192627, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 16.547504425048828, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.3273631413070541, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 272.8355712890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 4653.1357421875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 304.4460112255847, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7438530921936035, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23349834630572197, + "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": 0.9967039986373121, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996858745462438, + "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": 10.343, + "replay_smoothing_wrist_max_deviation_rad": 0.005194664001464844, + "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": 0.006096482276916504, + "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": 0.043059587478637695, + "stage_planned_to_measured_rms_error_rad": 0.006029334604438153, + "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": 1125, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.6896037459373474, + "target_wall_accel_peak_abs_rad_s2": 3.058870315551758, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 24.666721604997292, + "target_wall_accel_rms_rad_s2": 0.32346715745843246, + "target_wall_jerk_p95_abs_rad_s3": 16.170528411865234, + "target_wall_jerk_peak_abs_rad_s3": 77.25535583496094, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 24.166798198013566, + "target_wall_jerk_rms_rad_s3": 7.749273840011629, + "target_wall_smoothness_samples": 1125, + "target_wall_velocity_peak_abs_rad_s": 0.7461091876029968, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 24.533389321994036, + "target_wall_velocity_rms_rad_s": 0.10253935833908828, + "tcp_pose_count": 1125, + "timestamp_count": 1125, + "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": 1.9900000000000038, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.95, + "window_lag_best_lag_p95_abs_s": 1.8500000000000008, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.9900000000000038, + "window_lag_worst_end_s": 17.0, + "window_lag_worst_max_error_rad": 0.029240459203720093, + "window_lag_worst_rms_error_rad": 0.010794774938794395, + "window_lag_worst_start_s": 16.0, + "zero_lag_max_error_rad": 0.006096482276916504, + "zero_lag_p95_error_rad": 0.0018693439196795225, + "zero_lag_rms_error_rad": 0.0008128159248199738, + "zero_lag_samples": 1125, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 20.386 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.npz b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.npz new file mode 100644 index 0000000000000000000000000000000000000000..fe56a64d06d4c6e3d1e00481e2288a41a19446fe --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145410.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e1aa63b7cd93a03eae22f4f30d012519adfa0a94d4754a4b2e37f294cc271ff +size 117653 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..95d7000f9fa7f4161ff250e950949fe8eb9ad033 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_manifest.json @@ -0,0 +1,717 @@ +{ + "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": 26, + "discard": 5, + "failure": 0, + "success": 21 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 36.176, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 9046, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 26, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260902_140731.hdf5", + "file_size_mb": 1400.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1140, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.933, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260902_140957.hdf5", + "file_size_mb": 1447.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1169, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 23.365, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 5843, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 18, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.5, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260902_141316.hdf5", + "file_size_mb": 1434.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1156, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.867, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260902_141514.hdf5", + "file_size_mb": 1439.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1167, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 37.933, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260902_141715.hdf5", + "file_size_mb": 1403.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1139, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 14, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.833, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000005", + "episode_idx": 5, + "file": "episode_000005_20260902_141933.hdf5", + "file_size_mb": 1442.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1166, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.8, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000006", + "episode_idx": 6, + "file": "episode_000006_20260902_142300.hdf5", + "file_size_mb": 1400.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1135, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 2, + "duration_s": 37.467, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000007", + "episode_idx": 7, + "file": "episode_000007_20260902_142444.hdf5", + "file_size_mb": 1387.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1125, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 20.99, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.02, + "num_frames": 5249, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 2, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 21.498, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:discard_000004", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.02, + "num_frames": 5376, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 4, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.667, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000008", + "episode_idx": 8, + "file": "episode_000008_20260902_142818.hdf5", + "file_size_mb": 1395.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1131, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.867, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000009", + "episode_idx": 9, + "file": "episode_000009_20260902_143022.hdf5", + "file_size_mb": 1437.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1167, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.233, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000010", + "episode_idx": 10, + "file": "episode_000010_20260902_143222.hdf5", + "file_size_mb": 1413.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1148, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.167, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000011", + "episode_idx": 11, + "file": "episode_000011_20260902_143410.hdf5", + "file_size_mb": 1414.6, + "included": true, + "measured_fps": 30.0, + "num_frames": 1146, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000012", + "episode_idx": 12, + "file": "episode_000012_20260902_143609.hdf5", + "file_size_mb": 1369.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1110, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.7, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000013", + "episode_idx": 13, + "file": "episode_000013_20260902_143800.hdf5", + "file_size_mb": 1360.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1102, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000014", + "episode_idx": 14, + "file": "episode_000014_20260902_143948.hdf5", + "file_size_mb": 1382.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1120, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.267, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000015", + "episode_idx": 15, + "file": "episode_000015_20260902_144244.hdf5", + "file_size_mb": 1344.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1089, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.967, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000016", + "episode_idx": 16, + "file": "episode_000016_20260902_144451.hdf5", + "file_size_mb": 1406.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1140, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 18, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.4, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000017", + "episode_idx": 17, + "file": "episode_000017_20260902_144641.hdf5", + "file_size_mb": 1390.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1123, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.267, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000018", + "episode_idx": 18, + "file": "episode_000018_20260902_144836.hdf5", + "file_size_mb": 1419.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1149, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.633, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000019", + "episode_idx": 19, + "file": "episode_000019_20260902_145029.hdf5", + "file_size_mb": 1387.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1130, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 32.636, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:discard_000005", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 8161, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 37.467, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-03-34:episode_000020", + "episode_idx": 20, + "file": "episode_000020_20260902_145414.hdf5", + "file_size_mb": 1390.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1125, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 18, + "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": "2026-09-02T14:54:24", + "session_id": "flex_to_biotek_v2_2026-09-02_14-03-34", + "session_started": "2026-09-02T14:03:34", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 21, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": 250.0, + "playback_settle_s": 0.25, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.25, + "start_index": 0 + }, + "start_pose": { + "leadthrough_start_arm_mode": "", + "leadthrough_start_arm_source": "task_manifest", + "leadthrough_start_captured_at": "2026-06-26T16:17:49", + "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled", + "leadthrough_start_joints_deg": [ + 16.926, + -0.49, + 52.285, + 4.341, + 41.395, + 7.983 + ], + "leadthrough_start_joints_rad": [ + 0.295419, + -0.008551, + 0.912542, + 0.075773, + 0.722472, + 0.139336 + ], + "leadthrough_start_pose_enabled": true, + "leadthrough_start_pose_locked": true, + "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017", + "leadthrough_start_pose_notes": "", + "leadthrough_start_pose_project": "flex_to_biotek_v2", + "leadthrough_start_pose_role": "leadthrough_start", + "leadthrough_start_pose_saved_task_local": true, + "leadthrough_start_pose_source": "saved_pose", + "leadthrough_start_pose_uploaded": true, + "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady", + "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart", + "leadthrough_start_tcp_pos_m": [], + "leadthrough_start_tcp_quat": [], + "leadthrough_start_tool_command_supported": false, + "leadthrough_start_tool_commanded": false, + "leadthrough_start_tool_io_backend": "", + "leadthrough_start_tool_state": 0.0, + "leadthrough_start_tool_state_valid": true, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json" + }, + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "tool_signal": "read-only configured", + "tool_status": { + "backend": "rws_rapid_feedback", + "can_command": false, + "can_read": true, + "command_failures": 0, + "command_hysteresis": 0.05, + "command_mode": "binary", + "command_signal": "read-only configured", + "command_threshold": 0.5, + "configured": true, + "last_state": null, + "last_state_age_s": null, + "message": "read RAPID gripper feedback array configured", + "ok": true, + "read_failures": 0, + "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback", + "state_valid": false + }, + "updated_at": "2026-09-02T14:54:24" +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_summary.json b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7ba0611e8291e29c58913f0a306521be685c72a7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-03-34/session_summary.json @@ -0,0 +1,1238 @@ +{ + "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": "2026-09-02T14:03:35", + "session_ended": "2026-09-02T14:54:24", + "counts": { + "attempted": 26, + "success": 21, + "failure": 0, + "discard": 5 + }, + "episodes": [ + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 9046, + "duration_s": 36.176, + "measured_fps": 250.03, + "slow_ticks": 26, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260902_140731.hdf5", + "num_frames": 1140, + "duration_s": 37.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.099, + "file_size_mb": 1400.4, + "save_metrics": { + "validate_s": 0.0010970380390062928, + "prepare_arrays_s": 0.0014909169403836131, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.682728358078748, + "image_write_s": 9.368218750110827, + "image_chunking": "frame", + "image_input_mb": 2101.248, + "image_storage_mb": 1397.534082, + "image_frame_count": 2280, + "image_camera_frame_counts": { + "cam_wrist": 1140, + "cam_scene": 1140 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1050.624, + "cam_scene": 1050.624 + }, + "image_camera_storage_mb": { + "cam_wrist": 650.641321, + "cam_scene": 746.892761 + }, + "file_size_mb": 1400.430774, + "hdf5_write_s": 10.096336154965684, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.309602081775665e-05, + "total_s": 10.09903880301863 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260902_140957.hdf5", + "num_frames": 1169, + "duration_s": 38.933, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.587, + "file_size_mb": 1447.0, + "save_metrics": { + "validate_s": 0.0011909690219908953, + "prepare_arrays_s": 0.0013284420128911734, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.1683370389509946, + "image_write_s": 9.3774627140956, + "image_chunking": "frame", + "image_input_mb": 2154.7008, + "image_storage_mb": 1444.4341250000002, + "image_frame_count": 2338, + "image_camera_frame_counts": { + "cam_wrist": 1169, + "cam_scene": 1169 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1077.3504, + "cam_scene": 1077.3504 + }, + "image_camera_storage_mb": { + "cam_wrist": 675.33837, + "cam_scene": 769.095755 + }, + "file_size_mb": 1446.977605, + "hdf5_write_s": 10.584162994055077, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.7044985219836235e-05, + "total_s": 10.586992812925018 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5843, + "duration_s": 23.365, + "measured_fps": 250.03, + "slow_ticks": 18, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260902_141316.hdf5", + "num_frames": 1156, + "duration_s": 38.5, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.165, + "file_size_mb": 1434.4, + "save_metrics": { + "validate_s": 0.0014803609810769558, + "prepare_arrays_s": 0.0012228600680828094, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8782919259974733, + "image_write_s": 9.242469994002022, + "image_chunking": "frame", + "image_input_mb": 2130.7392, + "image_storage_mb": 1431.724781, + "image_frame_count": 2312, + "image_camera_frame_counts": { + "cam_wrist": 1156, + "cam_scene": 1156 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1065.3696, + "cam_scene": 1065.3696 + }, + "image_camera_storage_mb": { + "cam_wrist": 666.395522, + "cam_scene": 765.329259 + }, + "file_size_mb": 1434.367853, + "hdf5_write_s": 10.162411538069136, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.0039926059544086e-05, + "total_s": 10.165488573955372 + } + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260902_141514.hdf5", + "num_frames": 1167, + "duration_s": 38.867, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.358, + "file_size_mb": 1439.5, + "save_metrics": { + "validate_s": 0.0013736389810219407, + "prepare_arrays_s": 0.001259921002201736, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.042019053013064, + "image_write_s": 9.274107684963383, + "image_chunking": "frame", + "image_input_mb": 2151.0144, + "image_storage_mb": 1436.698084, + "image_frame_count": 2334, + "image_camera_frame_counts": { + "cam_wrist": 1167, + "cam_scene": 1167 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1075.5072, + "cam_scene": 1075.5072 + }, + "image_camera_storage_mb": { + "cam_wrist": 667.143818, + "cam_scene": 769.554266 + }, + "file_size_mb": 1439.529184, + "hdf5_write_s": 10.35520942392759, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.1680061258375645e-05, + "total_s": 10.357935715001076 + } + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260902_141715.hdf5", + "num_frames": 1139, + "duration_s": 37.933, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 1, + "save_time_s": 9.732, + "file_size_mb": 1403.4, + "save_metrics": { + "validate_s": 0.0010930439457297325, + "prepare_arrays_s": 0.0012799529358744621, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6807552251266316, + "image_write_s": 9.007980608963408, + "image_chunking": "frame", + "image_input_mb": 2099.4048, + "image_storage_mb": 1400.8418849999998, + "image_frame_count": 2278, + "image_camera_frame_counts": { + "cam_wrist": 1139, + "cam_scene": 1139 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1049.7024, + "cam_scene": 1049.7024 + }, + "image_camera_storage_mb": { + "cam_wrist": 655.942202, + "cam_scene": 744.899683 + }, + "file_size_mb": 1403.413865, + "hdf5_write_s": 9.729179055080749, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.950297832489014e-05, + "total_s": 9.731651311041787 + } + }, + { + "episode_idx": 5, + "outcome": "success", + "file": "episode_000005_20260902_141933.hdf5", + "num_frames": 1166, + "duration_s": 38.833, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.991, + "file_size_mb": 1442.1, + "save_metrics": { + "validate_s": 0.0015227560652419925, + "prepare_arrays_s": 0.0015477669658139348, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.685311391018331, + "image_write_s": 9.260438440018333, + "image_chunking": "frame", + "image_input_mb": 2149.1712, + "image_storage_mb": 1439.5367860000001, + "image_frame_count": 2332, + "image_camera_frame_counts": { + "cam_wrist": 1166, + "cam_scene": 1166 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1074.5856, + "cam_scene": 1074.5856 + }, + "image_camera_storage_mb": { + "cam_wrist": 674.000645, + "cam_scene": 765.536141 + }, + "file_size_mb": 1442.085254, + "hdf5_write_s": 9.98751754197292, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.703602124005556e-05, + "total_s": 9.990697490051389 + } + }, + { + "episode_idx": 6, + "outcome": "success", + "file": "episode_000006_20260902_142300.hdf5", + "num_frames": 1135, + "duration_s": 37.8, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.57, + "file_size_mb": 1400.3, + "save_metrics": { + "validate_s": 0.0014034910127520561, + "prepare_arrays_s": 0.0014839089708402753, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5366320020984858, + "image_write_s": 8.989127781009302, + "image_chunking": "frame", + "image_input_mb": 2092.032, + "image_storage_mb": 1397.289314, + "image_frame_count": 2270, + "image_camera_frame_counts": { + "cam_wrist": 1135, + "cam_scene": 1135 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1046.016, + "cam_scene": 1046.016 + }, + "image_camera_storage_mb": { + "cam_wrist": 653.140941, + "cam_scene": 744.148373 + }, + "file_size_mb": 1400.274226, + "hdf5_write_s": 9.567107406910509, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.874697722494602e-05, + "total_s": 9.570133041939698 + } + }, + { + "episode_idx": 7, + "outcome": "success", + "file": "episode_000007_20260902_142444.hdf5", + "num_frames": 1125, + "duration_s": 37.467, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 2, + "save_time_s": 9.726, + "file_size_mb": 1387.3, + "save_metrics": { + "validate_s": 0.0012930050725117326, + "prepare_arrays_s": 0.0013749219942837954, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7487910109339282, + "image_write_s": 8.935936016961932, + "image_chunking": "frame", + "image_input_mb": 2073.6, + "image_storage_mb": 1385.070671, + "image_frame_count": 2250, + "image_camera_frame_counts": { + "cam_wrist": 1125, + "cam_scene": 1125 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1036.8, + "cam_scene": 1036.8 + }, + "image_camera_storage_mb": { + "cam_wrist": 646.453819, + "cam_scene": 738.616852 + }, + "file_size_mb": 1387.319343, + "hdf5_write_s": 9.723361238953657, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.064803943037987e-05, + "total_s": 9.726151302922517 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5249, + "duration_s": 20.99, + "measured_fps": 250.02, + "slow_ticks": 2, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 5376, + "duration_s": 21.498, + "measured_fps": 250.02, + "slow_ticks": 4, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 8, + "outcome": "success", + "file": "episode_000008_20260902_142818.hdf5", + "num_frames": 1131, + "duration_s": 37.667, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.653, + "file_size_mb": 1395.5, + "save_metrics": { + "validate_s": 0.001056537963449955, + "prepare_arrays_s": 0.0013035819865763187, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6284233970800415, + "image_write_s": 8.98353639000561, + "image_chunking": "frame", + "image_input_mb": 2084.6592, + "image_storage_mb": 1393.3855979999998, + "image_frame_count": 2262, + "image_camera_frame_counts": { + "cam_wrist": 1131, + "cam_scene": 1131 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1042.3296, + "cam_scene": 1042.3296 + }, + "image_camera_storage_mb": { + "cam_wrist": 651.108797, + "cam_scene": 742.276801 + }, + "file_size_mb": 1395.511974, + "hdf5_write_s": 9.650302972993813, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.819097764790058e-05, + "total_s": 9.652746404986829 + } + }, + { + "episode_idx": 9, + "outcome": "success", + "file": "episode_000009_20260902_143022.hdf5", + "num_frames": 1167, + "duration_s": 38.867, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.27, + "file_size_mb": 1437.8, + "save_metrics": { + "validate_s": 0.0019120790529996157, + "prepare_arrays_s": 0.0023395209573209286, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9239589140051976, + "image_write_s": 9.290307525079697, + "image_chunking": "frame", + "image_input_mb": 2151.0144, + "image_storage_mb": 1435.2660700000001, + "image_frame_count": 2334, + "image_camera_frame_counts": { + "cam_wrist": 1167, + "cam_scene": 1167 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1075.5072, + "cam_scene": 1075.5072 + }, + "image_camera_storage_mb": { + "cam_wrist": 669.6676, + "cam_scene": 765.59847 + }, + "file_size_mb": 1437.799386, + "hdf5_write_s": 10.265373087953776, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.1252002120018005e-05, + "total_s": 10.26977639598772 + } + }, + { + "episode_idx": 10, + "outcome": "success", + "file": "episode_000010_20260902_143222.hdf5", + "num_frames": 1148, + "duration_s": 38.233, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.665, + "file_size_mb": 1413.5, + "save_metrics": { + "validate_s": 0.0016155909979715943, + "prepare_arrays_s": 0.0016984009416773915, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.49458820710424334, + "image_write_s": 9.12484341696836, + "image_chunking": "frame", + "image_input_mb": 2115.9936, + "image_storage_mb": 1410.932921, + "image_frame_count": 2296, + "image_camera_frame_counts": { + "cam_wrist": 1148, + "cam_scene": 1148 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1057.9968, + "cam_scene": 1057.9968 + }, + "image_camera_storage_mb": { + "cam_wrist": 661.728454, + "cam_scene": 749.204467 + }, + "file_size_mb": 1413.502473, + "hdf5_write_s": 9.661840192973614, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.86690953746438e-05, + "total_s": 9.665288763004355 + } + }, + { + "episode_idx": 11, + "outcome": "success", + "file": "episode_000011_20260902_143410.hdf5", + "num_frames": 1146, + "duration_s": 38.167, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.295, + "file_size_mb": 1414.6, + "save_metrics": { + "validate_s": 0.0012391209602355957, + "prepare_arrays_s": 0.0014270769897848368, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.1054030630039051, + "image_write_s": 9.13980503496714, + "image_chunking": "frame", + "image_input_mb": 2112.3072, + "image_storage_mb": 1412.203386, + "image_frame_count": 2292, + "image_camera_frame_counts": { + "cam_wrist": 1146, + "cam_scene": 1146 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1056.1536, + "cam_scene": 1056.1536 + }, + "image_camera_storage_mb": { + "cam_wrist": 661.675499, + "cam_scene": 750.527887 + }, + "file_size_mb": 1414.569222, + "hdf5_write_s": 10.291916131041944, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.183000419288874e-05, + "total_s": 10.294679683982395 + } + }, + { + "episode_idx": 12, + "outcome": "success", + "file": "episode_000012_20260902_143609.hdf5", + "num_frames": 1110, + "duration_s": 36.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.657, + "file_size_mb": 1369.2, + "save_metrics": { + "validate_s": 0.0011192410020157695, + "prepare_arrays_s": 0.0014640020672231913, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7003035539528355, + "image_write_s": 8.910112735931762, + "image_chunking": "frame", + "image_input_mb": 2045.952, + "image_storage_mb": 1366.961245, + "image_frame_count": 2220, + "image_camera_frame_counts": { + "cam_wrist": 1110, + "cam_scene": 1110 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1022.976, + "cam_scene": 1022.976 + }, + "image_camera_storage_mb": { + "cam_wrist": 638.019699, + "cam_scene": 728.941546 + }, + "file_size_mb": 1369.249909, + "hdf5_write_s": 9.653839464997873, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.866699989885092e-05, + "total_s": 9.65651523694396 + } + }, + { + "episode_idx": 13, + "outcome": "success", + "file": "episode_000013_20260902_143800.hdf5", + "num_frames": 1102, + "duration_s": 36.7, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.555, + "file_size_mb": 1360.4, + "save_metrics": { + "validate_s": 0.001143228029832244, + "prepare_arrays_s": 0.0019465780351310968, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7591530079953372, + "image_write_s": 8.751433108118363, + "image_chunking": "frame", + "image_input_mb": 2031.2064, + "image_storage_mb": 1358.006312, + "image_frame_count": 2204, + "image_camera_frame_counts": { + "cam_wrist": 1102, + "cam_scene": 1102 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1015.6032, + "cam_scene": 1015.6032 + }, + "image_camera_storage_mb": { + "cam_wrist": 632.891922, + "cam_scene": 725.11439 + }, + "file_size_mb": 1360.375004, + "hdf5_write_s": 9.552048971992917, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.883603494614363e-05, + "total_s": 9.55531606299337 + } + }, + { + "episode_idx": 14, + "outcome": "success", + "file": "episode_000014_20260902_143948.hdf5", + "num_frames": 1120, + "duration_s": 37.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.927, + "file_size_mb": 1382.3, + "save_metrics": { + "validate_s": 0.0014546849997714162, + "prepare_arrays_s": 0.001308137085288763, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9388992869062349, + "image_write_s": 8.940808695042506, + "image_chunking": "frame", + "image_input_mb": 2064.384, + "image_storage_mb": 1380.014751, + "image_frame_count": 2240, + "image_camera_frame_counts": { + "cam_wrist": 1120, + "cam_scene": 1120 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1032.192, + "cam_scene": 1032.192 + }, + "image_camera_storage_mb": { + "cam_wrist": 642.895283, + "cam_scene": 737.119468 + }, + "file_size_mb": 1382.283343, + "hdf5_write_s": 9.92355944099836, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.1257007978856564e-05, + "total_s": 9.926545961061493 + } + }, + { + "episode_idx": 15, + "outcome": "success", + "file": "episode_000015_20260902_144244.hdf5", + "num_frames": 1089, + "duration_s": 36.267, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.48, + "file_size_mb": 1344.3, + "save_metrics": { + "validate_s": 0.0012149120448157191, + "prepare_arrays_s": 0.0013643550919368863, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6941304299980402, + "image_write_s": 8.740321875899099, + "image_chunking": "frame", + "image_input_mb": 2007.2448, + "image_storage_mb": 1341.070669, + "image_frame_count": 2178, + "image_camera_frame_counts": { + "cam_wrist": 1089, + "cam_scene": 1089 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1003.6224, + "cam_scene": 1003.6224 + }, + "image_camera_storage_mb": { + "cam_wrist": 624.211153, + "cam_scene": 716.859516 + }, + "file_size_mb": 1344.251733, + "hdf5_write_s": 9.477487092022784, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.949191886931658e-05, + "total_s": 9.48018544097431 + } + }, + { + "episode_idx": 16, + "outcome": "success", + "file": "episode_000016_20260902_144451.hdf5", + "num_frames": 1140, + "duration_s": 37.967, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.754, + "file_size_mb": 1406.5, + "save_metrics": { + "validate_s": 0.0013534220634028316, + "prepare_arrays_s": 0.0015033810632303357, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.3219538379926234, + "image_write_s": 9.385354088037275, + "image_chunking": "frame", + "image_input_mb": 2101.248, + "image_storage_mb": 1404.273963, + "image_frame_count": 2280, + "image_camera_frame_counts": { + "cam_wrist": 1140, + "cam_scene": 1140 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1050.624, + "cam_scene": 1050.624 + }, + "image_camera_storage_mb": { + "cam_wrist": 656.303168, + "cam_scene": 747.970795 + }, + "file_size_mb": 1406.516551, + "hdf5_write_s": 10.750830160919577, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.1387975215911865e-05, + "total_s": 10.753844467923045 + } + }, + { + "episode_idx": 17, + "outcome": "success", + "file": "episode_000017_20260902_144641.hdf5", + "num_frames": 1123, + "duration_s": 37.4, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.657, + "file_size_mb": 1390.7, + "save_metrics": { + "validate_s": 0.0011313320137560368, + "prepare_arrays_s": 0.001299942028708756, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.52142390597146, + "image_write_s": 9.094539974001236, + "image_chunking": "frame", + "image_input_mb": 2069.9136, + "image_storage_mb": 1388.251438, + "image_frame_count": 2246, + "image_camera_frame_counts": { + "cam_wrist": 1123, + "cam_scene": 1123 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1034.9568, + "cam_scene": 1034.9568 + }, + "image_camera_storage_mb": { + "cam_wrist": 651.851476, + "cam_scene": 736.399962 + }, + "file_size_mb": 1390.710634, + "hdf5_write_s": 9.654669524054043, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.688898868858814e-05, + "total_s": 9.657193235005252 + } + }, + { + "episode_idx": 18, + "outcome": "success", + "file": "episode_000018_20260902_144836.hdf5", + "num_frames": 1149, + "duration_s": 38.267, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.027, + "file_size_mb": 1419.9, + "save_metrics": { + "validate_s": 0.00122009904589504, + "prepare_arrays_s": 0.0013822449836879969, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8626080920221284, + "image_write_s": 9.118081139051355, + "image_chunking": "frame", + "image_input_mb": 2117.8368, + "image_storage_mb": 1417.555675, + "image_frame_count": 2298, + "image_camera_frame_counts": { + "cam_wrist": 1149, + "cam_scene": 1149 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1058.9184, + "cam_scene": 1058.9184 + }, + "image_camera_storage_mb": { + "cam_wrist": 666.429085, + "cam_scene": 751.12659 + }, + "file_size_mb": 1419.863699, + "hdf5_write_s": 10.023868276970461, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.156096838414669e-05, + "total_s": 10.02657118998468 + } + }, + { + "episode_idx": 19, + "outcome": "success", + "file": "episode_000019_20260902_145029.hdf5", + "num_frames": 1130, + "duration_s": 37.633, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.597, + "file_size_mb": 1387.9, + "save_metrics": { + "validate_s": 0.0012048539938405156, + "prepare_arrays_s": 0.0012952840188518167, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6266881040064618, + "image_write_s": 8.92818453698419, + "image_chunking": "frame", + "image_input_mb": 2082.816, + "image_storage_mb": 1385.601003, + "image_frame_count": 2260, + "image_camera_frame_counts": { + "cam_wrist": 1130, + "cam_scene": 1130 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1041.408, + "cam_scene": 1041.408 + }, + "image_camera_storage_mb": { + "cam_wrist": 648.032778, + "cam_scene": 737.568225 + }, + "file_size_mb": 1387.861815, + "hdf5_write_s": 9.594863369944505, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.956502769142389e-05, + "total_s": 9.597458261996508 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 8161, + "duration_s": 32.636, + "measured_fps": 250.03, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 20, + "outcome": "success", + "file": "episode_000020_20260902_145414.hdf5", + "num_frames": 1125, + "duration_s": 37.467, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.956, + "file_size_mb": 1390.5, + "save_metrics": { + "validate_s": 0.001012227963656187, + "prepare_arrays_s": 0.0012956679565832019, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9268059351015836, + "image_write_s": 8.984952386002988, + "image_chunking": "frame", + "image_input_mb": 2073.6, + "image_storage_mb": 1388.048823, + "image_frame_count": 2250, + "image_camera_frame_counts": { + "cam_wrist": 1125, + "cam_scene": 1125 + }, + "image_camera_chunks": { + "cam_wrist": [ + 1, + 480, + 640, + 3 + ], + "cam_scene": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_wrist": 1036.8, + "cam_scene": 1036.8 + }, + "image_camera_storage_mb": { + "cam_wrist": 650.067248, + "cam_scene": 737.981575 + }, + "file_size_mb": 1390.524675, + "hdf5_write_s": 9.953460450051352, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.275504034012556e-05, + "total_s": 9.955872528953478 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000000_20260902_145749.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000000_20260902_145749.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b39978f574b7e41aa85b4730c01efcc0135566d5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000000_20260902_145749.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09367cdaa7cf90232d81c203e284cb023a7ecd9d2c613d239d60c9ab048e651b +size 1399345015 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000001_20260902_145952.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000001_20260902_145952.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..13a84af47327f93bbf239432ba6d055c5ce2ae26 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000001_20260902_145952.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd7acbeafa27b031b01d748db0cd7bcbb6e2c2e913a3c11ffec64b5deeb49301 +size 1428475287 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000002_20260902_150205.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000002_20260902_150205.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..aa96a6ac4643743f40a01fb418d90d3d9413b6b5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/episode_000002_20260902_150205.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a985355eea085784004598d0fcc2c3ac213165bf0dd3dc09b0915cf60ca877c +size 1398926617 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.json b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.json new file mode 100644 index 0000000000000000000000000000000000000000..69a150d1b1e1cc48f3bd8a9bde2b9409285d34ed --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.json @@ -0,0 +1,674 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:57:45", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1145, + "actual_playback_duration_s": 38.17975979798939, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.0060738325119018555, + "aligned_p95_error_rad": 0.001993548823520541, + "aligned_rms_error_rad": 0.0009074838048704238, + "aligned_samples": 1145, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 1.6040000000000005, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1145, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1145, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.740348244962594, + "image_frame_counts": { + "cam_scene": 1145, + "cam_wrist": 1145 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005377292633056641, + 0.005255185067653656, + 0.005606591701507568, + 0.004298822954297066, + 0.004925072193145752, + 0.0060738325119018555 + ], + "joint_lag_p95_error_rad": [ + 0.001578628784045577, + 0.0017172332154586911, + 0.00209361151792109, + 0.0013516874751076102, + 0.002340697217732668, + 0.0025638577062636614 + ], + "joint_lag_rms_error_rad": [ + 0.0007591298222278243, + 0.0008991939278515579, + 0.0010193487711664686, + 0.0005230977683401395, + 0.0009778636452369976, + 0.0011346421588036622 + ], + "joint_lag_samples": [ + 1145, + 1145, + 1145, + 1145, + 1145, + 1145 + ], + "joint_lag_worst_time_s": [ + 13.295, + 13.319, + 1.6120000000000005, + 4.676, + 16.623, + 1.6040000000000005 + ], + "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": 0.00707578391302377, + "leadthrough_capture_egm_poll_duration_median_s": 0.003956021973863244, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00436072169104591, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005150348620954894, + "leadthrough_capture_egm_poll_duration_warn_count": 2442, + "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": 0.007126337033696473, + "leadthrough_capture_host_loop_dt_median_s": 0.003987860050983727, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043985971715301275, + "leadthrough_capture_host_loop_dt_p99_s": 0.005196432108059524, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007110079983249307, + "leadthrough_capture_host_receive_dt_median_s": 0.0039903889410197735, + "leadthrough_capture_host_receive_dt_p95_s": 0.004382989322766662, + "leadthrough_capture_host_receive_dt_p99_s": 0.005160766986664383, + "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": 0.01531518204137683, + "leadthrough_capture_loop_late_median_s": 0.009277493110857904, + "leadthrough_capture_loop_late_p95_s": 0.009604631020920351, + "leadthrough_capture_loop_late_p99_s": 0.010529278565663843, + "leadthrough_capture_loop_late_warn_count": 6528, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007107211044058204, + "leadthrough_capture_read_duration_median_s": 0.003973007493186742, + "leadthrough_capture_read_duration_p95_s": 0.0043833541509229685, + "leadthrough_capture_read_duration_p99_s": 0.00517969873268157, + "leadthrough_capture_read_duration_warn_count": 2719, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 11, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0035293549299240112, + 0.002733975648880005, + 0.0042120590806007385, + 0.00284026563167572, + 0.003193199634552002, + 0.007068276405334473 + ], + "leadthrough_delta_max_abs_rad": 0.007068276405334473, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017315639415755868, + 0.0022591941524297, + 0.0030161915346980095, + 0.0004219639231450856, + 0.0017484420677646995, + 0.00470611872151494 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007527050911448896, + 0.0009072107495740056, + 0.0012130161048844457, + 0.0003135910374112427, + 0.0006876083789393306, + 0.0015583315398544073 + ], + "leadthrough_delta_samples": 5485, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007068276405334473, + "leadthrough_delta_worst_from_rad": -0.623306155204773, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.988, + "leadthrough_delta_worst_to_rad": -0.6303744316101074, + "leadthrough_duration_s": 21.938000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5484, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.4559999999999995, + "leadthrough_final_stillness_removed_samples": 114, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5485, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6528, + "leadthrough_initial_stillness_first_motion_index": 929, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.711, + "leadthrough_initial_stillness_removed_samples": 928, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 928, + "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": [ + 0.0035293549299240112, + 0.002733975648880005, + 0.0042120590806007385, + 0.00284026563167572, + 0.003193199634552002, + 0.007068276405334473 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007068276405334473, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8823387324807082, + 0.6834939122200765, + 1.0530147701503005, + 0.7100664079193236, + 0.7982999086377339, + 1.7670691013338127 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7600059509277344, + "leadthrough_velocity_rms_rad_s": 0.24617376882343248, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0060738325119018555, + "measured_wall_accel_p95_abs_rad_s2": 0.4067302644252777, + "measured_wall_accel_peak_abs_rad_s2": 2.0973455905914307, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.19624546193518, + "measured_wall_accel_rms_rad_s2": 0.20891101094450795, + "measured_wall_jerk_p95_abs_rad_s3": 7.339626789093018, + "measured_wall_jerk_peak_abs_rad_s3": 41.64910888671875, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.663406106992625, + "measured_wall_jerk_rms_rad_s3": 3.771157288193857, + "measured_wall_smoothness_samples": 1145, + "measured_wall_velocity_peak_abs_rad_s": 0.5410726070404053, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 17.063999873935245, + "measured_wall_velocity_rms_rad_s": 0.10041061550246988, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.0060738325119018555, + "moving_aligned_p95_error_rad": 0.0022857217118144035, + "moving_aligned_rms_error_rad": 0.0010533904405857096, + "moving_aligned_samples": 835, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 1.6040000000000005, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005377292633056641, + 0.005255185067653656, + 0.005606591701507568, + 0.0025941431522369385, + 0.004171133041381836, + 0.0060738325119018555 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0017935697687789798, + 0.0019356607226654887, + 0.0027338392101228237, + 0.002055044984444976, + 0.0026413435116410255, + 0.0030504707247018814 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009068639141200992, + 0.00105860229361602, + 0.0012861529593487507, + 0.0010597775785380057, + 0.0011437827286038974, + 0.0016291129487646153 + ], + "moving_joint_lag_samples": [ + 720, + 785, + 677, + 190, + 685, + 489 + ], + "moving_joint_lag_worst_time_s": [ + 13.295, + 13.319, + 1.6120000000000005, + 20.450000000000003, + 4.676, + 1.6040000000000005 + ], + "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": 2.1029672622680664, + "playback_velocity_rms_rad_s": 0.4519179188410361, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.876, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.938000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2248, + 4595 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43063318188554894, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08704191446304321, + "rapid_planner_max_dt_s": 1.9800000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007515966892242432, + "rapid_planner_median_dt_s": 0.08000000000000007, + "rapid_planner_path_max_error_rad": 0.0060738325119018555, + "rapid_planner_path_p95_error_rad": 0.002978396415710449, + "rapid_planner_path_rms_error_rad": 0.0015489719991476087, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 51, + 99, + 120, + 139, + 150, + 160, + 173, + 186, + 194, + 202, + 210, + 218, + 228, + 238, + 248, + 257, + 266, + 274, + 283, + 292, + 300, + 309, + 318, + 326, + 337, + 348, + 359, + 370, + 381, + 392, + 415, + 441, + 467, + 491, + 515, + 537, + 566, + 612, + 657, + 716, + 778, + 815, + 859, + 947, + 1015, + 1093, + 1241, + 1472, + 1563, + 1632, + 1796, + 1979, + 2248, + 2743, + 2811, + 2851, + 2870, + 2890, + 2910, + 2927, + 2942, + 2956, + 2970, + 2984, + 3004, + 3024, + 3044, + 3064, + 3077, + 3090, + 3104, + 3117, + 3138, + 3155, + 3173, + 3186, + 3200, + 3214, + 3228, + 3239, + 3250, + 3260, + 3271, + 3286, + 3303, + 3359, + 3401, + 3435, + 3475, + 3540, + 3577, + 3635, + 3709, + 3750, + 3898, + 3971, + 4051, + 4479, + 4595, + 4855, + 4899, + 4933, + 4954, + 4974, + 4994, + 5014, + 5029, + 5046, + 5065, + 5084, + 5102, + 5120, + 5140, + 5160, + 5190, + 5236, + 5278, + 5485 + ], + "rapid_planner_selected_max_joint_step_deg": 4.987134339471095, + "rapid_planner_selected_samples": 119, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5486, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 119, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0060738325119018555, + "raw_replay_rms_error_rad": 0.0009074838048704238, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7941914208227759, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9574229688980409, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8340348049783967, + "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": 0.5808314695477995, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.983565380691136, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8973650644438022, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005345642566680908, + 0.0005560517311096191, + 0.0013152360916137695, + 0.0020801126956939697, + 0.0024306774139404297, + 0.008154630661010742 + ], + "replay_smoothing_max_deviation_normalized": 0.9344518479663912, + "replay_smoothing_max_deviation_rad": 0.008154630661010742, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.00214424729347229, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.340644598007202, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 29.51426887512207, + "replay_smoothing_raw_accel_rms_rad_s2": 1.228585215009968, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 278.9170227050781, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 7114.3349609375, + "replay_smoothing_raw_jerk_rms_rad_s3": 213.3911848830596, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7666220664978027, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24726130365424226, + "replay_smoothing_rms_deviation_rad": 0.0011203271455668363, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.8589198589324951, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 28.257638931274414, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.0246828302001803, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 162.0037841796875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 6997.41357421875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 191.48979437432607, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7600059509277344, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24617376882343248, + "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": 0.9962549343770033, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.995601678003241, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.568, + "replay_smoothing_wrist_max_deviation_rad": 0.008154630661010742, + "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": 0.0060738325119018555, + "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": 0.031821608543395996, + "stage_planned_to_measured_rms_error_rad": 0.00595474067290275, + "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": 1145, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.74884033203125, + "target_wall_accel_peak_abs_rad_s2": 3.4625868797302246, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 27.400089996051975, + "target_wall_accel_rms_rad_s2": 0.3613591852069596, + "target_wall_jerk_p95_abs_rad_s3": 18.989728927612305, + "target_wall_jerk_peak_abs_rad_s3": 71.92168426513672, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.4667383920168504, + "target_wall_jerk_rms_rad_s3": 8.72139098800757, + "target_wall_smoothness_samples": 1145, + "target_wall_velocity_peak_abs_rad_s": 0.6331141591072083, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.4667383920168504, + "target_wall_velocity_rms_rad_s": 0.1014291218468409, + "tcp_pose_count": 1145, + "timestamp_count": 1145, + "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": 1.260000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.94, + "window_lag_best_lag_p95_abs_s": 1.251000000000003, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.1300000000000026, + "window_lag_worst_end_s": 9.0, + "window_lag_worst_max_error_rad": 0.012827575206756592, + "window_lag_worst_rms_error_rad": 0.0016563248607478034, + "window_lag_worst_start_s": 8.0, + "zero_lag_max_error_rad": 0.0060738325119018555, + "zero_lag_p95_error_rad": 0.001993548823520541, + "zero_lag_rms_error_rad": 0.0009074838048704238, + "zero_lag_samples": 1145, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 1.6040000000000005 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.npz b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f915812f14981580b4cccebd484d67adee70031 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145744.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef1f6fdbd874ded21c5d78dcb4d6c1a373e027f2241721e69615b43656ba7343 +size 120425 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.json b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.json new file mode 100644 index 0000000000000000000000000000000000000000..a71a800d76d61dd8020bfdee9d0c1b23b1baf340 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T14:59:49", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1166, + "actual_playback_duration_s": 38.88266778399702, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006892263889312744, + "aligned_p95_error_rad": 0.002208516001701355, + "aligned_rms_error_rad": 0.0009606883703845238, + "aligned_samples": 1166, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 12.277999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1166, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1166, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.88595177688301, + "image_frame_counts": { + "cam_scene": 1166, + "cam_wrist": 1166 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005137622356414795, + 0.0040642619132995605, + 0.00567278265953064, + 0.004199124872684479, + 0.006871163845062256, + 0.006892263889312744 + ], + "joint_lag_p95_error_rad": [ + 0.0017303526401519775, + 0.001933007501065731, + 0.0023744963109493256, + 0.001490255817770958, + 0.0025212466716766357, + 0.002717256546020508 + ], + "joint_lag_rms_error_rad": [ + 0.0007938045002016016, + 0.0008889162948566547, + 0.0010348605315596508, + 0.0006242788442115589, + 0.001139261045929839, + 0.0011656152796987698 + ], + "joint_lag_samples": [ + 1166, + 1166, + 1166, + 1166, + 1166, + 1166 + ], + "joint_lag_worst_time_s": [ + 12.262999999999998, + 9.451, + 1.468, + 12.318000000000001, + 12.262999999999998, + 12.277999999999999 + ], + "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": 0.006502992007881403, + "leadthrough_capture_egm_poll_duration_median_s": 0.003984403447248042, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004220008646370843, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004596198550425465, + "leadthrough_capture_egm_poll_duration_warn_count": 2770, + "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": 0.006555084022693336, + "leadthrough_capture_host_loop_dt_median_s": 0.004016677965410054, + "leadthrough_capture_host_loop_dt_p95_s": 0.004255376674700528, + "leadthrough_capture_host_loop_dt_p99_s": 0.004642285869922488, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00654285098426044, + "leadthrough_capture_host_receive_dt_median_s": 0.0040198019705712795, + "leadthrough_capture_host_receive_dt_p95_s": 0.004244274413213134, + "leadthrough_capture_host_receive_dt_p99_s": 0.004608173838350921, + "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": 0.01348671701271087, + "leadthrough_capture_loop_late_median_s": 0.006086989538744092, + "leadthrough_capture_loop_late_p95_s": 0.0063452248577959836, + "leadthrough_capture_loop_late_p99_s": 0.006792273906758048, + "leadthrough_capture_loop_late_warn_count": 6228, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006535271997563541, + "leadthrough_capture_read_duration_median_s": 0.004002677975222468, + "leadthrough_capture_read_duration_p95_s": 0.004240273247705773, + "leadthrough_capture_read_duration_p99_s": 0.004625333147123454, + "leadthrough_capture_read_duration_warn_count": 3164, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0030296146869659424, + 0.0029021799564361572, + 0.004208862781524658, + 0.003991350531578064, + 0.0040901899337768555, + 0.00704193115234375 + ], + "leadthrough_delta_max_abs_rad": 0.00704193115234375, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0016671284101903439, + 0.0023883364629000425, + 0.0033776324708014727, + 0.0006365403532981873, + 0.0017371177673339844, + 0.0049139587208628654 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007127149729058146, + 0.0009974301792681217, + 0.001331042847596109, + 0.0005071903578937054, + 0.000851762481033802, + 0.0015116713475435972 + ], + "leadthrough_delta_samples": 5155, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00704193115234375, + "leadthrough_delta_worst_from_rad": -1.1193350553512573, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 1.1719999999999997, + "leadthrough_delta_worst_to_rad": -1.126376986503601, + "leadthrough_duration_s": 20.617, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5154, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.588000000000001, + "leadthrough_final_stillness_removed_samples": 147, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5155, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6228, + "leadthrough_initial_stillness_first_motion_index": 926, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.7, + "leadthrough_initial_stillness_removed_samples": 925, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 925, + "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": [ + 0.0030296146869659424, + 0.0029021799564361572, + 0.004208862781524658, + 0.003991350531578064, + 0.0040901899337768555, + 0.00704193115234375 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00704193115234375, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0033448537190375, + 0.9604692459106081, + 1.052215695380813, + 1.3252546389897162, + 1.3027191162108882, + 1.7604827880861313 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7228275537490845, + "leadthrough_velocity_rms_rad_s": 0.2637805618570033, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006892263889312744, + "measured_wall_accel_p95_abs_rad_s2": 0.44168251752853394, + "measured_wall_accel_peak_abs_rad_s2": 3.006519317626953, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 41.104453638079576, + "measured_wall_accel_rms_rad_s2": 0.2185938177949662, + "measured_wall_jerk_p95_abs_rad_s3": 7.819437503814697, + "measured_wall_jerk_peak_abs_rad_s3": 53.402767181396484, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.17201962706167, + "measured_wall_jerk_rms_rad_s3": 3.7152166756025817, + "measured_wall_smoothness_samples": 1166, + "measured_wall_velocity_peak_abs_rad_s": 0.47314780950546265, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 19.0047804081114, + "measured_wall_velocity_rms_rad_s": 0.10065131358404943, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006892263889312744, + "moving_aligned_p95_error_rad": 0.0024795718491077423, + "moving_aligned_rms_error_rad": 0.001108625065739428, + "moving_aligned_samples": 869, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 12.277999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005137622356414795, + 0.0040642619132995605, + 0.00567278265953064, + 0.004199124872684479, + 0.006871163845062256, + 0.006892263889312744 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021003142464905977, + 0.0021274685859680176, + 0.0028017270378768444, + 0.0024552412796765566, + 0.0029590725898742676, + 0.0034977744799107313 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009439474963518716, + 0.0010142321862439414, + 0.0012562721637422699, + 0.0012459997777135067, + 0.0014195706170132762, + 0.0017501111879419833 + ], + "moving_joint_lag_samples": [ + 762, + 831, + 713, + 235, + 711, + 464 + ], + "moving_joint_lag_worst_time_s": [ + 12.262999999999998, + 9.451, + 1.468, + 12.318000000000001, + 12.262999999999998, + 12.277999999999999 + ], + "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": 2.270296096801758, + "playback_velocity_rms_rad_s": 0.4795492305906446, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 71.23400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.617, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1733, + 4253 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4369955030974158, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0871569812297821, + "rapid_planner_max_dt_s": 2.3640000000000008, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007627010345458984, + "rapid_planner_median_dt_s": 0.07600000000000051, + "rapid_planner_path_max_error_rad": 0.006892263889312744, + "rapid_planner_path_p95_error_rad": 0.003099679946899414, + "rapid_planner_path_rms_error_rad": 0.0015985462947141645, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 29, + 52, + 70, + 88, + 104, + 119, + 134, + 150, + 159, + 168, + 177, + 186, + 195, + 204, + 212, + 221, + 233, + 245, + 257, + 269, + 280, + 292, + 304, + 315, + 324, + 332, + 354, + 379, + 402, + 425, + 442, + 460, + 495, + 530, + 583, + 639, + 699, + 762, + 878, + 997, + 1051, + 1142, + 1733, + 2288, + 2328, + 2379, + 2404, + 2433, + 2450, + 2466, + 2482, + 2498, + 2512, + 2526, + 2540, + 2553, + 2574, + 2594, + 2610, + 2627, + 2652, + 2678, + 2716, + 2736, + 2766, + 2786, + 2807, + 2820, + 2832, + 2844, + 2857, + 2870, + 2882, + 2901, + 2923, + 2947, + 2987, + 3041, + 3105, + 3158, + 3253, + 3315, + 3434, + 3536, + 3657, + 3738, + 4043, + 4253, + 4583, + 4640, + 4666, + 4689, + 4709, + 4721, + 4733, + 4750, + 4767, + 4783, + 4799, + 4819, + 4840, + 4855, + 4870, + 4884, + 4897, + 4915, + 4933, + 4952, + 4970, + 5011, + 5067, + 5155 + ], + "rapid_planner_selected_max_joint_step_deg": 4.9937271795674505, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5156, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006892263889312744, + "raw_replay_rms_error_rad": 0.0009606883703845238, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9709722279590979, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9935632255676939, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.977351710907199, + "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": 0.9913311430458924, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.99495942365848, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9874057264650028, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0004046410322189331, + 0.0011290311813354492, + 0.00167769193649292, + 0.0029657110571861267, + 0.004103422164916992, + 0.004639148712158203 + ], + "replay_smoothing_max_deviation_normalized": 0.5316072875984574, + "replay_smoothing_max_deviation_rad": 0.004639148712158203, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001807045191526413, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.533991813659668, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 49.3646354675293, + "replay_smoothing_raw_accel_rms_rad_s2": 3.4942718803072434, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1476.9498291015625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14089.953125, + "replay_smoothing_raw_jerk_rms_rad_s3": 895.5476761540697, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7592906951904297, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2645585261661051, + "replay_smoothing_rms_deviation_rad": 0.0008158450278925395, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.344324588775635, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.0468864440918, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4151326005931995, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1464.1463623046875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14018.931640625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 884.2689037569543, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7228275537490845, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2637805618570033, + "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": 0.9792739531101775, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970593867437358, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.428, + "replay_smoothing_wrist_max_deviation_rad": 0.004639148712158203, + "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": 0.006892263889312744, + "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": 0.027167081832885742, + "stage_planned_to_measured_rms_error_rad": 0.005970060769050189, + "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": 1166, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7453868389129639, + "target_wall_accel_peak_abs_rad_s2": 3.0741639137268066, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 38.766723765060306, + "target_wall_accel_rms_rad_s2": 0.33552116948960553, + "target_wall_jerk_p95_abs_rad_s3": 17.429576873779297, + "target_wall_jerk_peak_abs_rad_s3": 76.75354766845703, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 3.3000887640519068, + "target_wall_jerk_rms_rad_s3": 7.800565183004341, + "target_wall_smoothness_samples": 1166, + "target_wall_velocity_peak_abs_rad_s": 0.5160697102546692, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 4.200063880998641, + "target_wall_velocity_rms_rad_s": 0.10162843178878812, + "tcp_pose_count": 1166, + "timestamp_count": 1166, + "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": -1.4199999999999995, + "window_lag_best_lag_p95_abs_s": 0.9439999999999961, + "window_lag_count": 25, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 13.0, + "window_lag_worst_max_error_rad": 0.006892263889312744, + "window_lag_worst_rms_error_rad": 0.0022600518118665366, + "window_lag_worst_start_s": 12.0, + "zero_lag_max_error_rad": 0.006892263889312744, + "zero_lag_p95_error_rad": 0.002208516001701355, + "zero_lag_rms_error_rad": 0.0009606883703845238, + "zero_lag_samples": 1166, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 12.277999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.npz b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.npz new file mode 100644 index 0000000000000000000000000000000000000000..887ceacec0bec6d9db573618c647b3231ac0ac94 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_145948.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c459105b3d5a1844f0756aafc2fd2a3f3d36cabc83eaf1b114907efef17bed85 +size 122654 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.json b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.json new file mode 100644 index 0000000000000000000000000000000000000000..6b74424d9370b95526b6c82e269ebbfeb3ba8b1a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.json @@ -0,0 +1,669 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:01:48", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1144, + "actual_playback_duration_s": 38.14444772701245, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.1582421064376831, + "aligned_p95_error_rad": 0.0019854498095810413, + "aligned_rms_error_rad": 0.002423411687114201, + "aligned_samples": 1144, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 23.173000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1144, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1144, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6460729179222562, + "image_frame_counts": { + "cam_scene": 1144, + "cam_wrist": 1144 + }, + "joint_lag_best_lag_s": [ + 0.0, + -0.009999999999998233, + 0.0, + 0.0, + -0.009999999999998233, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.007554054260253906, + 0.008052349090576172, + 0.011716991662979126, + 0.004031926393508911, + 0.008398592472076416, + 0.0053404271602630615 + ], + "joint_lag_p95_error_rad": [ + 0.0018354433123022318, + 0.006127560045570135, + 0.0019197941292077303, + 0.001772671821527183, + 0.005706166848540306, + 0.0021244853269308805 + ], + "joint_lag_rms_error_rad": [ + 0.000794970945381417, + 0.003337233146336508, + 0.0009733035364034785, + 0.0007237481598607445, + 0.0026888611834012125, + 0.000870698855975141 + ], + "joint_lag_samples": [ + 1144, + 1142, + 1144, + 1144, + 1142, + 1144 + ], + "joint_lag_worst_time_s": [ + 23.173000000000002, + 12.450000000000001, + 23.173000000000002, + 21.153, + 20.249000000000002, + 15.49 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 20, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0065934809390455484, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973321057856083, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004363913962151855, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005514607136137786, + "leadthrough_capture_egm_poll_duration_warn_count": 2865, + "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": 0.006684890016913414, + "leadthrough_capture_host_loop_dt_median_s": 0.004001858469564468, + "leadthrough_capture_host_loop_dt_p95_s": 0.004393870657077059, + "leadthrough_capture_host_loop_dt_p99_s": 0.005577844093786543, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006543098017573357, + "leadthrough_capture_host_receive_dt_median_s": 0.004003969952464104, + "leadthrough_capture_host_receive_dt_p95_s": 0.004384993086569011, + "leadthrough_capture_host_receive_dt_p99_s": 0.005527760506374761, + "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": 0.014966516988351941, + "leadthrough_capture_loop_late_median_s": 0.010798587813042104, + "leadthrough_capture_loop_late_p95_s": 0.01109814434312284, + "leadthrough_capture_loop_late_p99_s": 0.01234200283652172, + "leadthrough_capture_loop_late_warn_count": 6871, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006642414024099708, + "leadthrough_capture_read_duration_median_s": 0.00398917798884213, + "leadthrough_capture_read_duration_p95_s": 0.004381075501441956, + "leadthrough_capture_read_duration_p99_s": 0.005562755244318396, + "leadthrough_capture_read_duration_warn_count": 3193, + "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": 25, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0028714239597320557, + 0.002805471420288086, + 0.004120171070098877, + 0.0030529797077178955, + 0.002759993076324463, + 0.006893932819366455 + ], + "leadthrough_delta_max_abs_rad": 0.006893932819366455, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017876379424706101, + 0.0020435983315110207, + 0.003201560815796256, + 0.0008447158616036177, + 0.0017445773119106889, + 0.004284839611500502 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007057412876747549, + 0.0008675329154357314, + 0.0012323277769610286, + 0.0004517066408880055, + 0.0006702800164930522, + 0.0013388888910412788 + ], + "leadthrough_delta_samples": 5794, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006893932819366455, + "leadthrough_delta_worst_from_rad": -0.9459826350212097, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 13.461999999999998, + "leadthrough_delta_worst_to_rad": -0.9390887022018433, + "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": 5779, + "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": 5780, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6871, + "leadthrough_initial_stillness_first_motion_index": 1077, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.304, + "leadthrough_initial_stillness_removed_samples": 1076, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1076, + "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": [ + 0.0028714239597320557, + 0.002805471420288086, + 0.004120171070098877, + 0.0030529797077178955, + 0.002759993076324463, + 0.006893932819366455 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006893932819366455, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7178559899321366, + 0.7013678550717872, + 1.1169301966825698, + 0.7632449269298969, + 0.799139340718557, + 1.8157958984374312 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.704163908958435, + "leadthrough_velocity_rms_rad_s": 0.23638720375112052, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.1582421064376831, + "measured_wall_accel_p95_abs_rad_s2": 0.42694514989852905, + "measured_wall_accel_peak_abs_rad_s2": 312.2192687988281, + "measured_wall_accel_peak_joint": 2, + "measured_wall_accel_peak_time_s": 15.190731723909266, + "measured_wall_accel_rms_rad_s2": 9.972437749689512, + "measured_wall_jerk_p95_abs_rad_s3": 7.323077201843262, + "measured_wall_jerk_peak_abs_rad_s3": 4799.173828125, + "measured_wall_jerk_peak_joint": 2, + "measured_wall_jerk_peak_time_s": 15.22379108890891, + "measured_wall_jerk_rms_rad_s3": 125.79887821011243, + "measured_wall_smoothness_samples": 1144, + "measured_wall_velocity_peak_abs_rad_s": 20.122575759887695, + "measured_wall_velocity_peak_joint": 2, + "measured_wall_velocity_peak_time_s": 15.159337706980295, + "measured_wall_velocity_rms_rad_s": 0.4922522578859963, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.1582421064376831, + "moving_aligned_p95_error_rad": 0.002239781664684415, + "moving_aligned_rms_error_rad": 0.002812252028919436, + "moving_aligned_samples": 848, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 23.173000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0031233131885528564, + 0.00456160306930542, + 0.011716991662979126, + 0.004031926393508911, + 0.00480806827545166, + 0.0044258832931518555 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001926339347846806, + 0.0022136687766760588, + 0.002213812433183193, + 0.0029161537531763315, + 0.002759123221039772, + 0.002631759038195014 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008792168598273685, + 0.0010351913528465692, + 0.0011997296154303216, + 0.00137015946138592, + 0.001185267188033424, + 0.0013360356332862645 + ], + "moving_joint_lag_samples": [ + 735, + 783, + 714, + 291, + 657, + 395 + ], + "moving_joint_lag_worst_time_s": [ + 20.253, + 3.567, + 23.173000000000002, + 21.153, + 2.635, + 3.5069999999999997 + ], + "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": 19.825056076049805, + "playback_velocity_rms_rad_s": 0.5969682784546827, + "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": [ + 2264, + 4604 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4439213149158087, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08649516105651855, + "rapid_planner_max_dt_s": 3.2319999999999993, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0077478885650634766, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.1582421064376831, + "rapid_planner_path_p95_error_rad": 0.0029674053192138665, + "rapid_planner_path_rms_error_rad": 0.004897089779211238, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 26, + 55, + 76, + 87, + 98, + 116, + 134, + 149, + 164, + 180, + 196, + 208, + 220, + 232, + 245, + 264, + 283, + 298, + 314, + 330, + 346, + 363, + 378, + 401, + 418, + 434, + 450, + 466, + 498, + 518, + 538, + 579, + 633, + 707, + 780, + 843, + 934, + 980, + 1087, + 1895, + 2264, + 2804, + 2854, + 2896, + 2929, + 2969, + 2994, + 3020, + 3033, + 3046, + 3060, + 3073, + 3086, + 3099, + 3112, + 3125, + 3144, + 3163, + 3180, + 3197, + 3214, + 3231, + 3253, + 3275, + 3294, + 3313, + 3332, + 3340, + 3348, + 3356, + 3364, + 3371, + 3378, + 3386, + 3393, + 3406, + 3418, + 3439, + 3478, + 3499, + 3527, + 3569, + 3613, + 3679, + 3743, + 4002, + 4087, + 4311, + 4604, + 4952, + 4976, + 4997, + 5022, + 5048, + 5075, + 5098, + 5120, + 5143, + 5164, + 5186, + 5212, + 5239, + 5272, + 5302, + 5331, + 5352, + 5372, + 5476, + 5536, + 5591, + 5637, + 5729, + 5794 + ], + "rapid_planner_selected_max_joint_step_deg": 4.955807676842832, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5795, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.1582421064376831, + "raw_replay_rms_error_rad": 0.002423411687114201, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9789595593255336, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9625337220422605, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.985810684541783, + "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": 0.9484898352708073, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9878059860322159, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9941703947468328, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0011114687658846378, + 0.0005763471126556396, + 0.0009262561798095703, + 0.005345433950424194, + 0.0031412839889526367, + 0.004183053970336914 + ], + "replay_smoothing_max_deviation_normalized": 0.6125416147954705, + "replay_smoothing_max_deviation_rad": 0.005345433950424194, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021530415397137403, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.727138519287109, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.9011116027832, + "replay_smoothing_raw_accel_rms_rad_s2": 3.886442162849234, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 864.2484130859375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15080.3212890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 978.0046332424218, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7234832048416138, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23725485773391736, + "replay_smoothing_rms_deviation_rad": 0.0009073574306559199, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.606637001037598, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.88163757324219, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8312962089904508, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 819.7308349609375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14896.431640625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 972.3032522948499, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.704163908958435, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23638720375112052, + "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": 0.9887905516984982, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996342945341208, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 3, + "replay_smoothing_worst_time_s": 21.405, + "replay_smoothing_wrist_max_deviation_rad": 0.005345433950424194, + "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": 0.1582421064376831, + "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": 0.6341556310653687, + "stage_planned_to_measured_rms_error_rad": 0.014711850527046095, + "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": 1144, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.1582", + "target_wall_accel_p95_abs_rad_s2": 0.7658020257949829, + "target_wall_accel_peak_abs_rad_s2": 278.1725769042969, + "target_wall_accel_peak_joint": 2, + "target_wall_accel_peak_time_s": 7.10110180079937e-06, + "target_wall_accel_rms_rad_s2": 8.353051708856986, + "target_wall_jerk_p95_abs_rad_s3": 18.57114028930664, + "target_wall_jerk_peak_abs_rad_s3": 4168.77783203125, + "target_wall_jerk_peak_joint": 2, + "target_wall_jerk_peak_time_s": 0.06674035405740142, + "target_wall_jerk_rms_rad_s3": 102.45504994187259, + "target_wall_smoothness_samples": 1144, + "target_wall_velocity_peak_abs_rad_s": 18.5633602142334, + "target_wall_velocity_peak_joint": 2, + "target_wall_velocity_peak_time_s": 7.10110180079937e-06, + "target_wall_velocity_rms_rad_s": 0.4267255482969785, + "tcp_pose_count": 1144, + "timestamp_count": 1144, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.1582", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.8800000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2999999999999994, + "window_lag_best_lag_p95_abs_s": 1.6800000000000022, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.0, + "window_lag_worst_max_error_rad": 0.00480806827545166, + "window_lag_worst_rms_error_rad": 0.0015573201876101107, + "window_lag_worst_start_s": 2.0, + "zero_lag_max_error_rad": 0.1582421064376831, + "zero_lag_p95_error_rad": 0.0019854498095810413, + "zero_lag_rms_error_rad": 0.002423411687114201, + "zero_lag_samples": 1144, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 23.173000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.npz b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.npz new file mode 100644 index 0000000000000000000000000000000000000000..d46e6d95e29ada30c9af3deabc4fdd05fc0fd15a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_150147.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce6f327293480bc24693d95d067c0284e84ec4cb355f8e904ffede9a2e32e839 +size 120071 diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb437e9257e5335f59ac03b790dfc2dd6c3b503 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_manifest.json @@ -0,0 +1,211 @@ +{ + "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": 3, + "discard": 0, + "failure": 0, + "success": 3 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 38.135, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-55-15:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260902_145749.hdf5", + "file_size_mb": 1399.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1145, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.833, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-55-15:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260902_145952.hdf5", + "file_size_mb": 1428.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1166, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 18, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 38.1, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_14-55-15:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260902_150205.hdf5", + "file_size_mb": 1398.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1144, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "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": "2026-09-02T15:02:16", + "session_id": "flex_to_biotek_v2_2026-09-02_14-55-15", + "session_started": "2026-09-02T14:55:15", + "settings": { + "arm_mode": "egm", + "fps": 30, + "leadthrough_reference_hz": 250.0, + "max_duration": 180.0, + "num_episodes": 3, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": 250.0, + "playback_settle_s": 0.25, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.25, + "start_index": 0 + }, + "start_pose": { + "leadthrough_start_arm_mode": "", + "leadthrough_start_arm_source": "task_manifest", + "leadthrough_start_captured_at": "2026-06-26T16:17:49", + "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled", + "leadthrough_start_joints_deg": [ + 16.926, + -0.49, + 52.285, + 4.341, + 41.395, + 7.983 + ], + "leadthrough_start_joints_rad": [ + 0.295419, + -0.008551, + 0.912542, + 0.075773, + 0.722472, + 0.139336 + ], + "leadthrough_start_pose_enabled": true, + "leadthrough_start_pose_locked": true, + "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017", + "leadthrough_start_pose_notes": "", + "leadthrough_start_pose_project": "flex_to_biotek_v2", + "leadthrough_start_pose_role": "leadthrough_start", + "leadthrough_start_pose_saved_task_local": true, + "leadthrough_start_pose_source": "saved_pose", + "leadthrough_start_pose_uploaded": true, + "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady", + "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart", + "leadthrough_start_tcp_pos_m": [], + "leadthrough_start_tcp_quat": [], + "leadthrough_start_tool_command_supported": false, + "leadthrough_start_tool_commanded": false, + "leadthrough_start_tool_io_backend": "", + "leadthrough_start_tool_state": 0.0, + "leadthrough_start_tool_state_valid": true, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json" + }, + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "tool_signal": "read-only configured", + "tool_status": { + "backend": "rws_rapid_feedback", + "can_command": false, + "can_read": true, + "command_failures": 0, + "command_hysteresis": 0.05, + "command_mode": "binary", + "command_signal": "read-only configured", + "command_threshold": 0.5, + "configured": true, + "last_state": null, + "last_state_age_s": null, + "message": "read RAPID gripper feedback array configured", + "ok": true, + "read_failures": 0, + "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback", + "state_valid": false + }, + "updated_at": "2026-09-02T15:02:16" +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_summary.json b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b75efb5c5579f2d4df31ec94567a624ba4aef6c8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_14-55-15/session_summary.json @@ -0,0 +1,183 @@ +{ + "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": "2026-09-02T14:55:16", + "session_ended": "2026-09-02T15:02:16", + "counts": { + "attempted": 3, + "success": 3, + "failure": 0, + "discard": 0 + }, + "episodes": [ + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260902_145749.hdf5", + "num_frames": 1145, + "duration_s": 38.135, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.902, + "file_size_mb": 1399.3, + "save_metrics": { + "validate_s": 0.0014069299213588238, + "prepare_arrays_s": 0.0014279530150815845, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5091842669062316, + "image_write_s": 10.342809596913867, + "image_chunking": "frame", + "image_input_mb": 2110.464, + "image_storage_mb": 1396.9126310000001, + "image_frame_count": 2290, + "image_camera_frame_counts": { + "cam_scene": 1145, + "cam_wrist": 1145 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1055.232, + "cam_wrist": 1055.232 + }, + "image_camera_storage_mb": { + "cam_scene": 736.193705, + "cam_wrist": 660.718926 + }, + "file_size_mb": 1399.345015, + "hdf5_write_s": 10.898907424067147, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.7798075936734676e-05, + "total_s": 10.901837659999728 + } + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260902_145952.hdf5", + "num_frames": 1166, + "duration_s": 38.833, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.012, + "file_size_mb": 1428.5, + "save_metrics": { + "validate_s": 0.0010909230913966894, + "prepare_arrays_s": 0.0012606449890881777, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6256473689572886, + "image_write_s": 9.346859603072517, + "image_chunking": "frame", + "image_input_mb": 2149.1712, + "image_storage_mb": 1426.097919, + "image_frame_count": 2332, + "image_camera_frame_counts": { + "cam_scene": 1166, + "cam_wrist": 1166 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1074.5856, + "cam_wrist": 1074.5856 + }, + "image_camera_storage_mb": { + "cam_scene": 749.939918, + "cam_wrist": 676.158001 + }, + "file_size_mb": 1428.475287, + "hdf5_write_s": 10.00935255503282, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.833998925983906e-05, + "total_s": 10.011975063942373 + } + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260902_150205.hdf5", + "num_frames": 1144, + "duration_s": 38.1, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.181, + "file_size_mb": 1398.9, + "save_metrics": { + "validate_s": 0.0012723109684884548, + "prepare_arrays_s": 0.0012548610102385283, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.28889506298583, + "image_write_s": 9.845079979044385, + "image_chunking": "frame", + "image_input_mb": 2108.6208, + "image_storage_mb": 1396.4111010000001, + "image_frame_count": 2288, + "image_camera_frame_counts": { + "cam_scene": 1144, + "cam_wrist": 1144 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1054.3104, + "cam_wrist": 1054.3104 + }, + "image_camera_storage_mb": { + "cam_scene": 734.747782, + "cam_wrist": 661.663319 + }, + "file_size_mb": 1398.926617, + "hdf5_write_s": 10.17809649091214, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.162301775068045e-05, + "total_s": 10.1807224949589 + } + } + ] +} \ No newline at end of file diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000000_20260902_153525.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000000_20260902_153525.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..000e3037c097b85e7df730e45aa32cf3981f1d5d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000000_20260902_153525.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4719865bfe5daaab23b98dd429c36e291afdc8abf9f5f0a1630dea6a8e2b28e +size 1164936383 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000001_20260902_153739.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000001_20260902_153739.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..98e8d9c604e17d41cb8f0bfdc252d278e3982830 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000001_20260902_153739.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b2f65ad76f9878c8c82d965bc0cf94ceba03a51c603d4ee158631dfa0312889 +size 1201512506 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000002_20260902_153934.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000002_20260902_153934.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..72541232b201c14e2116656c3f23ec78e017eb13 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000002_20260902_153934.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e6a7525971537ad92fa3f1ca8429ffa3d3b6c356d6715795ba4ed9c27820cd +size 1192499373 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000003_20260902_154116.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000003_20260902_154116.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9f6ce8ffe5112d8ec54c3877a997f7e1d98c22bf --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000003_20260902_154116.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e79985ffd528daf38a1d542a930342e5fc74cf588d9861a9a5cb2c2185be9134 +size 1182746611 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000004_20260902_154250.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000004_20260902_154250.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..7a0515fb7c0dd92f5744178ed0674b97c8982335 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000004_20260902_154250.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a564ce345e22b5ef6e7a52df63516e2bc207cdbe1435216f62730ce2c152ab2 +size 1197894550 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000005_20260902_154556.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000005_20260902_154556.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..25a88385b7c4420e33a4d1fc4f1e40ce0527c15f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000005_20260902_154556.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbb7fc47990627f62145f3cd5173d23cb69204d6ff1ed5245e359f347213c61f +size 1231301687 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000006_20260902_154735.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000006_20260902_154735.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..4e169cd1704d2dd133daa238809cd8bc6ab354b9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000006_20260902_154735.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d080f6b965d5d0fcb6cad90bd2e5bf246170c653350949aac0d273acfa67359b +size 1222674733 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000007_20260902_154924.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000007_20260902_154924.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1da3b3f0591c969d795b1191a793eedbc613c466 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000007_20260902_154924.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c2b2d61447f66e04e86e48e179dd7b6e34b8de5e87e4d6af64795fa9dfb842d +size 1209028637 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000008_20260902_155116.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000008_20260902_155116.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..eced7f35c6c8e2c3c78d0e1ecd92cd5a85ae30d4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000008_20260902_155116.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7be1cf1de854b97b106a8ab3afe937a5b88b747ea87eea90f52509a2c7f9185 +size 1243429793 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000009_20260902_155312.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000009_20260902_155312.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9052e2089b242ad52c6af16cdc7ef8d31087ba7f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000009_20260902_155312.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1effc56f184ce62683dbb041aa37a414b5e4bacc8fa210994ceffb31e3c99908 +size 1179330169 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000010_20260902_155512.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000010_20260902_155512.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..111e694ff8fe14991921652cc8ae71537a26b5a2 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000010_20260902_155512.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:180c2149ef4234e50a47c1bdc9a38f1f0211ee0e424474e819d36799dfaab7d0 +size 1218007760 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000011_20260902_155717.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000011_20260902_155717.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..983d3f6a9df592be6004d43094f6b20c307e370f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000011_20260902_155717.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1e03fbee623d0c0de5f9fb8d93d55886d98444f103393f04bb6328768951391 +size 1237492801 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000012_20260902_155926.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000012_20260902_155926.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..eedc4e68df843330b0f949d9d072652e447e61e5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000012_20260902_155926.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c36f11feb75109ce177689ad46eca9ac8d1826e4c2d72aa47e6887dbcc86d7e +size 1223697422 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000013_20260902_160106.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000013_20260902_160106.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8694fcc8a1eef85c0137efca36d2e8f437635f36 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000013_20260902_160106.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bf9e1a27d27628c61803d3623e201a921700ca010af28f84f7a1fa47bbd8ea5 +size 1269212846 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000014_20260902_160325.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000014_20260902_160325.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d04b610cd93a5a5dd554852e632406509acb6428 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000014_20260902_160325.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1323bd50539e440148a6a0e941125ef716cb28183e87a7581ed63a664e9c47c +size 1234017460 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000015_20260902_160515.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000015_20260902_160515.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5eca8a285dc3da28d771e82198aa1398c65cedae --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000015_20260902_160515.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0f1f2e3ebfbfacdbbf1302dac79d94a08a54ac2143a6eaccbfc83b3cdfa7811 +size 1269110898 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000016_20260902_160703.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000016_20260902_160703.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..58f64c83c0b8a2d217ead9c60c8f67a2cfba1d78 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000016_20260902_160703.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1aec1ff2c81228d21f995a07b5e605340836dfd6ad98af1926bcb522fa5dfd26 +size 1236818855 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000017_20260902_160845.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000017_20260902_160845.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e0cf2158f8d12d91353420148057f1488cac0b87 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000017_20260902_160845.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6322618c14791c5e794c30a0af74e0d46803280bf3fd4849498fe1ba6f61ab12 +size 1266969732 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000018_20260902_161032.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000018_20260902_161032.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..309d2d4815c344baea36e92763ae524c1ae0ef49 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000018_20260902_161032.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9efac0b040b37b4e6977c442cac4031b6715c37bfefa23ecf8bc0c11f4c5ebaa +size 1243843392 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000019_20260902_161306.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000019_20260902_161306.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..65da2563d112ced3b18d86a6c8bad44ca4f113f3 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000019_20260902_161306.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6e883fba06f31148470c9c4e2a9caa68666b13431f2a613842e0f6ad8f7f3ac +size 1205893506 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000020_20260902_161452.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000020_20260902_161452.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..2a1bee4447cd4898291e72636cdecaa9bcf763dd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000020_20260902_161452.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ce19150edb71ee9fa3beb1a131b8dace1b50fd650108d52c3e8cb382a555b93 +size 1242777834 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000021_20260902_161648.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000021_20260902_161648.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6a0c5ac0feed194bebce384bfecc2b608c40dda7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000021_20260902_161648.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59f9801d56ee003e15317551cf9c2891166a857479adb200b84de9a68dc1528f +size 1203966393 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000022_20260902_162141.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000022_20260902_162141.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..42e092bef2194d8166e6be2367a641a19322b005 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000022_20260902_162141.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ca26703ce4bb1eeca2d88b7239279af692c6283974d37c7a49025f1d99804fe +size 1312099273 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000023_20260902_162332.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000023_20260902_162332.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e350ae54059ff07b3e7ee85132838a6e649c7ea0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000023_20260902_162332.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb5a0f2b83bfa45030ecfe74abc859a054fcc2e30255350e4fd753363a3aadea +size 1243783809 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000024_20260902_162555.hdf5 b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000024_20260902_162555.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1545fad0380e6d47d2cff71a19be11d2c4a80ff1 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/episode_000024_20260902_162555.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:809d676380bd4b8b1b2fcdb616200a8784b1505c10e0c379665a46b080b2d9a5 +size 1196850585 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.json new file mode 100644 index 0000000000000000000000000000000000000000..38a1ab877bc6b18693c7bd9536b3c5915a99c01f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.json @@ -0,0 +1,480 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:44:23", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 943, + "actual_playback_duration_s": 31.70924237393774, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 943, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 943, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4200287673057652, + "image_frame_counts": { + "cam_scene": 943, + "cam_wrist": 943 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 8, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006150081055238843, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972040954977274, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004369193618185818, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004774488150142133, + "leadthrough_capture_egm_poll_duration_warn_count": 2858, + "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": 0.0062315360410138965, + "leadthrough_capture_host_loop_dt_median_s": 0.004002710513304919, + "leadthrough_capture_host_loop_dt_p95_s": 0.0044037410232704135, + "leadthrough_capture_host_loop_dt_p99_s": 0.00482212823117152, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006124491919763386, + "leadthrough_capture_host_receive_dt_median_s": 0.004010186006780714, + "leadthrough_capture_host_receive_dt_p95_s": 0.004357343609444797, + "leadthrough_capture_host_receive_dt_p99_s": 0.0047885583562310785, + "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": 0.013670859974808991, + "leadthrough_capture_loop_late_median_s": 0.008001652429811656, + "leadthrough_capture_loop_late_p95_s": 0.008354001096449792, + "leadthrough_capture_loop_late_p99_s": 0.008880391884595155, + "leadthrough_capture_loop_late_warn_count": 6889, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006204414996318519, + "leadthrough_capture_read_duration_median_s": 0.003989652032032609, + "leadthrough_capture_read_duration_p95_s": 0.004389512375928462, + "leadthrough_capture_read_duration_p99_s": 0.004800583985634148, + "leadthrough_capture_read_duration_warn_count": 3212, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.005171597003936768, + 0.0032293498516082764, + 0.002845063805580139, + 0.0028959885239601135, + 0.004223167896270752, + 0.006293505430221558 + ], + "leadthrough_delta_max_abs_rad": 0.006293505430221558, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0021871996577829123, + 0.002360363956540823, + 0.002204218413680792, + 0.0010299847926944494, + 0.0017173290252685547, + 0.003998279571533203 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0009164451039396226, + 0.0008130969945341349, + 0.0007958855712786317, + 0.00045400901581160724, + 0.0007461749482899904, + 0.0013751254882663488 + ], + "leadthrough_delta_samples": 5583, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": 0.006293505430221558, + "leadthrough_delta_worst_from_rad": -0.30804911255836487, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 20.79, + "leadthrough_delta_worst_to_rad": -0.3017556071281433, + "leadthrough_duration_s": 22.330000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5582, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.30299999999999727, + "leadthrough_final_stillness_removed_samples": 76, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5583, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6889, + "leadthrough_initial_stillness_first_motion_index": 1230, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.915, + "leadthrough_initial_stillness_removed_samples": 1229, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1229, + "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": [ + 0.005171597003936768, + 0.0032293498516082764, + 0.002845063805580139, + 0.0028959885239601135, + 0.004223167896270752, + 0.006293505430221558 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006293505430221558, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.723865667978857, + 1.0646010438600773, + 0.8447567621866542, + 0.9309748808542535, + 1.4013449350992309, + 2.0914475123086773 + ], + "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": 74.66, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.330000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2263, + 4740 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44532257091271915, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08652275800704956, + "rapid_planner_max_dt_s": 1.936, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007772345095872879, + "rapid_planner_median_dt_s": 0.10000000000000053, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 25, + 50, + 76, + 102, + 125, + 145, + 169, + 194, + 219, + 260, + 275, + 286, + 298, + 306, + 315, + 324, + 332, + 344, + 355, + 366, + 378, + 396, + 415, + 440, + 465, + 484, + 505, + 535, + 560, + 584, + 617, + 667, + 714, + 816, + 942, + 1110, + 1413, + 1547, + 1684, + 1767, + 1855, + 2263, + 2747, + 2774, + 2814, + 2840, + 2868, + 2895, + 2922, + 2949, + 2976, + 3009, + 3026, + 3042, + 3066, + 3091, + 3110, + 3130, + 3162, + 3214, + 3284, + 3333, + 3351, + 3374, + 3388, + 3402, + 3416, + 3430, + 3444, + 3457, + 3468, + 3480, + 3508, + 3545, + 3582, + 3640, + 3706, + 3807, + 3882, + 4038, + 4270, + 4356, + 4472, + 4740, + 5011, + 5039, + 5061, + 5092, + 5106, + 5121, + 5138, + 5151, + 5163, + 5176, + 5188, + 5199, + 5212, + 5226, + 5240, + 5255, + 5275, + 5302, + 5332, + 5356, + 5380, + 5422, + 5485, + 5583 + ], + "rapid_planner_selected_max_joint_step_deg": 4.95738886563569, + "rapid_planner_selected_samples": 109, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5584, + "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": 109, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004742175340652466, + "raw_replay_rms_error_rad": 0.0007992715508818117, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9933785093933156, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.97271604993764, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9875501256996818, + "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": 0.9855642632091828, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9815637084463826, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9970884749410608, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0010955668985843658, + 0.0011527836322784424, + 0.0016591548919677734, + 0.004329413641244173, + 0.003392338752746582, + 0.005933284759521484 + ], + "replay_smoothing_max_deviation_normalized": 0.6799043560065378, + "replay_smoothing_max_deviation_rad": 0.005933284759521484, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021678111515939236, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.066370487213135, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 57.70991516113281, + "replay_smoothing_raw_accel_rms_rad_s2": 3.4184380588129493, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 984.4191284179688, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14269.5263671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 882.4287762284889, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8653074502944946, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22794250089826992, + "replay_smoothing_rms_deviation_rad": 0.0009179672555708923, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.03282356262207, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.13536071777344, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.375878934677304, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 970.2083129882812, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14006.44921875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 879.8595627337706, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8431479930877686, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2267867915040399, + "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": 0.988120211923655, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9949298205044008, + "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": 20.61, + "replay_smoothing_wrist_max_deviation_rad": 0.005933284759521484, + "safety_abort": false, + "safety_path_error_rad": 0.004742175340652466, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.05898582935333252, + "stage_planned_to_measured_rms_error_rad": 0.0061413333046165, + "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": 943, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 943, + "timestamp_count": 943, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.npz new file mode 100644 index 0000000000000000000000000000000000000000..6e6bc3a100f4539cdc6b1717d635b8f4685e1359 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_154422.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e2ee62a07bcf2cfa22cadaa0252d42c5f5d8e40ec3572cbd938a4cb5e657cb5 +size 94721 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c18b476c3f394ce1a293f8ef3d071efe7771ae --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.json @@ -0,0 +1,491 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:18:15", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 547, + "actual_playback_duration_s": 18.5346510829404, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 547, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 547, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.7718268960997918, + "image_frame_counts": { + "cam_scene": 547, + "cam_wrist": 547 + }, + "incomplete_reason": "operator_stop", + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 25, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.00609627494122833, + "leadthrough_capture_egm_poll_duration_median_s": 0.003988682059571147, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0042299285414628685, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004543298261705785, + "leadthrough_capture_egm_poll_duration_warn_count": 3232, + "leadthrough_capture_egm_recorded_seqno_jump_count": 0, + "leadthrough_capture_egm_recorded_seqno_step_max": 1, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.006176298018544912, + "leadthrough_capture_host_loop_dt_median_s": 0.0040151135181076825, + "leadthrough_capture_host_loop_dt_p95_s": 0.004259474715217948, + "leadthrough_capture_host_loop_dt_p99_s": 0.004579484766582027, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006091397954151034, + "leadthrough_capture_host_receive_dt_median_s": 0.004017887986265123, + "leadthrough_capture_host_receive_dt_p95_s": 0.004245582065777853, + "leadthrough_capture_host_receive_dt_p99_s": 0.004553683948470278, + "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": 0.017337741912342608, + "leadthrough_capture_loop_late_median_s": 0.01312231831252575, + "leadthrough_capture_loop_late_p95_s": 0.013378645468037575, + "leadthrough_capture_loop_late_p99_s": 0.013744286494329572, + "leadthrough_capture_loop_late_warn_count": 7011, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006148281041532755, + "leadthrough_capture_read_duration_median_s": 0.004003533977083862, + "leadthrough_capture_read_duration_p95_s": 0.004247417964506894, + "leadthrough_capture_read_duration_p99_s": 0.004562745662406087, + "leadthrough_capture_read_duration_warn_count": 3607, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002280190587043762, + 0.0018867254257202148, + 0.002513885498046875, + 0.0027120299637317657, + 0.0026736855506896973, + 0.008547157049179077 + ], + "leadthrough_delta_max_abs_rad": 0.008547157049179077, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018346065189689398, + 0.0011971608037129045, + 0.0018416674574837089, + 0.0014774505980312824, + 0.0011707842350006104, + 0.0033994142431765795 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007281986763700843, + 0.0005151005461812019, + 0.0006915258127264678, + 0.0005081842537038028, + 0.0004899115883745253, + 0.001407682546414435 + ], + "leadthrough_delta_samples": 6004, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008547157049179077, + "leadthrough_delta_worst_from_rad": -0.32885074615478516, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7370000000000001, + "leadthrough_delta_worst_to_rad": -0.33739790320396423, + "leadthrough_duration_s": 24.014, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5962, + "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": 5963, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7011, + "leadthrough_initial_stillness_first_motion_index": 1007, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.023, + "leadthrough_initial_stillness_removed_samples": 1006, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1006, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.0039999999999995595, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.002280190587043762, + 0.0018867254257202148, + 0.002513885498046875, + 0.0027120299637317657, + 0.0026736855506896973, + 0.008547157049179077 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008547157049179077, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7523447275161458, + 0.6215870380401376, + 0.8358359336852711, + 0.9036107609669025, + 0.8912285168965319, + 2.8414626916248515 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 78.02799999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.014, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1852, + 4286 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4471315038257147, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08655375242233276, + "rapid_planner_max_dt_s": 2.404, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007803916931152344, + "rapid_planner_median_dt_s": 0.11100000000000065, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 58, + 100, + 113, + 125, + 137, + 145, + 153, + 160, + 168, + 176, + 184, + 192, + 200, + 208, + 216, + 224, + 232, + 240, + 247, + 258, + 268, + 279, + 290, + 300, + 311, + 322, + 332, + 351, + 373, + 400, + 428, + 452, + 495, + 576, + 655, + 727, + 777, + 851, + 900, + 995, + 1090, + 1176, + 1251, + 1852, + 2332, + 2423, + 2471, + 2501, + 2531, + 2577, + 2610, + 2644, + 2669, + 2694, + 2735, + 2776, + 2819, + 2842, + 2864, + 2887, + 2910, + 2955, + 2989, + 3023, + 3057, + 3091, + 3109, + 3125, + 3140, + 3155, + 3174, + 3193, + 3206, + 3219, + 3236, + 3252, + 3278, + 3341, + 3396, + 3423, + 3546, + 3662, + 3751, + 3823, + 3919, + 4286, + 4576, + 4655, + 4684, + 4713, + 4743, + 4767, + 4797, + 4825, + 4853, + 4889, + 4930, + 4962, + 4995, + 5027, + 5059, + 5120, + 5215, + 5297, + 5317, + 5358, + 5375, + 5396, + 5417, + 5430, + 5444, + 5469, + 5490, + 5554, + 5702, + 5726, + 5768, + 5790, + 6004 + ], + "rapid_planner_selected_max_joint_step_deg": 4.959164714819893, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6005, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.0055539608001708984, + "raw_replay_rms_error_rad": 0.0009121471352032621, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9797558458381876, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9767660983489118, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.987051506234067, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9893156886100769, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9893156886100769 + ], + "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": 1.0017858354835312, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9890458128937654, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9941375178609485, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006126761436462402, + 0.0014569461345672607, + 0.0009282231330871582, + 0.004617262631654739, + 0.0023326873779296875, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023528924211859703, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.029219627380371, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 83.70861053466797, + "replay_smoothing_raw_accel_rms_rad_s2": 4.2437193450366095, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1595.3311767578125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 23727.37109375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1075.7223808164817, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.5393288135528564, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2037899610654591, + "replay_smoothing_rms_deviation_rad": 0.0010733352480229112, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.886919021606445, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 81.76373291015625, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.188769571553034, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1598.18017578125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 23467.45703125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1069.4159775723672, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.50344181060791, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20245806649832207, + "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": 0.985867524223956, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9934643759674245, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 21.878, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "safety_abort": false, + "safety_path_error_rad": 0.0055539608001708984, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.052028506994247437, + "stage_planned_to_measured_rms_error_rad": 0.006724673434558268, + "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": 547, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 547, + "timestamp_count": 547, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.npz new file mode 100644 index 0000000000000000000000000000000000000000..0af4ede2470f8d7d76b12550abd5bc8a86a289c4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161814.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d004d2c21b1e0fa9fcdd8186dc184a91584c38e9a0a9d82ed5ee1a9f970cf53 +size 56980 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa0c5ada91c6a0911c0ef11e1836ec9262615f6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.json @@ -0,0 +1,485 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:19:46", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "operator_stop", + "summary": { + "action_frame_count": 492, + "actual_playback_duration_s": 16.847389581031166, + "aligned_best_lag_s": null, + "aligned_max_error_rad": null, + "aligned_p95_error_rad": null, + "aligned_rms_error_rad": null, + "aligned_worst_joint": -1, + "aligned_worst_time_s": null, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": false, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 492, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 492, + "diagnostic_settle_samples": 0, + "diagnostics_skip_reason": "operator_stop", + "diagnostics_skipped": true, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 0.7056793826351331, + "image_frame_counts": { + "cam_scene": 492, + "cam_wrist": 492 + }, + "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": 32, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006728571024723351, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973407496232539, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004347746982239186, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004671939616091549, + "leadthrough_capture_egm_poll_duration_warn_count": 3211, + "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": 0.006801554001867771, + "leadthrough_capture_host_loop_dt_median_s": 0.00399768294300884, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043765734648332, + "leadthrough_capture_host_loop_dt_p99_s": 0.004700144438538702, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005785673973150551, + "leadthrough_capture_host_receive_dt_median_s": 0.004000738030299544, + "leadthrough_capture_host_receive_dt_p95_s": 0.004362774756737053, + "leadthrough_capture_host_receive_dt_p99_s": 0.004651330877095463, + "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": 0.012465856038033962, + "leadthrough_capture_loop_late_median_s": 0.0070663547376170754, + "leadthrough_capture_loop_late_p95_s": 0.007411982148187235, + "leadthrough_capture_loop_late_p99_s": 0.0077580248902086165, + "leadthrough_capture_loop_late_warn_count": 7868, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006774746929295361, + "leadthrough_capture_read_duration_median_s": 0.003987282980233431, + "leadthrough_capture_read_duration_p95_s": 0.004364801541669294, + "leadthrough_capture_read_duration_p99_s": 0.004686792647698894, + "leadthrough_capture_read_duration_warn_count": 3575, + "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": [ + 0.003022819757461548, + 0.0017469227313995361, + 0.002213090658187866, + 0.002247050404548645, + 0.0029990673065185547, + 0.0050771236419677734 + ], + "leadthrough_delta_max_abs_rad": 0.0050771236419677734, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001983070047572255, + 0.0014747799141332507, + 0.0017265260685235262, + 0.0003139875771012157, + 0.001140081905759871, + 0.003875315422192216 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007643810240551829, + 0.0005590880755335093, + 0.0006922989850863814, + 0.0002806309494189918, + 0.000539848580956459, + 0.001276287017390132 + ], + "leadthrough_delta_samples": 5969, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0050771236419677734, + "leadthrough_delta_worst_from_rad": -0.33571410179138184, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 2.8200000000000003, + "leadthrough_delta_worst_to_rad": -0.3407912254333496, + "leadthrough_duration_s": 23.874, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5930, + "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": 5931, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7868, + "leadthrough_initial_stillness_first_motion_index": 1899, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.59, + "leadthrough_initial_stillness_removed_samples": 1898, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1898, + "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": [ + 0.003022819757461548, + 0.0017469227313995361, + 0.002213090658187866, + 0.002247050404548645, + 0.0029990673065185547, + 0.0050771236419677734 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0050771236419677734, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7557049393651346, + 0.43673068285012606, + 0.5532726645467818, + 0.5617626011369736, + 0.7497668266293883, + 1.6146699587503457 + ], + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.0, + "moving_aligned_best_lag_s": null, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.74799999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.874, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2341, + 4854 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44162466380739196, + "rapid_planner_last_state": 5.0, + "rapid_planner_max_delta_rad": 0.08674018085002899, + "rapid_planner_max_dt_s": 2.1359999999999992, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007707804441452026, + "rapid_planner_median_dt_s": 0.1039999999999992, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 515, + 563, + 589, + 613, + 626, + 640, + 657, + 674, + 683, + 692, + 709, + 726, + 743, + 756, + 768, + 781, + 794, + 806, + 819, + 832, + 844, + 860, + 876, + 892, + 909, + 922, + 934, + 946, + 958, + 975, + 994, + 1050, + 1107, + 1132, + 1195, + 1260, + 1331, + 1430, + 1498, + 1539, + 1583, + 1632, + 1713, + 1792, + 1821, + 1844, + 1867, + 1916, + 1968, + 2042, + 2341, + 2875, + 2915, + 2958, + 3003, + 3039, + 3081, + 3106, + 3132, + 3164, + 3197, + 3236, + 3274, + 3312, + 3351, + 3380, + 3408, + 3440, + 3473, + 3504, + 3536, + 3583, + 3603, + 3622, + 3632, + 3643, + 3654, + 3664, + 3674, + 3684, + 3703, + 3729, + 3763, + 3785, + 3809, + 3873, + 3956, + 4124, + 4573, + 4854, + 5235, + 5284, + 5315, + 5354, + 5380, + 5414, + 5428, + 5443, + 5458, + 5474, + 5501, + 5522, + 5542, + 5574, + 5593, + 5614, + 5633, + 5652, + 5687, + 5726, + 5802, + 5917, + 5969 + ], + "rapid_planner_selected_max_joint_step_deg": 4.969846276908147, + "rapid_planner_selected_samples": 114, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5970, + "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": 114, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.004621386528015137, + "raw_replay_rms_error_rad": 0.0007758888126705043, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8240487164179104, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0265358691771493, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8670001371159869, + "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": 0.4390510509181115, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.012110042386113, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9373448391461201, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006271302700042725, + 0.00037160515785217285, + 0.0007368475198745728, + 0.0029414594173431396, + 0.0020972490310668945, + 0.006125926971435547 + ], + "replay_smoothing_max_deviation_normalized": 0.7019795275750214, + "replay_smoothing_max_deviation_rad": 0.006125926971435547, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0017260488821193576, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 1.4975666999816895, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 34.896400451660156, + "replay_smoothing_raw_accel_rms_rad_s2": 0.9820050564506879, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 133.73751831054688, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10629.8173828125, + "replay_smoothing_raw_jerk_rms_rad_s3": 201.8487017738484, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4422444105148315, + "replay_smoothing_raw_velocity_rms_rad_s": 0.18783527948999673, + "replay_smoothing_rms_deviation_rad": 0.0007952353993426123, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.2340679168701172, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 35.82240676879883, + "replay_smoothing_smoothed_accel_rms_rad_s2": 0.8513985185913389, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 58.71759796142578, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10758.544921875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 189.2018388960611, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4577301740646362, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.18705078225634347, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.010737267162836, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958234830230865, + "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": 7.380000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.006125926971435547, + "safety_abort": false, + "safety_path_error_rad": 0.004621386528015137, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "stage_planned_to_measured_max_error_rad": 0.039884209632873535, + "stage_planned_to_measured_rms_error_rad": 0.006638190462944074, + "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": 492, + "stopped_early": true, + "strict_tracking_pass": false, + "strict_tracking_reason": "diagnostics_skipped_operator_stop", + "tcp_pose_count": 492, + "timestamp_count": 492, + "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 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.npz new file mode 100644 index 0000000000000000000000000000000000000000..d880e2157ec9958b5addf7c7bff0ed7e9b56737d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_operator_stop_20260902_161945.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f9d04f4eeb560a8466b1e697c36246ef30c7f8a3eecdee16d61c6c80cae6082 +size 50294 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.json new file mode 100644 index 0000000000000000000000000000000000000000..4fa9680f018089cdcf43dde1973f06b0695e6a23 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.json @@ -0,0 +1,647 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:35:18", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 982, + "actual_playback_duration_s": 32.748891833936796, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006101727485656738, + "aligned_p95_error_rad": 0.0021011759527027607, + "aligned_rms_error_rad": 0.0009264947733574534, + "aligned_samples": 982, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 1.8679999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 982, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 982, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 2.0054434680916593, + "image_frame_counts": { + "cam_scene": 982, + "cam_wrist": 982 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005995988845825195, + 0.00605851411819458, + 0.005967643111944199, + 0.004239496309310198, + 0.004113912582397461, + 0.006101727485656738 + ], + "joint_lag_p95_error_rad": [ + 0.0022978747729212046, + 0.002043322892859578, + 0.001964919501915574, + 0.0015677789924666286, + 0.002067762892693281, + 0.0026599690318107605 + ], + "joint_lag_rms_error_rad": [ + 0.0010006551518142613, + 0.000990543517800798, + 0.0008895230137182179, + 0.0006253080399361643, + 0.0008573237421005918, + 0.00111830356403347 + ], + "joint_lag_samples": [ + 982, + 982, + 982, + 982, + 982, + 982 + ], + "joint_lag_worst_time_s": [ + 9.998999999999999, + 1.8679999999999999, + 1.956, + 10.027, + 0.98, + 1.8679999999999999 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.04758073505945504, + "leadthrough_capture_egm_poll_duration_median_s": 0.003987026459071785, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004233027849113569, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004713500357465819, + "leadthrough_capture_egm_poll_duration_warn_count": 2276, + "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": 0.05008078401442617, + "leadthrough_capture_host_loop_dt_median_s": 0.004016352002508938, + "leadthrough_capture_host_loop_dt_p95_s": 0.004266852373257279, + "leadthrough_capture_host_loop_dt_p99_s": 0.004764955647988244, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.005931036081165075, + "leadthrough_capture_host_receive_dt_median_s": 0.004017147934064269, + "leadthrough_capture_host_receive_dt_p95_s": 0.004246947029605508, + "leadthrough_capture_host_receive_dt_p99_s": 0.004670950141735375, + "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": 0.09909357887227088, + "leadthrough_capture_loop_late_median_s": 0.09675572975538671, + "leadthrough_capture_loop_late_p95_s": 0.09703937434824184, + "leadthrough_capture_loop_late_p99_s": 0.09751131107332185, + "leadthrough_capture_loop_late_warn_count": 5011, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.05007454310543835, + "leadthrough_capture_read_duration_median_s": 0.004003721056506038, + "leadthrough_capture_read_duration_p95_s": 0.0042528489721007645, + "leadthrough_capture_read_duration_p99_s": 0.004747733066324143, + "leadthrough_capture_read_duration_warn_count": 2582, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.006165079772472382, + 0.0028382614254951477, + 0.00303041934967041, + 0.004397012293338776, + 0.00513225793838501, + 0.011860191822052002 + ], + "leadthrough_delta_max_abs_rad": 0.011860191822052002, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0027771443128585815, + 0.0023188283666968346, + 0.002741992473602295, + 0.00041465304093435407, + 0.0019873378332704306, + 0.004407042171806097 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0011842269450426102, + 0.000894856930244714, + 0.0010578109649941325, + 0.0005064071738161147, + 0.000804404728114605, + 0.002008024835959077 + ], + "leadthrough_delta_samples": 4083, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.011860191822052002, + "leadthrough_delta_worst_from_rad": -0.7079249620437622, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5639999999999996, + "leadthrough_delta_worst_to_rad": -0.7197851538658142, + "leadthrough_duration_s": 16.33, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4027, + "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": 4028, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5010, + "leadthrough_initial_stillness_first_motion_index": 927, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.704, + "leadthrough_initial_stillness_removed_samples": 926, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 926, + "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": [ + 0.006165079772472382, + 0.0028382614254951477, + 0.00303041934967041, + 0.004397012293338776, + 0.00513225793838501, + 0.011860191822052002 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.011860191822052002, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.5412699431175807, + 0.70956535637355, + 0.7576048374175177, + 1.0992530733353032, + 1.283064484595824, + 2.965047955513327 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.9465556144714355, + "leadthrough_velocity_rms_rad_s": 0.29162781653489284, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006101727485656738, + "measured_wall_accel_p95_abs_rad_s2": 0.41508540511131287, + "measured_wall_accel_peak_abs_rad_s2": 2.7279772758483887, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 16.54044818901457, + "measured_wall_accel_rms_rad_s2": 0.21930966575812297, + "measured_wall_jerk_p95_abs_rad_s3": 7.191462516784668, + "measured_wall_jerk_peak_abs_rad_s3": 56.31132507324219, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 31.70614749204833, + "measured_wall_jerk_rms_rad_s3": 3.6196607532984495, + "measured_wall_smoothness_samples": 982, + "measured_wall_velocity_peak_abs_rad_s": 0.7459377646446228, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 11.23988753510639, + "measured_wall_velocity_rms_rad_s": 0.10392739964660398, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006101727485656738, + "moving_aligned_p95_error_rad": 0.0023804600350558758, + "moving_aligned_rms_error_rad": 0.0011033151903911344, + "moving_aligned_samples": 678, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 1.8679999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005995988845825195, + 0.00605851411819458, + 0.005967643111944199, + 0.004117652308195829, + 0.004113912582397461, + 0.006046175956726074 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024752796161919832, + 0.0023412860464304686, + 0.002280640648677945, + 0.002254359656944871, + 0.0026594758965075016, + 0.003544470528140664 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0012367640516813012, + 0.001169301351903506, + 0.001107548160264405, + 0.001169904639985036, + 0.0012891367222278448, + 0.0016969830755521362 + ], + "moving_joint_lag_samples": [ + 610, + 668, + 597, + 196, + 389, + 363 + ], + "moving_joint_lag_worst_time_s": [ + 9.998999999999999, + 1.8679999999999999, + 1.956, + 10.062999999999999, + 0.98, + 1.956 + ], + "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": 3.154362201690674, + "playback_velocity_rms_rad_s": 0.54468500840561, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 62.66, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 16.33, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1368, + 3330 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4460420886530977, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08709275722503662, + "rapid_planner_max_dt_s": 2.1159999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007784903049468994, + "rapid_planner_median_dt_s": 0.07200000000000006, + "rapid_planner_path_max_error_rad": 0.006101727485656738, + "rapid_planner_path_p95_error_rad": 0.0033491523936390825, + "rapid_planner_path_rms_error_rad": 0.0015760772914073509, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 22, + 40, + 54, + 68, + 75, + 82, + 90, + 97, + 104, + 110, + 117, + 124, + 131, + 138, + 142, + 146, + 153, + 158, + 164, + 170, + 175, + 188, + 201, + 214, + 230, + 262, + 293, + 329, + 366, + 424, + 509, + 553, + 652, + 977, + 1368, + 1897, + 1931, + 1974, + 2000, + 2024, + 2043, + 2062, + 2082, + 2103, + 2125, + 2147, + 2166, + 2184, + 2203, + 2222, + 2250, + 2278, + 2298, + 2318, + 2341, + 2354, + 2368, + 2382, + 2396, + 2405, + 2414, + 2422, + 2431, + 2447, + 2468, + 2533, + 2571, + 2626, + 2687, + 2835, + 3116, + 3330, + 3493, + 3537, + 3562, + 3575, + 3588, + 3600, + 3613, + 3623, + 3633, + 3644, + 3655, + 3668, + 3681, + 3692, + 3702, + 3724, + 3760, + 3797, + 4083 + ], + "rapid_planner_selected_max_joint_step_deg": 4.990047415152105, + "rapid_planner_selected_samples": 92, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4084, + "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": 92, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006101727485656738, + "raw_replay_rms_error_rad": 0.0009264947733574534, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9022834862376876, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0545186407677267, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8733951562192351, + "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": 0.35348619675429904, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.999824573698563, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.7916377519048485, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0021715164184570312, + 0.0010753870010375977, + 0.000914156436920166, + 0.004295505117624998, + 0.006615400314331055, + 0.007281124591827393 + ], + "replay_smoothing_max_deviation_normalized": 0.8343554249044707, + "replay_smoothing_max_deviation_rad": 0.007281124591827393, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002963415579870343, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.590200901031494, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 19.235698699951172, + "replay_smoothing_raw_accel_rms_rad_s2": 1.4307629375023638, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 186.4047393798828, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 4403.3359375, + "replay_smoothing_raw_jerk_rms_rad_s3": 111.13735979588964, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.9640719890594482, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2932826032371337, + "replay_smoothing_rms_deviation_rad": 0.0012543165825513055, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.3370954990386963, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 20.28440284729004, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.2496214193125688, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 65.8915023803711, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 4402.5634765625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 87.98052966145836, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.9465556144714355, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.29162781653489284, + "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": 0.9940904355047157, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9943577058987612, + "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": 9.779, + "replay_smoothing_wrist_max_deviation_rad": 0.007281124591827393, + "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": 0.006101727485656738, + "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": 0.044500768184661865, + "stage_planned_to_measured_rms_error_rad": 0.006161029587384326, + "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": 982, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.6779880523681641, + "target_wall_accel_peak_abs_rad_s2": 4.156622409820557, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 2.4000709619140252, + "target_wall_accel_rms_rad_s2": 0.36895656107092967, + "target_wall_jerk_p95_abs_rad_s3": 17.73729705810547, + "target_wall_jerk_peak_abs_rad_s3": 101.83782196044922, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.4333901739446446, + "target_wall_jerk_rms_rad_s3": 8.639462588885761, + "target_wall_smoothness_samples": 982, + "target_wall_velocity_peak_abs_rad_s": 0.878321647644043, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.566741062910296, + "target_wall_velocity_rms_rad_s": 0.10485278129169621, + "tcp_pose_count": 982, + "timestamp_count": 982, + "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": 1.5800000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.380000000000003, + "window_lag_count": 22, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.5800000000000032, + "window_lag_worst_end_s": 6.5, + "window_lag_worst_max_error_rad": 0.0031794272363185883, + "window_lag_worst_rms_error_rad": 0.0020290616831493296, + "window_lag_worst_start_s": 5.5, + "zero_lag_max_error_rad": 0.006101727485656738, + "zero_lag_p95_error_rad": 0.0021011759527027607, + "zero_lag_rms_error_rad": 0.0009264947733574534, + "zero_lag_samples": 982, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 1.8679999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.npz new file mode 100644 index 0000000000000000000000000000000000000000..4afec78eb6fa324acde0c83e7887f87291028075 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153517.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22d36850f3e03f62c8f73ddd215a3b0c823a573168109b1c925395077d7fde5f +size 98949 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.json new file mode 100644 index 0000000000000000000000000000000000000000..4df6fa59ad70980357df8c2d38a146552975b82f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.json @@ -0,0 +1,667 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:37:29", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1013, + "actual_playback_duration_s": 33.77924258902203, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.3667829930782318, + "aligned_p95_error_rad": 0.0018557471921667457, + "aligned_rms_error_rad": 0.006883512669112449, + "aligned_samples": 1013, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 19.37, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1013, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1013, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.68106114208331, + "image_frame_counts": { + "cam_scene": 1013, + "cam_wrist": 1013 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.10253871977329254, + 0.16859114170074463, + 0.09982883930206299, + 0.3667829930782318, + 0.31619617342948914, + 0.005212679505348206 + ], + "joint_lag_p95_error_rad": [ + 0.0019981281366199255, + 0.001798898447304964, + 0.0014351365389302373, + 0.0007298989221453667, + 0.0019218443194404244, + 0.002564835362136364 + ], + "joint_lag_rms_error_rad": [ + 0.0033772493658310856, + 0.005383161038780751, + 0.003204974943191126, + 0.01153087340694808, + 0.009970706882038773, + 0.001124429769018596 + ], + "joint_lag_samples": [ + 1013, + 1013, + 1013, + 1013, + 1013, + 1013 + ], + "joint_lag_worst_time_s": [ + 19.37, + 19.37, + 19.37, + 19.37, + 19.37, + 19.197 + ], + "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": 9, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0063074680510908365, + "leadthrough_capture_egm_poll_duration_median_s": 0.003967500990256667, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043664060067385435, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004893054394051432, + "leadthrough_capture_egm_poll_duration_warn_count": 2579, + "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": 0.0063661979511380196, + "leadthrough_capture_host_loop_dt_median_s": 0.003993471967987716, + "leadthrough_capture_host_loop_dt_p95_s": 0.004397397395223379, + "leadthrough_capture_host_loop_dt_p99_s": 0.004932552699465306, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006278328946791589, + "leadthrough_capture_host_receive_dt_median_s": 0.003994564001914114, + "leadthrough_capture_host_receive_dt_p95_s": 0.004376239544944837, + "leadthrough_capture_host_receive_dt_p99_s": 0.004912273877998814, + "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": 0.020589056075550616, + "leadthrough_capture_loop_late_median_s": 0.015375013346783817, + "leadthrough_capture_loop_late_p95_s": 0.0157369541702792, + "leadthrough_capture_loop_late_p99_s": 0.01627161569427699, + "leadthrough_capture_loop_late_warn_count": 6185, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00634066597558558, + "leadthrough_capture_read_duration_median_s": 0.003982451045885682, + "leadthrough_capture_read_duration_p95_s": 0.0043853485956788065, + "leadthrough_capture_read_duration_p99_s": 0.004919921825639903, + "leadthrough_capture_read_duration_warn_count": 2798, + "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": [ + 0.003909647464752197, + 0.0029700901359319687, + 0.0033915340900421143, + 0.0019282624125480652, + 0.0035329461097717285, + 0.007623761892318726 + ], + "leadthrough_delta_max_abs_rad": 0.007623761892318726, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002309114206582308, + 0.0021447164472192526, + 0.0022621469106525183, + 0.00037621601950377226, + 0.0013302271254360676, + 0.004491474479436874 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008971969946287572, + 0.0008263317868113518, + 0.0009176441235467792, + 0.00023731055262032896, + 0.0006104001076892018, + 0.0016392226098105311 + ], + "leadthrough_delta_samples": 5024, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007623761892318726, + "leadthrough_delta_worst_from_rad": -0.26052388548851013, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5520000000000005, + "leadthrough_delta_worst_to_rad": -0.26814764738082886, + "leadthrough_duration_s": 20.094, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5023, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.6269999999999989, + "leadthrough_final_stillness_removed_samples": 157, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5024, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6185, + "leadthrough_initial_stillness_first_motion_index": 1004, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.012, + "leadthrough_initial_stillness_removed_samples": 1003, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1003, + "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": [ + 0.003909647464752197, + 0.0029700901359319687, + 0.0033915340900421143, + 0.0019282624125480652, + 0.0035329461097717285, + 0.007623761892318726 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007623761892318726, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.284440358479769, + 0.9824397663275029, + 1.1223951975504132, + 0.6411572297413901, + 1.1690656344095423, + 2.530475457509263 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.253194570541382, + "leadthrough_velocity_rms_rad_s": 0.24480856674431029, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.3667829930782318, + "measured_wall_accel_p95_abs_rad_s2": 0.5073627233505249, + "measured_wall_accel_peak_abs_rad_s2": 239.46607971191406, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 12.251855496084318, + "measured_wall_accel_rms_rad_s2": 6.319390533446972, + "measured_wall_jerk_p95_abs_rad_s3": 8.988788604736328, + "measured_wall_jerk_peak_abs_rad_s3": 3544.111328125, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 12.315705544082448, + "measured_wall_jerk_rms_rad_s3": 75.41137909419619, + "measured_wall_smoothness_samples": 1013, + "measured_wall_velocity_peak_abs_rad_s": 15.289921760559082, + "measured_wall_velocity_peak_joint": 3, + "measured_wall_velocity_peak_time_s": 12.251855496084318, + "measured_wall_velocity_rms_rad_s": 0.3219903998096116, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.3667829930782318, + "moving_aligned_p95_error_rad": 0.002192363142967224, + "moving_aligned_rms_error_rad": 0.008187032198756848, + "moving_aligned_samples": 716, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 19.37, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.10253871977329254, + 0.16859114170074463, + 0.09982883930206299, + 0.004633048549294472, + 0.31619617342948914, + 0.005212679505348206 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002638318343088031, + 0.002315457910299301, + 0.0016838908195495605, + 0.0015051417285576463, + 0.002378201112151146, + 0.003400468500331044 + ], + "moving_joint_lag_rms_error_rad": [ + 0.004373525895694925, + 0.006662876411746101, + 0.004440515534898602, + 0.000807441418827044, + 0.014231142702126333, + 0.001677300711873162 + ], + "moving_joint_lag_samples": [ + 602, + 661, + 526, + 198, + 497, + 420 + ], + "moving_joint_lag_worst_time_s": [ + 19.37, + 19.37, + 19.37, + 5.003000000000001, + 19.37, + 19.197 + ], + "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": 67.26182556152344, + "playback_velocity_rms_rad_s": 1.9551447871456438, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.188, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.094, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2097, + 4361 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4494473648411722, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08617165684700012, + "rapid_planner_max_dt_s": 2.344000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007844336330890656, + "rapid_planner_median_dt_s": 0.09299999999999997, + "rapid_planner_path_max_error_rad": 0.3667829930782318, + "rapid_planner_path_p95_error_rad": 0.003031627833843231, + "rapid_planner_path_rms_error_rad": 0.011619036346749732, + "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, + 57, + 75, + 93, + 108, + 116, + 123, + 134, + 144, + 155, + 166, + 177, + 188, + 198, + 209, + 218, + 227, + 236, + 245, + 254, + 263, + 272, + 281, + 293, + 303, + 315, + 326, + 354, + 381, + 418, + 455, + 481, + 508, + 532, + 563, + 590, + 638, + 709, + 771, + 862, + 983, + 1070, + 1217, + 1292, + 1344, + 1406, + 1511, + 1607, + 1793, + 2097, + 2683, + 2774, + 2804, + 2828, + 2857, + 2876, + 2894, + 2908, + 2922, + 2936, + 2951, + 2971, + 2991, + 3018, + 3045, + 3068, + 3091, + 3120, + 3146, + 3172, + 3185, + 3198, + 3209, + 3220, + 3230, + 3241, + 3262, + 3281, + 3356, + 3406, + 3470, + 3521, + 3584, + 3650, + 3721, + 3797, + 3918, + 4033, + 4361, + 4494, + 4542, + 4573, + 4602, + 4628, + 4651, + 4674, + 4687, + 4701, + 4713, + 4725, + 4738, + 4752, + 4768, + 4784, + 4812, + 4829, + 4845, + 4877, + 4911, + 4959, + 5024 + ], + "rapid_planner_selected_max_joint_step_deg": 4.937272250982709, + "rapid_planner_selected_samples": 112, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5025, + "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": 112, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.3667829930782318, + "raw_replay_rms_error_rad": 0.006883512669112449, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9987383772193077, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9873142442542769, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9888229593453819, + "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": 0.9810163328341548, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0046329181999276, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9953194255471687, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007627028971910477, + 0.0004712343215942383, + 0.0007660388946533203, + 0.0030719488859176636, + 0.0031636953353881836, + 0.007755875587463379 + ], + "replay_smoothing_max_deviation_normalized": 0.8887578820650437, + "replay_smoothing_max_deviation_rad": 0.007755875587463379, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0029156608507037163, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.176827430725098, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 74.46952056884766, + "replay_smoothing_raw_accel_rms_rad_s2": 5.4392057612436995, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2231.20458984375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20998.677734375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1383.1352457001365, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.262239694595337, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2464728865350842, + "replay_smoothing_rms_deviation_rad": 0.0013058524590334661, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.16398811340332, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 73.52481842041016, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.378411537321446, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2188.84814453125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21095.962890625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1376.6613782043019, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.253194570541382, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24480856674431029, + "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": 0.9960016951008487, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9932474528368174, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.2190000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.007755875587463379, + "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": 0.3667829930782318, + "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": 0.4545375108718872, + "stage_planned_to_measured_rms_error_rad": 0.01010261892676016, + "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": 1013, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3668", + "target_wall_accel_p95_abs_rad_s2": 0.7906879186630249, + "target_wall_accel_peak_abs_rad_s2": 105.6330337524414, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 8.046976290643215e-06, + "target_wall_accel_rms_rad_s2": 3.2564909209282695, + "target_wall_jerk_p95_abs_rad_s3": 18.845365524291992, + "target_wall_jerk_peak_abs_rad_s3": 1584.1724853515625, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06682963098865002, + "target_wall_jerk_rms_rad_s3": 40.45714969165046, + "target_wall_smoothness_samples": 1013, + "target_wall_velocity_peak_abs_rad_s": 7.058566570281982, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 8.046976290643215e-06, + "target_wall_velocity_rms_rad_s": 0.19204039428065325, + "tcp_pose_count": 1013, + "timestamp_count": 1013, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3668", + "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": 1.3500000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.5899999999999996, + "window_lag_best_lag_p95_abs_s": 1.2660000000000011, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.3667829930782318, + "window_lag_worst_rms_error_rad": 0.024494323760640296, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.3667829930782318, + "zero_lag_p95_error_rad": 0.0018557471921667457, + "zero_lag_rms_error_rad": 0.006883512669112449, + "zero_lag_samples": 1013, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 19.37 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.npz new file mode 100644 index 0000000000000000000000000000000000000000..317899137e4e6f84dd7524ba7c0aa2a5f9a68728 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153727.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a4062eed7866bb365dafb83981fc7d61023714ef3d16259caabb1ad768571fc +size 107161 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.json new file mode 100644 index 0000000000000000000000000000000000000000..d25817ec21f77ca74d1c67dd3670a6aac9c4f8fd --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.json @@ -0,0 +1,656 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:39:30", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1000, + "actual_playback_duration_s": 33.34881409199443, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005822211503982544, + "aligned_p95_error_rad": 0.0018019573763012886, + "aligned_rms_error_rad": 0.0008344149235034444, + "aligned_samples": 1000, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 15.222999999999999, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1000, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1000, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.929238348489785, + "image_frame_counts": { + "cam_scene": 1000, + "cam_wrist": 1000 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005822211503982544, + 0.005519304424524307, + 0.005272461101412773, + 0.005220513790845871, + 0.00555109977722168, + 0.005513310432434082 + ], + "joint_lag_p95_error_rad": [ + 0.0019211447797715664, + 0.0015335020143538713, + 0.0015174056170508265, + 0.0009609730914235115, + 0.0019729912746697664, + 0.0023929059971123934 + ], + "joint_lag_rms_error_rad": [ + 0.0009138901746963129, + 0.0007407305379282743, + 0.0007219873594121826, + 0.0005685829831710587, + 0.0009247029821774613, + 0.0010459372089255737 + ], + "joint_lag_samples": [ + 1000, + 1000, + 1000, + 1000, + 1000, + 1000 + ], + "joint_lag_worst_time_s": [ + 15.222999999999999, + 11.175, + 2.012, + 11.907, + 15.234000000000002, + 11.175 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 39, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006597250001505017, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971263999119401, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004346184513997286, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004772588328924031, + "leadthrough_capture_egm_poll_duration_warn_count": 2147, + "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": 0.006641341024078429, + "leadthrough_capture_host_loop_dt_median_s": 0.003998023457825184, + "leadthrough_capture_host_loop_dt_p95_s": 0.004376313579268753, + "leadthrough_capture_host_loop_dt_p99_s": 0.004823303349548951, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006582185043953359, + "leadthrough_capture_host_receive_dt_median_s": 0.003999707580078393, + "leadthrough_capture_host_receive_dt_p95_s": 0.004363720893161371, + "leadthrough_capture_host_receive_dt_p99_s": 0.004760911085177218, + "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": 0.010027359006926417, + "leadthrough_capture_loop_late_median_s": 0.005935571272857487, + "leadthrough_capture_loop_late_p95_s": 0.006282240117434413, + "leadthrough_capture_loop_late_p99_s": 0.006770110602956266, + "leadthrough_capture_loop_late_warn_count": 5259, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006625336012803018, + "leadthrough_capture_read_duration_median_s": 0.003986594034358859, + "leadthrough_capture_read_duration_p95_s": 0.004364751011598855, + "leadthrough_capture_read_duration_p99_s": 0.0048089138488285246, + "leadthrough_capture_read_duration_warn_count": 2401, + "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": 8, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.004144147038459778, + 0.002741590142250061, + 0.0035764873027801514, + 0.0022584255784749985, + 0.0032645463943481445, + 0.006465494632720947 + ], + "leadthrough_delta_max_abs_rad": 0.006465494632720947, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0027928571216762066, + 0.00218060496263206, + 0.0023736460134387016, + 0.0006737823714502156, + 0.0017609589267522097, + 0.004465893376618624 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0010408569360151887, + 0.0008211348904296756, + 0.0009674355387687683, + 0.0003569882537703961, + 0.0007256032549776137, + 0.0015972604742273688 + ], + "leadthrough_delta_samples": 4322, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006465494632720947, + "leadthrough_delta_worst_from_rad": -0.2541824281215668, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5559999999999996, + "leadthrough_delta_worst_to_rad": -0.2606479227542877, + "leadthrough_duration_s": 17.286, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4298, + "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": 4299, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5259, + "leadthrough_initial_stillness_first_motion_index": 937, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.744, + "leadthrough_initial_stillness_removed_samples": 936, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 936, + "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": [ + 0.004144147038459778, + 0.002741590142250061, + 0.0035764873027801514, + 0.0022584255784749985, + 0.0032645463943481445, + 0.006465494632720947 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006465494632720947, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.3681997855520038, + 0.7889618476231594, + 0.8941218256951363, + 0.745618715882273, + 1.08275810877478, + 1.9412450492381315 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5807710886001587, + "leadthrough_velocity_rms_rad_s": 0.24903424611503042, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005822211503982544, + "measured_wall_accel_p95_abs_rad_s2": 0.47795313596725464, + "measured_wall_accel_peak_abs_rad_s2": 2.9208016395568848, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 44.043275950010866, + "measured_wall_accel_rms_rad_s2": 0.26266546279645725, + "measured_wall_jerk_p95_abs_rad_s3": 8.178653717041016, + "measured_wall_jerk_peak_abs_rad_s3": 53.355709075927734, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 44.17683062504511, + "measured_wall_jerk_rms_rad_s3": 4.2429009502842385, + "measured_wall_smoothness_samples": 1000, + "measured_wall_velocity_peak_abs_rad_s": 0.6265756487846375, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 33.244363854057156, + "measured_wall_velocity_rms_rad_s": 0.10227252044526147, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005822211503982544, + "moving_aligned_p95_error_rad": 0.0020847483538091183, + "moving_aligned_rms_error_rad": 0.0009867175874565194, + "moving_aligned_samples": 713, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 15.222999999999999, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005822211503982544, + 0.005519304424524307, + 0.005272461101412773, + 0.005220513790845871, + 0.00555109977722168, + 0.005513310432434082 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002209638012573123, + 0.0017541274428367615, + 0.0016798756550997496, + 0.0025043021887540817, + 0.0024690330028533936, + 0.002827003598213196 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010905410469245471, + 0.0008625577960619946, + 0.0009199543996151359, + 0.001202385005149463, + 0.001232943680386565, + 0.0015729435876929909 + ], + "moving_joint_lag_samples": [ + 639, + 671, + 549, + 148, + 451, + 391 + ], + "moving_joint_lag_worst_time_s": [ + 15.222999999999999, + 11.175, + 2.012, + 11.907, + 15.234000000000002, + 11.175 + ], + "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": 1.8235644102096558, + "playback_velocity_rms_rad_s": 0.45079249570267277, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 64.572, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 17.286, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1420, + 3508 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43092346492527445, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08543163537979126, + "rapid_planner_max_dt_s": 1.9350000000000005, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.00752103328704834, + "rapid_planner_median_dt_s": 0.08399999999999963, + "rapid_planner_path_max_error_rad": 0.005822211503982544, + "rapid_planner_path_p95_error_rad": 0.0027194752357900132, + "rapid_planner_path_rms_error_rad": 0.0014289409734041087, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 21, + 51, + 66, + 80, + 94, + 109, + 120, + 132, + 144, + 156, + 169, + 182, + 196, + 209, + 218, + 228, + 238, + 248, + 265, + 286, + 306, + 326, + 346, + 364, + 385, + 413, + 441, + 477, + 532, + 572, + 600, + 631, + 685, + 746, + 882, + 962, + 1208, + 1420, + 1904, + 1975, + 2015, + 2045, + 2066, + 2086, + 2106, + 2126, + 2140, + 2154, + 2182, + 2208, + 2234, + 2249, + 2264, + 2293, + 2325, + 2357, + 2388, + 2418, + 2448, + 2462, + 2475, + 2486, + 2498, + 2509, + 2520, + 2545, + 2584, + 2623, + 2720, + 2750, + 2860, + 2941, + 3204, + 3508, + 3688, + 3724, + 3748, + 3768, + 3789, + 3820, + 3833, + 3846, + 3859, + 3872, + 3890, + 3905, + 3924, + 3939, + 3951, + 3964, + 3980, + 3993, + 4005, + 4042, + 4083, + 4200, + 4230, + 4258, + 4285, + 4322 + ], + "rapid_planner_selected_max_joint_step_deg": 4.894872144162563, + "rapid_planner_selected_samples": 101, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4323, + "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": 101, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005822211503982544, + "raw_replay_rms_error_rad": 0.0008344149235034444, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9274791775976317, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.904381270668514, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.969116233774891, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.7113785743713379, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7113785743713379 + ], + "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": 0.8382253007397606, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8737300808283399, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9845231498259077, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006216615438461304, + 0.0006557703018188477, + 0.0007065152749419212, + 0.0032699573785066605, + 0.0019047260284423828, + 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": 0.0018860924756154418, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.4307360649108887, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.318702697753906, + "replay_smoothing_raw_accel_rms_rad_s2": 3.199712413487867, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 406.691650390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15432.9765625, + "replay_smoothing_raw_jerk_rms_rad_s3": 781.7235453904518, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7344738245010376, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25048943809372054, + "replay_smoothing_rms_deviation_rad": 0.0010460223415582782, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.181936264038086, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.220436096191406, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.1008932433221283, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 340.89923095703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13484.255859375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 769.6249272008836, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5807710886001587, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24903424611503042, + "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": 0.9113836520737952, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9941906054412336, + "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": 15.958000000000002, + "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": 0.005822211503982544, + "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": 0.038784146308898926, + "stage_planned_to_measured_rms_error_rad": 0.00605857083927672, + "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": 1000, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7839826941490173, + "target_wall_accel_peak_abs_rad_s2": 3.6768341064453125, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 2.1667259950190783, + "target_wall_accel_rms_rad_s2": 0.3931732318397606, + "target_wall_jerk_p95_abs_rad_s3": 18.744068145751953, + "target_wall_jerk_peak_abs_rad_s3": 97.72924041748047, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 23.46672402403783, + "target_wall_jerk_rms_rad_s3": 8.863336858373069, + "target_wall_smoothness_samples": 1000, + "target_wall_velocity_peak_abs_rad_s": 0.6780771017074585, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.133397919940762, + "target_wall_velocity_rms_rad_s": 0.10313981904491643, + "tcp_pose_count": 1000, + "timestamp_count": 1000, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.2500000000000027, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.009999999999998233, + "window_lag_best_lag_p95_abs_s": 0.9100000000000028, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 11.5, + "window_lag_worst_max_error_rad": 0.005519304424524307, + "window_lag_worst_rms_error_rad": 0.0019587247821379497, + "window_lag_worst_start_s": 10.5, + "zero_lag_max_error_rad": 0.005822211503982544, + "zero_lag_p95_error_rad": 0.0018019573763012886, + "zero_lag_rms_error_rad": 0.0008344149235034444, + "zero_lag_samples": 1000, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 15.222999999999999 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.npz new file mode 100644 index 0000000000000000000000000000000000000000..134d5c73c8a5a454fec912ab12eadb85de2d1a9f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_153929.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eff72ace0b9b716ac4bdbafcf6db4f88d06639b659dea44009522156636c4201 +size 100501 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.json new file mode 100644 index 0000000000000000000000000000000000000000..2904adec5bc72c39d80462e807681faf35f380d9 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.json @@ -0,0 +1,662 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:41:03", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 997, + "actual_playback_duration_s": 33.252443477045745, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.49510788917541504, + "aligned_p95_error_rad": 0.001910094521008432, + "aligned_rms_error_rad": 0.010562600885202562, + "aligned_samples": 997, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 17.087, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 997, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 997, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7914256802632125, + "image_frame_counts": { + "cam_scene": 997, + "cam_wrist": 997 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.18942895531654358, + 0.33689284324645996, + 0.10730725526809692, + 0.49510788917541504, + 0.41489461064338684, + 0.29204970598220825 + ], + "joint_lag_p95_error_rad": [ + 0.0018588051898404956, + 0.001755347941070795, + 0.0013897183816879988, + 0.001934316591359675, + 0.0021202326752245426, + 0.00222380761988461 + ], + "joint_lag_rms_error_rad": [ + 0.006053109350965672, + 0.010699926909724903, + 0.0034729339456060757, + 0.01569815438846127, + 0.01316808822644242, + 0.00929466444463749 + ], + "joint_lag_samples": [ + 997, + 997, + 997, + 997, + 997, + 997 + ], + "joint_lag_worst_time_s": [ + 17.087, + 17.087, + 17.087, + 17.087, + 17.087, + 17.087 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 1, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 0, + "leadthrough_capture_egm_drained_packet_max": 1, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.04279181093443185, + "leadthrough_capture_egm_poll_duration_median_s": 0.00396252004429698, + "leadthrough_capture_egm_poll_duration_p95_s": 0.0043471980025060475, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004548715485725552, + "leadthrough_capture_egm_poll_duration_warn_count": 2062, + "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": 0.05007263203151524, + "leadthrough_capture_host_loop_dt_median_s": 0.003988306969404221, + "leadthrough_capture_host_loop_dt_p95_s": 0.004375162476208061, + "leadthrough_capture_host_loop_dt_p99_s": 0.0045944369630888104, + "leadthrough_capture_host_loop_gap_warn": true, + "leadthrough_capture_host_loop_gap_warn_count": 2, + "leadthrough_capture_host_receive_dt_max_s": 0.005443335976451635, + "leadthrough_capture_host_receive_dt_median_s": 0.003990548488218337, + "leadthrough_capture_host_receive_dt_p95_s": 0.004366920795291662, + "leadthrough_capture_host_receive_dt_p99_s": 0.004553553197765723, + "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": 0.09296881046611816, + "leadthrough_capture_loop_late_median_s": 0.09119005309185013, + "leadthrough_capture_loop_late_p95_s": 0.0914917110465467, + "leadthrough_capture_loop_late_p99_s": 0.09181690067402087, + "leadthrough_capture_loop_late_warn_count": 5352, + "leadthrough_capture_none_reads": 1, + "leadthrough_capture_read_duration_max_s": 0.05007029208354652, + "leadthrough_capture_read_duration_median_s": 0.0039773930329829454, + "leadthrough_capture_read_duration_p95_s": 0.004364588763564825, + "leadthrough_capture_read_duration_p99_s": 0.004583708895370364, + "leadthrough_capture_read_duration_warn_count": 2286, + "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": [ + 0.0048679932951927185, + 0.003084331750869751, + 0.0033232271671295166, + 0.003673762083053589, + 0.004304111003875732, + 0.007266633212566376 + ], + "leadthrough_delta_max_abs_rad": 0.007266633212566376, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002386048436164856, + 0.002239048480987549, + 0.0022722184658050537, + 0.0007136603817343712, + 0.001963019371032715, + 0.004751741886138916 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0010202989215031266, + 0.0008681663894094527, + 0.0009243375970982015, + 0.0004420040640980005, + 0.0007984075928106904, + 0.0016666253795847297 + ], + "leadthrough_delta_samples": 4641, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007266633212566376, + "leadthrough_delta_worst_from_rad": -0.09680198132991791, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.3879999999999999, + "leadthrough_delta_worst_to_rad": -0.10406861454248428, + "leadthrough_duration_s": 18.561999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4602, + "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": 4603, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5351, + "leadthrough_initial_stillness_first_motion_index": 710, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 2.835, + "leadthrough_initial_stillness_removed_samples": 709, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 709, + "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": [ + 0.0048679932951927185, + 0.003084331750869751, + 0.0033232271671295166, + 0.003673762083053589, + 0.004304111003875732, + 0.007266633212566376 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007266633212566376, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.6180078188577676, + 1.0281105836232114, + 0.8720507224410835, + 1.2205938498178655, + 1.4301141103108181, + 2.296378215153925 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.8817113637924194, + "leadthrough_velocity_rms_rad_s": 0.2566272581799505, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.49510788917541504, + "measured_wall_accel_p95_abs_rad_s2": 0.4800470173358917, + "measured_wall_accel_peak_abs_rad_s2": 348.4849853515625, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 11.612179078976624, + "measured_wall_accel_rms_rad_s2": 9.454694933164188, + "measured_wall_jerk_p95_abs_rad_s3": 7.942814826965332, + "measured_wall_jerk_peak_abs_rad_s3": 5259.04638671875, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 11.645166942034848, + "measured_wall_jerk_rms_rad_s3": 116.26752383264441, + "measured_wall_smoothness_samples": 997, + "measured_wall_velocity_peak_abs_rad_s": 22.21896743774414, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 11.581407746998593, + "measured_wall_velocity_rms_rad_s": 0.4638884538237532, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.49510788917541504, + "moving_aligned_p95_error_rad": 0.002123512327671051, + "moving_aligned_rms_error_rad": 0.012560717581055666, + "moving_aligned_samples": 705, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 17.087, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.18942895531654358, + 0.33689284324645996, + 0.10730725526809692, + 0.005390097387135029, + 0.41489461064338684, + 0.29204970598220825 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002056556986644864, + 0.0018744990229606628, + 0.0015353820053860545, + 0.0025626542046666145, + 0.0026730061508715153, + 0.0025883615016937256 + ], + "moving_joint_lag_rms_error_rad": [ + 0.007682121878123413, + 0.013086737569817784, + 0.00459925390633833, + 0.0012765683121828458, + 0.019404194019678824, + 0.01464819124227459 + ], + "moving_joint_lag_samples": [ + 618, + 666, + 564, + 263, + 459, + 401 + ], + "moving_joint_lag_worst_time_s": [ + 17.087, + 17.087, + 17.087, + 8.094999999999999, + 17.087, + 17.087 + ], + "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": 120.07701873779297, + "playback_velocity_rms_rad_s": 3.611638004627987, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 67.124, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 18.561999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1441, + 3781 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.3570643605616953, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08434711396694183, + "rapid_planner_max_dt_s": 2.367000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.006231948733329773, + "rapid_planner_median_dt_s": 0.07000000000000028, + "rapid_planner_path_max_error_rad": 0.49510788917541504, + "rapid_planner_path_p95_error_rad": 0.0027179375290870655, + "rapid_planner_path_rms_error_rad": 0.01573954360060506, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 26, + 45, + 57, + 69, + 77, + 85, + 92, + 98, + 104, + 111, + 120, + 130, + 139, + 148, + 158, + 168, + 178, + 189, + 196, + 203, + 210, + 217, + 224, + 231, + 238, + 245, + 255, + 265, + 279, + 293, + 306, + 322, + 371, + 410, + 448, + 485, + 528, + 573, + 623, + 849, + 1441, + 1449, + 1932, + 1985, + 2051, + 2076, + 2106, + 2129, + 2150, + 2170, + 2196, + 2223, + 2248, + 2274, + 2317, + 2360, + 2385, + 2410, + 2426, + 2442, + 2465, + 2476, + 2488, + 2500, + 2512, + 2524, + 2535, + 2550, + 2563, + 2594, + 2629, + 2674, + 2718, + 2749, + 2789, + 2807, + 2854, + 2929, + 3056, + 3171, + 3259, + 3476, + 3781, + 4013, + 4043, + 4067, + 4098, + 4116, + 4133, + 4152, + 4171, + 4182, + 4196, + 4212, + 4229, + 4244, + 4259, + 4270, + 4280, + 4291, + 4302, + 4317, + 4335, + 4361, + 4389, + 4641 + ], + "rapid_planner_selected_max_joint_step_deg": 4.832733644414726, + "rapid_planner_selected_samples": 107, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4642, + "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": 107, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.49510788917541504, + "raw_replay_rms_error_rad": 0.010562600885202562, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9284590182836094, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8885791556357078, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9610436121582221, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.8751667141914368, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8751667141914368 + ], + "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": 0.9391713439802262, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9129408061704717, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9771562669148669, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008201226592063904, + 0.0007371455430984497, + 0.000842750072479248, + 0.00402463972568512, + 0.003847956657409668, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0023890770971775055, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.6889686584472656, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 68.88105773925781, + "replay_smoothing_raw_accel_rms_rad_s2": 3.382717478482881, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 383.09161376953125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15972.2392578125, + "replay_smoothing_raw_jerk_rms_rad_s3": 835.3291803588544, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.049309492111206, + "replay_smoothing_raw_velocity_rms_rad_s": 0.25847997125808386, + "replay_smoothing_rms_deviation_rad": 0.0012600496204870355, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.425056219100952, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.20627212524414, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.2509390244319407, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 359.7886657714844, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14581.708984375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 816.2471435245137, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8817113637924194, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2566272581799505, + "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": 0.9182172683218647, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9928322760594729, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 17.046, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "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": 0.49510788917541504, + "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": 0.6836936473846436, + "stage_planned_to_measured_rms_error_rad": 0.013813783229379666, + "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": 997, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.4951", + "target_wall_accel_p95_abs_rad_s2": 0.8441609144210815, + "target_wall_accel_peak_abs_rad_s2": 175.7042236328125, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.58002682030201e-06, + "target_wall_accel_rms_rad_s2": 4.790766555613915, + "target_wall_jerk_p95_abs_rad_s3": 20.538419723510742, + "target_wall_jerk_peak_abs_rad_s3": 2636.339599609375, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06673815799877048, + "target_wall_jerk_rms_rad_s3": 59.18984823492644, + "target_wall_smoothness_samples": 997, + "target_wall_velocity_peak_abs_rad_s": 11.725020408630371, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.58002682030201e-06, + "target_wall_velocity_rms_rad_s": 0.2595990478970086, + "tcp_pose_count": 997, + "timestamp_count": 997, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4951", + "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": 1.190000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1799999999999993, + "window_lag_best_lag_p95_abs_s": 1.1895000000000029, + "window_lag_count": 22, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 17.5, + "window_lag_worst_max_error_rad": 0.49510788917541504, + "window_lag_worst_rms_error_rad": 0.027642322810690807, + "window_lag_worst_start_s": 16.5, + "zero_lag_max_error_rad": 0.49510788917541504, + "zero_lag_p95_error_rad": 0.001910094521008432, + "zero_lag_rms_error_rad": 0.010562600885202562, + "zero_lag_samples": 997, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 17.087 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.npz new file mode 100644 index 0000000000000000000000000000000000000000..14c75cd654163bbe53c6ec11197bba792f05076c --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154102.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f84cdf206f3907dba62a252cf3ddcbeaf0fb471a73af05e345e59c67d4522489 +size 101001 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f55b346fc1a0e792af124a4897aea6055fae58 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.json @@ -0,0 +1,654 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:42:47", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1001, + "actual_playback_duration_s": 33.381389688001946, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006029009819030762, + "aligned_p95_error_rad": 0.002060629427433014, + "aligned_rms_error_rad": 0.0008980915091881262, + "aligned_samples": 1001, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 11.794999999999998, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1001, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1001, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.9806211990033196, + "image_frame_counts": { + "cam_scene": 1001, + "cam_wrist": 1001 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.006029009819030762, + 0.00599067285656929, + 0.004278309643268585, + 0.00509168254211545, + 0.005459904670715332, + 0.005263030529022217 + ], + "joint_lag_p95_error_rad": [ + 0.0018829107284545898, + 0.001858934760093689, + 0.0015888959169387817, + 0.0014688670635223389, + 0.0023350119590759277, + 0.0027370452880859375 + ], + "joint_lag_rms_error_rad": [ + 0.0008928797407344683, + 0.0009265519059521115, + 0.0007512800180187188, + 0.0006751564842419472, + 0.0009390486853957227, + 0.001132080876168177 + ], + "joint_lag_samples": [ + 1001, + 1001, + 1001, + 1001, + 1001, + 1001 + ], + "joint_lag_worst_time_s": [ + 11.794999999999998, + 11.794999999999998, + 2.4879999999999995, + 1.6440000000000001, + 11.794999999999998, + 15.378 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 20, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007808180991560221, + "leadthrough_capture_egm_poll_duration_median_s": 0.003975988947786391, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004362696991302073, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004903221072163433, + "leadthrough_capture_egm_poll_duration_warn_count": 2267, + "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": 0.007904115947894752, + "leadthrough_capture_host_loop_dt_median_s": 0.004002776462584734, + "leadthrough_capture_host_loop_dt_p95_s": 0.004396050871582701, + "leadthrough_capture_host_loop_dt_p99_s": 0.004935247336979949, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007791518000885844, + "leadthrough_capture_host_receive_dt_median_s": 0.004004436021205038, + "leadthrough_capture_host_receive_dt_p95_s": 0.004382331034867093, + "leadthrough_capture_host_receive_dt_p99_s": 0.004902945727808399, + "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": 0.015362250967882574, + "leadthrough_capture_loop_late_median_s": 0.010229646461084485, + "leadthrough_capture_loop_late_p95_s": 0.010521110997069627, + "leadthrough_capture_loop_late_p99_s": 0.011215239022858443, + "leadthrough_capture_loop_late_warn_count": 5375, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007870822912082076, + "leadthrough_capture_read_duration_median_s": 0.003990809083916247, + "leadthrough_capture_read_duration_p95_s": 0.004382277885451913, + "leadthrough_capture_read_duration_p99_s": 0.004921215807553383, + "leadthrough_capture_read_duration_warn_count": 2535, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 7, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0042507946491241455, + 0.002970486879348755, + 0.003819778561592102, + 0.0031057000160217285, + 0.0031218528747558594, + 0.009105592966079712 + ], + "leadthrough_delta_max_abs_rad": 0.009105592966079712, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0025751502253115177, + 0.0020732288248836994, + 0.002431334462016821, + 0.000984652666375041, + 0.0016566808335483074, + 0.005149541888386011 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0010349885560572147, + 0.0008698255405761302, + 0.0010006719967350364, + 0.0005087921163067222, + 0.0006886543706059456, + 0.001811943599022925 + ], + "leadthrough_delta_samples": 4214, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.009105592966079712, + "leadthrough_delta_worst_from_rad": -0.2570868134498596, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.46799999999999997, + "leadthrough_delta_worst_to_rad": -0.26619240641593933, + "leadthrough_duration_s": 16.854, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4213, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5479999999999983, + "leadthrough_final_stillness_removed_samples": 137, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4214, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 5375, + "leadthrough_initial_stillness_first_motion_index": 1024, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.091, + "leadthrough_initial_stillness_removed_samples": 1023, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1023, + "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": [ + 0.0042507946491241455, + 0.002970486879348755, + 0.003819778561592102, + 0.0031057000160217285, + 0.0031218528747558594, + 0.009105592966079712 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.009105592966079712, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0626986622806815, + 0.7426217198369407, + 0.9549446403977067, + 0.7764250040058625, + 0.7804632186887042, + 2.276398241519673 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.256747245788574, + "leadthrough_velocity_rms_rad_s": 0.2657679773547091, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006029009819030762, + "measured_wall_accel_p95_abs_rad_s2": 0.4184003472328186, + "measured_wall_accel_peak_abs_rad_s2": 3.371673345565796, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 33.66803900490049, + "measured_wall_accel_rms_rad_s2": 0.2192687648070498, + "measured_wall_jerk_p95_abs_rad_s3": 7.050324440002441, + "measured_wall_jerk_peak_abs_rad_s3": 53.212650299072266, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 33.529281472903676, + "measured_wall_jerk_rms_rad_s3": 3.555570398283036, + "measured_wall_smoothness_samples": 1001, + "measured_wall_velocity_peak_abs_rad_s": 0.8425358533859253, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 13.062851056922227, + "measured_wall_velocity_rms_rad_s": 0.1064108262041535, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005429565906524658, + "moving_aligned_p95_error_rad": 0.002428673207759857, + "moving_aligned_rms_error_rad": 0.0010493438748132799, + "moving_aligned_samples": 697, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 15.393999999999998, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004348039627075195, + 0.004944669548422098, + 0.004278309643268585, + 0.00509168254211545, + 0.005429565906524658, + 0.005263030529022217 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020929574966430664, + 0.0021165197249501944, + 0.0019462878117337823, + 0.002457863185554743, + 0.0028941123746335506, + 0.003515111282467842 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010379438013876823, + 0.0010707072450405856, + 0.0010052374419485287, + 0.0013419927303851477, + 0.0012945031468906067, + 0.0016997139401034853 + ], + "moving_joint_lag_samples": [ + 591, + 670, + 539, + 222, + 458, + 390 + ], + "moving_joint_lag_worst_time_s": [ + 1.6280000000000001, + 12.073999999999998, + 2.4879999999999995, + 1.6440000000000001, + 15.393999999999998, + 15.378 + ], + "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": 2.4575157165527344, + "playback_velocity_rms_rad_s": 0.4692432871529707, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 63.708, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 16.854, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1402, + 3490 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43257295560983255, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08552002906799316, + "rapid_planner_max_dt_s": 1.9160000000000004, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0075498223304748535, + "rapid_planner_median_dt_s": 0.07199999999999918, + "rapid_planner_path_max_error_rad": 0.006029009819030762, + "rapid_planner_path_p95_error_rad": 0.003380328416824341, + "rapid_planner_path_rms_error_rad": 0.00155178006264429, + "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, + 62, + 75, + 86, + 97, + 104, + 110, + 117, + 124, + 131, + 138, + 144, + 151, + 158, + 166, + 174, + 182, + 192, + 202, + 212, + 223, + 235, + 247, + 259, + 271, + 288, + 307, + 327, + 347, + 367, + 387, + 444, + 468, + 515, + 588, + 691, + 887, + 1220, + 1402, + 1881, + 1924, + 1972, + 2008, + 2038, + 2063, + 2086, + 2098, + 2110, + 2129, + 2148, + 2173, + 2198, + 2230, + 2261, + 2292, + 2322, + 2354, + 2387, + 2403, + 2421, + 2434, + 2447, + 2460, + 2473, + 2486, + 2498, + 2514, + 2530, + 2547, + 2616, + 2671, + 2737, + 2796, + 2845, + 3181, + 3490, + 3687, + 3720, + 3747, + 3765, + 3783, + 3810, + 3835, + 3857, + 3872, + 3888, + 3904, + 3920, + 3937, + 3954, + 3971, + 3988, + 4005, + 4023, + 4061, + 4100, + 4138, + 4214 + ], + "rapid_planner_selected_max_joint_step_deg": 4.899936729432127, + "rapid_planner_selected_samples": 99, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4215, + "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": 99, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006029009819030762, + "raw_replay_rms_error_rad": 0.0008980915091881262, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8131228912627, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.6096123448300999, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.8570760597532927, + "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": 0.5377845257031661, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9490584075468153, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8593734852915874, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005686730146408081, + 0.0006691515445709229, + 0.0010697394609451294, + 0.0028067827224731445, + 0.002398371696472168, + 0.007600069046020508 + ], + "replay_smoothing_max_deviation_normalized": 0.8709037674363258, + "replay_smoothing_max_deviation_rad": 0.007600069046020508, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0024775625206530094, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.456489324569702, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 16.432254791259766, + "replay_smoothing_raw_accel_rms_rad_s2": 1.2197343889400345, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 216.51780700683594, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 1821.2230224609375, + "replay_smoothing_raw_jerk_rms_rad_s3": 141.19750047516166, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.2749788761138916, + "replay_smoothing_raw_velocity_rms_rad_s": 0.26706050832381056, + "replay_smoothing_rms_deviation_rad": 0.0011460939398085007, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.9974277019500732, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 10.017305374145508, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.045405144018315, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 116.43992614746094, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 1728.447021484375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 121.34138809780025, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.256747245788574, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2657679773547091, + "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": 0.9919860221487152, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9951601568602787, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.1399999999999997, + "replay_smoothing_wrist_max_deviation_rad": 0.007600069046020508, + "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": 0.006029009819030762, + "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": 0.04864165186882019, + "stage_planned_to_measured_rms_error_rad": 0.006310415391907633, + "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": 1001, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.6942417621612549, + "target_wall_accel_peak_abs_rad_s2": 4.1362738609313965, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.9000715969596058, + "target_wall_accel_rms_rad_s2": 0.34484043359003663, + "target_wall_jerk_p95_abs_rad_s3": 17.319974899291992, + "target_wall_jerk_peak_abs_rad_s3": 105.3641128540039, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 21.766721919062547, + "target_wall_jerk_rms_rad_s3": 7.845912673029162, + "target_wall_smoothness_samples": 1001, + "target_wall_velocity_peak_abs_rad_s": 0.8401980400085449, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.6000543050467968, + "target_wall_velocity_rms_rad_s": 0.10727810882155542, + "tcp_pose_count": 1001, + "timestamp_count": 1001, + "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": -1.98, + "window_lag_best_lag_p95_abs_s": 1.98, + "window_lag_count": 21, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 11.5, + "window_lag_worst_max_error_rad": 0.005183398723602295, + "window_lag_worst_rms_error_rad": 0.0016971647041157168, + "window_lag_worst_start_s": 10.5, + "zero_lag_max_error_rad": 0.006029009819030762, + "zero_lag_p95_error_rad": 0.002060629427433014, + "zero_lag_rms_error_rad": 0.0008980915091881262, + "zero_lag_samples": 1001, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 11.794999999999998 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e1d05ebf1a9e184cbcadb28c2b8809373836b62 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154246.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef9c54f1ff625809c453805831709cf91302d3fe34c9c9fefdd3ced7d1a14b2c +size 100050 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.json new file mode 100644 index 0000000000000000000000000000000000000000..92a8b76e2aca0873e8bbe4a3c208bab73f906367 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.json @@ -0,0 +1,661 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:45:54", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1031, + "actual_playback_duration_s": 34.380952000035904, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.00657990574836731, + "aligned_p95_error_rad": 0.002014055848121643, + "aligned_rms_error_rad": 0.0008894611568492692, + "aligned_samples": 1031, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 17.982, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1031, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1031, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6918927218166384, + "image_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005105406045913696, + 0.003782864660024643, + 0.005190735682845116, + 0.00657990574836731, + 0.0051773786544799805, + 0.006201267242431641 + ], + "joint_lag_p95_error_rad": [ + 0.001914478838443756, + 0.001564033329486847, + 0.0018393462523818016, + 0.0018282635137438774, + 0.0021362602710723877, + 0.002831600606441498 + ], + "joint_lag_rms_error_rad": [ + 0.0008534565395217432, + 0.0007581599425702261, + 0.000836641504468926, + 0.000826600680418056, + 0.0008435612676174858, + 0.0011613866840115238 + ], + "joint_lag_samples": [ + 1031, + 1031, + 1031, + 1031, + 1031, + 1031 + ], + "joint_lag_worst_time_s": [ + 3.487, + 12.394, + 4.527, + 17.982, + 4.527, + 17.97 + ], + "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": 0.006188280996866524, + "leadthrough_capture_egm_poll_duration_median_s": 0.003966344986110926, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004353862954303622, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00486867297440767, + "leadthrough_capture_egm_poll_duration_warn_count": 2320, + "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": 0.006230185041204095, + "leadthrough_capture_host_loop_dt_median_s": 0.003998104482889175, + "leadthrough_capture_host_loop_dt_p95_s": 0.004385580396046862, + "leadthrough_capture_host_loop_dt_p99_s": 0.0049117257888428864, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006260213907808065, + "leadthrough_capture_host_receive_dt_median_s": 0.004000720975454897, + "leadthrough_capture_host_receive_dt_p95_s": 0.004370885179378092, + "leadthrough_capture_host_receive_dt_p99_s": 0.004874789846362544, + "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": 0.016842812998220325, + "leadthrough_capture_loop_late_median_s": 0.01356421725358814, + "leadthrough_capture_loop_late_p95_s": 0.013899835990741849, + "leadthrough_capture_loop_late_p99_s": 0.01442307042889297, + "leadthrough_capture_loop_late_warn_count": 5861, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006214707042090595, + "leadthrough_capture_read_duration_median_s": 0.003984601004049182, + "leadthrough_capture_read_duration_p95_s": 0.004371147020719945, + "leadthrough_capture_read_duration_p99_s": 0.004896342614665627, + "leadthrough_capture_read_duration_warn_count": 2624, + "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": [ + 0.004571989178657532, + 0.0026580989360809326, + 0.0032896697521209717, + 0.0034993933513760567, + 0.0026569366455078125, + 0.011096179485321045 + ], + "leadthrough_delta_max_abs_rad": 0.011096179485321045, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002223469316959381, + 0.0018088184297084808, + 0.002453923225402832, + 0.0008610673248767853, + 0.0012847185134887695, + 0.003363370895385742 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0009636247414164245, + 0.0007290775538422167, + 0.0009187353425659239, + 0.00044672260992228985, + 0.0005303193465806544, + 0.001742214080877602 + ], + "leadthrough_delta_samples": 5081, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.011096179485321045, + "leadthrough_delta_worst_from_rad": -0.47350993752479553, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7919999999999998, + "leadthrough_delta_worst_to_rad": -0.4846061170101166, + "leadthrough_duration_s": 20.320999999999998, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5050, + "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": 5051, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 5861, + "leadthrough_initial_stillness_first_motion_index": 780, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.115, + "leadthrough_initial_stillness_removed_samples": 779, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 779, + "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": [ + 0.004571989178657532, + 0.0026580989360809326, + 0.0032896697521209717, + 0.0034993933513760567, + 0.0026569366455078125, + 0.011096179485321045 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.011096179485321045, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1429972946650164, + 0.6645247340203063, + 0.8224174380299683, + 0.874848337842945, + 0.6642341613773213, + 2.7740448713302586 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.7709827423095703, + "leadthrough_velocity_rms_rad_s": 0.2452972693150446, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.00657990574836731, + "measured_wall_accel_p95_abs_rad_s2": 0.5378631949424744, + "measured_wall_accel_peak_abs_rad_s2": 2.9633021354675293, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 34.42436293698847, + "measured_wall_accel_rms_rad_s2": 0.27099206535108483, + "measured_wall_jerk_p95_abs_rad_s3": 8.87382698059082, + "measured_wall_jerk_peak_abs_rad_s3": 49.50693893432617, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 19.157471491023898, + "measured_wall_jerk_rms_rad_s3": 4.533848293383016, + "measured_wall_smoothness_samples": 1031, + "measured_wall_velocity_peak_abs_rad_s": 0.9471045732498169, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.323388044023886, + "measured_wall_velocity_rms_rad_s": 0.10643460351883138, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.00657990574836731, + "moving_aligned_p95_error_rad": 0.002284819958731532, + "moving_aligned_rms_error_rad": 0.0010342241707901013, + "moving_aligned_samples": 735, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 17.982, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004020363092422485, + 0.003782864660024643, + 0.004616040736436844, + 0.00657990574836731, + 0.00486302375793457, + 0.006201267242431641 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0021811174228787422, + 0.0018024673918262124, + 0.002050831913948059, + 0.0035425054375082254, + 0.002414882183074951, + 0.003635988337919116 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010419207936117488, + 0.0009203538044913432, + 0.0010420235443250408, + 0.0016922928369826977, + 0.001093854690403682, + 0.001773917544116033 + ], + "moving_joint_lag_samples": [ + 579, + 643, + 528, + 212, + 481, + 383 + ], + "moving_joint_lag_worst_time_s": [ + 2.4079999999999995, + 12.394, + 2.0, + 17.982, + 11.718, + 17.97 + ], + "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": 3.2882273197174072, + "playback_velocity_rms_rad_s": 0.45161686930356915, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.642, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.320999999999998, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1701, + 4167 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4453708091237324, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0865548849105835, + "rapid_planner_max_dt_s": 1.8480000000000008, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007773187011480331, + "rapid_planner_median_dt_s": 0.08800000000000097, + "rapid_planner_path_max_error_rad": 0.00657990574836731, + "rapid_planner_path_p95_error_rad": 0.0033416301012039185, + "rapid_planner_path_rms_error_rad": 0.0015023414483767816, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 47, + 100, + 118, + 134, + 142, + 150, + 158, + 167, + 175, + 183, + 188, + 194, + 200, + 205, + 210, + 216, + 222, + 227, + 234, + 242, + 250, + 257, + 268, + 280, + 290, + 299, + 315, + 334, + 362, + 389, + 430, + 471, + 516, + 565, + 634, + 697, + 782, + 916, + 1338, + 1406, + 1701, + 2163, + 2203, + 2249, + 2268, + 2286, + 2308, + 2331, + 2356, + 2380, + 2400, + 2421, + 2448, + 2474, + 2500, + 2526, + 2565, + 2610, + 2650, + 2691, + 2706, + 2721, + 2734, + 2748, + 2762, + 2776, + 2808, + 2828, + 2848, + 2872, + 2910, + 2956, + 2978, + 3158, + 3252, + 3313, + 3434, + 3606, + 3769, + 4167, + 4253, + 4335, + 4436, + 4477, + 4508, + 4524, + 4541, + 4564, + 4578, + 4591, + 4606, + 4622, + 4635, + 4648, + 4661, + 4674, + 4690, + 4707, + 4728, + 4757, + 4778, + 4819, + 4879, + 4989, + 5081 + ], + "rapid_planner_selected_max_joint_step_deg": 4.959229601617008, + "rapid_planner_selected_samples": 106, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5082, + "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": 106, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.00657990574836731, + "raw_replay_rms_error_rad": 0.0008894611568492692, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9099081491595814, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9608380656157364, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9227063421497536, + "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": 0.8393937030036548, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9550394355233464, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9700151806610027, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007355362176895142, + 0.0006785988807678223, + 0.0008881855756044388, + 0.0033916011452674866, + 0.0033941268920898438, + 0.006377726793289185 + ], + "replay_smoothing_max_deviation_normalized": 0.730833661947255, + "replay_smoothing_max_deviation_rad": 0.006377726793289185, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0027612894773483276, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.8594133853912354, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 29.48885154724121, + "replay_smoothing_raw_accel_rms_rad_s2": 1.655839716272691, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 289.49310302734375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 7946.2431640625, + "replay_smoothing_raw_jerk_rms_rad_s3": 335.2162313718207, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.772174835205078, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24668812607447504, + "replay_smoothing_rms_deviation_rad": 0.001184340295337929, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.6018035411834717, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 28.33401107788086, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5278538077882604, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 242.99868774414062, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 7588.9755859375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 325.1648332346371, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.7709827423095703, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2452972693150446, + "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": 0.999569979180112, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9943618820185511, + "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": 18.39, + "replay_smoothing_wrist_max_deviation_rad": 0.006377726793289185, + "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": 0.00657990574836731, + "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": 0.05419737100601196, + "stage_planned_to_measured_rms_error_rad": 0.006313157568473972, + "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": 1031, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8745606541633606, + "target_wall_accel_peak_abs_rad_s2": 4.710137367248535, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 22.03340288507752, + "target_wall_accel_rms_rad_s2": 0.40784979826808315, + "target_wall_jerk_p95_abs_rad_s3": 18.96670913696289, + "target_wall_jerk_peak_abs_rad_s3": 77.04193115234375, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 6.966721854056232, + "target_wall_jerk_rms_rad_s3": 9.17813372922223, + "target_wall_smoothness_samples": 1031, + "target_wall_velocity_peak_abs_rad_s": 0.9949899315834045, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.1667223901022226, + "target_wall_velocity_rms_rad_s": 0.10755316878947706, + "tcp_pose_count": 1031, + "timestamp_count": 1031, + "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": 1.4300000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.92, + "window_lag_best_lag_p95_abs_s": 1.3725000000000032, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.5, + "window_lag_worst_max_error_rad": 0.005105406045913696, + "window_lag_worst_rms_error_rad": 0.0018039576345767949, + "window_lag_worst_start_s": 2.5, + "zero_lag_max_error_rad": 0.00657990574836731, + "zero_lag_p95_error_rad": 0.002014055848121643, + "zero_lag_rms_error_rad": 0.0008894611568492692, + "zero_lag_samples": 1031, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 17.982 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b02bbcd44f45989d102f1035b056ab2f5716b04 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154553.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2495b7a771d5faa2eb219821e717aedaa4ea74c3b9144cc0b1ba295de13e0242 +size 105752 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.json new file mode 100644 index 0000000000000000000000000000000000000000..b07b08e30f66a502d797937f582a13b12c300a4b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.json @@ -0,0 +1,654 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:47:32", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1021, + "actual_playback_duration_s": 34.047948470921256, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005963742733001709, + "aligned_p95_error_rad": 0.002097071148455143, + "aligned_rms_error_rad": 0.0008932683849652077, + "aligned_samples": 1021, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 13.267, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1021, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1021, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6877143090572646, + "image_frame_counts": { + "cam_scene": 1021, + "cam_wrist": 1021 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005963742733001709, + 0.0055129677057266235, + 0.004828095436096191, + 0.004372738301753998, + 0.004455089569091797, + 0.005911529064178467 + ], + "joint_lag_p95_error_rad": [ + 0.0017126500606536865, + 0.002163529396057129, + 0.0017024539411067963, + 0.0014090090990066528, + 0.0023218393325805664, + 0.002666950225830078 + ], + "joint_lag_rms_error_rad": [ + 0.0007917353055807885, + 0.0009200398369284143, + 0.0008155306018651643, + 0.0005448548364977502, + 0.0009259312618549886, + 0.0012226801269006615 + ], + "joint_lag_samples": [ + 1021, + 1021, + 1021, + 1021, + 1021, + 1021 + ], + "joint_lag_worst_time_s": [ + 13.267, + 12.614999999999998, + 12.614999999999998, + 4.272, + 9.251, + 13.267 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 7, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006241564988158643, + "leadthrough_capture_egm_poll_duration_median_s": 0.003977367479819804, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00435784476576373, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004758205119287592, + "leadthrough_capture_egm_poll_duration_warn_count": 2597, + "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": 0.006278681103140116, + "leadthrough_capture_host_loop_dt_median_s": 0.004003265989013016, + "leadthrough_capture_host_loop_dt_p95_s": 0.004386692773550749, + "leadthrough_capture_host_loop_dt_p99_s": 0.004793977364897727, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0062286099418997765, + "leadthrough_capture_host_receive_dt_median_s": 0.004005684982985258, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043783935951069, + "leadthrough_capture_host_receive_dt_p99_s": 0.0047759141260758035, + "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": 0.01849943003617227, + "leadthrough_capture_loop_late_median_s": 0.011022422404494137, + "leadthrough_capture_loop_late_p95_s": 0.011311920563457534, + "leadthrough_capture_loop_late_p99_s": 0.011861762375338003, + "leadthrough_capture_loop_late_warn_count": 6186, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006264668074436486, + "leadthrough_capture_read_duration_median_s": 0.0039913320215418935, + "leadthrough_capture_read_duration_p95_s": 0.0043738312378991395, + "leadthrough_capture_read_duration_p99_s": 0.0047782457666471585, + "leadthrough_capture_read_duration_warn_count": 2932, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 5, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.004093006253242493, + 0.002541057765483856, + 0.002841070294380188, + 0.0019216760993003845, + 0.003120124340057373, + 0.007831692695617676 + ], + "leadthrough_delta_max_abs_rad": 0.007831692695617676, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001958163222298026, + 0.0019126656698063016, + 0.0023841673973947763, + 0.00037918187445029616, + 0.001467972993850708, + 0.0041229259222745895 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008939124527387321, + 0.0007741970475763083, + 0.0008876468637026846, + 0.0002600656298454851, + 0.0006405767635442317, + 0.0015676115872338414 + ], + "leadthrough_delta_samples": 5044, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007831692695617676, + "leadthrough_delta_worst_from_rad": -0.3122202157974243, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6199999999999997, + "leadthrough_delta_worst_to_rad": -0.320051908493042, + "leadthrough_duration_s": 20.174, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5043, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.8039999999999985, + "leadthrough_final_stillness_removed_samples": 201, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5044, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6186, + "leadthrough_initial_stillness_first_motion_index": 941, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.759, + "leadthrough_initial_stillness_removed_samples": 940, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 940, + "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": [ + 0.004093006253242493, + 0.002541057765483856, + 0.002841070294380188, + 0.0019216760993003845, + 0.003120124340057373, + 0.007831692695617676 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007831692695617676, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0232515633111903, + 0.6848375002542872, + 0.8588681618372274, + 0.4804190248249357, + 0.7800310850140828, + 2.6105642318732327 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.328360080718994, + "leadthrough_velocity_rms_rad_s": 0.23356807898346435, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005963742733001709, + "measured_wall_accel_p95_abs_rad_s2": 0.46985483169555664, + "measured_wall_accel_peak_abs_rad_s2": 3.142608880996704, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 34.44662389392033, + "measured_wall_accel_rms_rad_s2": 0.2592086841680675, + "measured_wall_jerk_p95_abs_rad_s3": 8.003541946411133, + "measured_wall_jerk_peak_abs_rad_s3": 61.09767532348633, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 17.71069771400653, + "measured_wall_jerk_rms_rad_s3": 4.51743325892922, + "measured_wall_smoothness_samples": 1021, + "measured_wall_velocity_peak_abs_rad_s": 0.7670585513114929, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 13.14275491796434, + "measured_wall_velocity_rms_rad_s": 0.10236058959960763, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005963742733001709, + "moving_aligned_p95_error_rad": 0.0023784260265529156, + "moving_aligned_rms_error_rad": 0.0010477059410358795, + "moving_aligned_samples": 727, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 13.267, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0038652122020721436, + 0.0055129677057266235, + 0.004828095436096191, + 0.003596583381295204, + 0.004455089569091797, + 0.005911529064178467 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0019968710839748383, + 0.0024259428028017282, + 0.0022428855299949646, + 0.002288603689521551, + 0.0028007151558995247, + 0.0031754188239574432 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009315804162708298, + 0.0010600798638420491, + 0.0010829693186517227, + 0.0010872129654748719, + 0.0012905146688874543, + 0.0016851850878543554 + ], + "moving_joint_lag_samples": [ + 639, + 679, + 537, + 192, + 489, + 456 + ], + "moving_joint_lag_worst_time_s": [ + 2.2760000000000002, + 12.614999999999998, + 12.614999999999998, + 4.372, + 9.251, + 13.267 + ], + "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": 2.4864091873168945, + "playback_velocity_rms_rad_s": 0.41151433396587606, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.348, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.174, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1671, + 4323 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4136499165143122, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08622276037931442, + "rapid_planner_max_dt_s": 2.296, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007219552993774414, + "rapid_planner_median_dt_s": 0.10400000000000009, + "rapid_planner_path_max_error_rad": 0.005963742733001709, + "rapid_planner_path_p95_error_rad": 0.003108590841293335, + "rapid_planner_path_rms_error_rad": 0.0015040647782675327, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 33, + 69, + 87, + 105, + 118, + 126, + 134, + 142, + 150, + 158, + 165, + 172, + 180, + 188, + 196, + 204, + 212, + 220, + 227, + 240, + 253, + 266, + 279, + 293, + 307, + 319, + 332, + 366, + 399, + 438, + 482, + 608, + 659, + 734, + 813, + 1387, + 1671, + 2199, + 2246, + 2289, + 2332, + 2377, + 2407, + 2433, + 2449, + 2465, + 2497, + 2527, + 2557, + 2594, + 2630, + 2662, + 2695, + 2730, + 2765, + 2800, + 2835, + 2859, + 2881, + 2901, + 2912, + 2922, + 2943, + 2964, + 2981, + 3019, + 3050, + 3080, + 3110, + 3177, + 3213, + 3249, + 3368, + 3465, + 3698, + 4005, + 4109, + 4323, + 4594, + 4624, + 4647, + 4676, + 4702, + 4716, + 4730, + 4746, + 4762, + 4783, + 4806, + 4826, + 4845, + 4859, + 4873, + 4899, + 4918, + 4943, + 4969, + 5044 + ], + "rapid_planner_selected_max_joint_step_deg": 4.940200267702529, + "rapid_planner_selected_samples": 99, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5045, + "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": 99, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005963742733001709, + "raw_replay_rms_error_rad": 0.0008932683849652077, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8774155157737521, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9943114067332744, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9807057687115167, + "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": 0.7912106812322919, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9887957641982825, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.996676741327276, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005958974361419678, + 0.0005108875338919461, + 0.0007150694727897644, + 0.0022922009229660034, + 0.0031391382217407227, + 0.007188543677330017 + ], + "replay_smoothing_max_deviation_normalized": 0.8237464334939673, + "replay_smoothing_max_deviation_rad": 0.007188543677330017, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0022374866530299187, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.8851988315582275, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 76.68968200683594, + "replay_smoothing_raw_accel_rms_rad_s2": 2.7592129662665004, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 263.84716796875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21951.275390625, + "replay_smoothing_raw_jerk_rms_rad_s3": 715.6230707076868, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.330413818359375, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23462441998801184, + "replay_smoothing_rms_deviation_rad": 0.000987261197189829, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.5315182209014893, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 76.25342559814453, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.7059760731211724, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 208.75869750976562, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21705.328125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 713.2448701315561, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.328360080718994, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23356807898346435, + "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": 0.9991187240548434, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9954977363200239, + "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": 19.614, + "replay_smoothing_wrist_max_deviation_rad": 0.007188543677330017, + "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": 0.005963742733001709, + "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": 0.045967698097229004, + "stage_planned_to_measured_rms_error_rad": 0.006072548866993738, + "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": 1021, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.725462794303894, + "target_wall_accel_peak_abs_rad_s2": 4.062091827392578, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.666726444964297, + "target_wall_accel_rms_rad_s2": 0.3780620948484274, + "target_wall_jerk_p95_abs_rad_s3": 17.699125289916992, + "target_wall_jerk_peak_abs_rad_s3": 104.58179473876953, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 1.866731769987382, + "target_wall_jerk_rms_rad_s3": 8.661244213481039, + "target_wall_smoothness_samples": 1021, + "target_wall_velocity_peak_abs_rad_s": 0.820634663105011, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.900055113947019, + "target_wall_velocity_rms_rad_s": 0.10327989264205129, + "tcp_pose_count": 1021, + "timestamp_count": 1021, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 0.010000000000001563, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.1999999999999993, + "window_lag_best_lag_p95_abs_s": 1.1739999999999988, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 13.5, + "window_lag_worst_max_error_rad": 0.005963742733001709, + "window_lag_worst_rms_error_rad": 0.0020817017717977113, + "window_lag_worst_start_s": 12.5, + "zero_lag_max_error_rad": 0.005963742733001709, + "zero_lag_p95_error_rad": 0.002097071148455143, + "zero_lag_rms_error_rad": 0.0008932683849652077, + "zero_lag_samples": 1021, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 13.267 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.npz new file mode 100644 index 0000000000000000000000000000000000000000..dd1c4bb8436c5dbf585e69f6f526d1ba84eb04c7 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154731.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d7ea8a6ec50ca395a9ca5b6fe43ffed89d4e7aae50f8717d51296005c877c89 +size 106654 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.json new file mode 100644 index 0000000000000000000000000000000000000000..361695f048ebaa26247f95e29c7b8c3bc981acff --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.json @@ -0,0 +1,666 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:49:18", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1008, + "actual_playback_duration_s": 33.61704294302035, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005786597728729248, + "aligned_p95_error_rad": 0.0017206338234245777, + "aligned_rms_error_rad": 0.0007763773930781392, + "aligned_samples": 1008, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 14.679000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1008, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1008, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5019677840684635, + "image_frame_counts": { + "cam_scene": 1008, + "cam_wrist": 1008 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0037817656993865967, + 0.005105994641780853, + 0.004913985729217529, + 0.004722700919955969, + 0.00522083044052124, + 0.005786597728729248 + ], + "joint_lag_p95_error_rad": [ + 0.001723668072372675, + 0.0015325036365538836, + 0.0014511644840240479, + 0.001501488033682108, + 0.0019340571016073227, + 0.0018812594935297966 + ], + "joint_lag_rms_error_rad": [ + 0.0007568732753283856, + 0.0007812430399944636, + 0.0006974907471992517, + 0.0006884401616600441, + 0.0008754607239192886, + 0.0008405347218945646 + ], + "joint_lag_samples": [ + 1008, + 1008, + 1008, + 1008, + 1008, + 1008 + ], + "joint_lag_worst_time_s": [ + 20.87, + 14.739, + 14.739, + 3.1079999999999997, + 14.679000000000002, + 14.679000000000002 + ], + "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": 37, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005655576009303331, + "leadthrough_capture_egm_poll_duration_median_s": 0.003979341476224363, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004323049681261182, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004653498691041022, + "leadthrough_capture_egm_poll_duration_warn_count": 3083, + "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": 0.005984819028526545, + "leadthrough_capture_host_loop_dt_median_s": 0.004008049028925598, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043546661734580995, + "leadthrough_capture_host_loop_dt_p99_s": 0.004707283675670624, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005665705073624849, + "leadthrough_capture_host_receive_dt_median_s": 0.004013661993667483, + "leadthrough_capture_host_receive_dt_p95_s": 0.004340334166772664, + "leadthrough_capture_host_receive_dt_p99_s": 0.004649648535996676, + "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": 0.012109319912269711, + "leadthrough_capture_loop_late_median_s": 0.006776216090656817, + "leadthrough_capture_loop_late_p95_s": 0.007087127037812024, + "leadthrough_capture_loop_late_p99_s": 0.007578773255227133, + "leadthrough_capture_loop_late_warn_count": 7114, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005972104030661285, + "leadthrough_capture_read_duration_median_s": 0.0039952549850568175, + "leadthrough_capture_read_duration_p95_s": 0.004340577631955967, + "leadthrough_capture_read_duration_p99_s": 0.004686960078543052, + "leadthrough_capture_read_duration_warn_count": 3464, + "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": [ + 0.004406601190567017, + 0.0027875304222106934, + 0.002404049038887024, + 0.00161786749958992, + 0.0037990212440490723, + 0.0050944983959198 + ], + "leadthrough_delta_max_abs_rad": 0.0050944983959198, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017382120713591576, + 0.0016575157642364502, + 0.0018114174017682672, + 0.0005344962701201439, + 0.0013242512941360474, + 0.003870919346809387 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008345055393874645, + 0.0006575066363438964, + 0.0007169087184593081, + 0.0002266568480990827, + 0.0007096992339938879, + 0.0012957379221916199 + ], + "leadthrough_delta_samples": 5596, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0050944983959198, + "leadthrough_delta_worst_from_rad": -0.492195725440979, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9199999999999999, + "leadthrough_delta_worst_to_rad": -0.4972902238368988, + "leadthrough_duration_s": 22.382, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5595, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.33200000000000074, + "leadthrough_final_stillness_removed_samples": 83, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5596, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7114, + "leadthrough_initial_stillness_first_motion_index": 1435, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.735, + "leadthrough_initial_stillness_removed_samples": 1434, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1434, + "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": [ + 0.004406601190567017, + 0.0027875304222106934, + 0.002404049038887024, + 0.00161786749958992, + 0.0037990212440490723, + 0.0050944983959198 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0050944983959198, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1016502976423648, + 0.7170538107553847, + 0.7835030555724801, + 0.40446687489734495, + 0.9497553110119509, + 1.6929705937702808 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.482994794845581, + "leadthrough_velocity_rms_rad_s": 0.20342951961755085, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005786597728729248, + "measured_wall_accel_p95_abs_rad_s2": 0.511498749256134, + "measured_wall_accel_peak_abs_rad_s2": 2.9308583736419678, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 34.52488316805102, + "measured_wall_accel_rms_rad_s2": 0.26712125459025393, + "measured_wall_jerk_p95_abs_rad_s3": 8.17792797088623, + "measured_wall_jerk_peak_abs_rad_s3": 52.71806716918945, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 33.82560543704312, + "measured_wall_jerk_rms_rad_s3": 4.596050876897514, + "measured_wall_smoothness_samples": 1008, + "measured_wall_velocity_peak_abs_rad_s": 0.8354547619819641, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 34.22551234404091, + "measured_wall_velocity_rms_rad_s": 0.10745582835570903, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005786597728729248, + "moving_aligned_p95_error_rad": 0.0019605932757258415, + "moving_aligned_rms_error_rad": 0.000906171968369866, + "moving_aligned_samples": 714, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 14.679000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0037817656993865967, + 0.0049283504486083984, + 0.004913985729217529, + 0.004722700919955969, + 0.00522083044052124, + 0.004938006401062012 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020195990800857544, + 0.0018015240784734488, + 0.0016128122806549072, + 0.003028095932677388, + 0.0025254248175770044, + 0.00244960468262434 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009309443982758881, + 0.0008971577116038946, + 0.0008642524313488558, + 0.0013798268722757486, + 0.0012216648430829894, + 0.0012563228453141642 + ], + "moving_joint_lag_samples": [ + 620, + 610, + 541, + 207, + 448, + 347 + ], + "moving_joint_lag_worst_time_s": [ + 20.87, + 3.1279999999999992, + 14.739, + 3.1079999999999997, + 14.679000000000002, + 14.615000000000002 + ], + "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": 1.5408713817596436, + "playback_velocity_rms_rad_s": 0.35909605787810595, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 74.76400000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 22.382, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2000, + 4760 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4125443330032693, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08480645716190338, + "rapid_planner_max_dt_s": 2.151, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007200256921350956, + "rapid_planner_median_dt_s": 0.09799999999999898, + "rapid_planner_path_max_error_rad": 0.005786597728729248, + "rapid_planner_path_p95_error_rad": 0.0026549890637397764, + "rapid_planner_path_rms_error_rad": 0.001278774103624496, + "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, + 71, + 89, + 106, + 124, + 142, + 160, + 179, + 190, + 200, + 210, + 220, + 230, + 240, + 250, + 261, + 278, + 294, + 314, + 333, + 354, + 374, + 394, + 414, + 438, + 465, + 488, + 511, + 534, + 568, + 603, + 648, + 706, + 748, + 826, + 881, + 915, + 1049, + 1090, + 1154, + 1350, + 1462, + 2000, + 2519, + 2573, + 2615, + 2645, + 2674, + 2705, + 2736, + 2762, + 2789, + 2814, + 2839, + 2865, + 2891, + 2920, + 2949, + 2980, + 3011, + 3056, + 3101, + 3158, + 3216, + 3260, + 3305, + 3325, + 3344, + 3363, + 3372, + 3382, + 3392, + 3401, + 3420, + 3437, + 3454, + 3476, + 3499, + 3565, + 3631, + 3728, + 3819, + 4022, + 4407, + 4492, + 4566, + 4685, + 4760, + 5076, + 5098, + 5117, + 5148, + 5170, + 5191, + 5208, + 5229, + 5245, + 5262, + 5278, + 5294, + 5310, + 5327, + 5348, + 5370, + 5390, + 5409, + 5433, + 5466, + 5499, + 5596 + ], + "rapid_planner_selected_max_joint_step_deg": 4.859052070834077, + "rapid_planner_selected_samples": 111, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5597, + "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": 111, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005786597728729248, + "raw_replay_rms_error_rad": 0.0007763773930781392, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9550773163982155, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9672251346702566, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9873429258947432, + "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": 0.9981119267255281, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9755947521064423, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9953551426363988, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006764233112335205, + 0.0004603266716003418, + 0.0004453808069229126, + 0.0022679828107357025, + 0.0037790536880493164, + 0.005068447440862656 + ], + "replay_smoothing_max_deviation_normalized": 0.580801298589726, + "replay_smoothing_max_deviation_rad": 0.005068447440862656, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016959295608103275, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.9033455848693848, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.086395263671875, + "replay_smoothing_raw_accel_rms_rad_s2": 3.09537667719926, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 644.7557983398438, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14209.5703125, + "replay_smoothing_raw_jerk_rms_rad_s3": 780.0567683173889, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5124781131744385, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20418518951789053, + "replay_smoothing_rms_deviation_rad": 0.0007373689362004892, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.727996826171875, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.444820404052734, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.0561982652122652, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 643.5384521484375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13862.7822265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 776.4335158930429, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.482994794845581, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20342951961755085, + "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": 0.9805066148911227, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.996299095433298, + "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": 21.67, + "replay_smoothing_wrist_max_deviation_rad": 0.005068447440862656, + "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": 0.005786597728729248, + "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": 0.04993772506713867, + "stage_planned_to_measured_rms_error_rad": 0.006378898700965644, + "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": 1008, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7704502940177917, + "target_wall_accel_peak_abs_rad_s2": 3.1517672538757324, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 6.500054857926443, + "target_wall_accel_rms_rad_s2": 0.36365525805315985, + "target_wall_jerk_p95_abs_rad_s3": 16.020273208618164, + "target_wall_jerk_peak_abs_rad_s3": 86.39653015136719, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 21.80005621293094, + "target_wall_jerk_rms_rad_s3": 7.748344704085549, + "target_wall_smoothness_samples": 1008, + "target_wall_velocity_peak_abs_rad_s": 0.8596256375312805, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 22.166722662979737, + "target_wall_velocity_rms_rad_s": 0.10838145559994103, + "tcp_pose_count": 1008, + "timestamp_count": 1008, + "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": 0.7400000000000024, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.009999999999998233, + "window_lag_best_lag_p95_abs_s": 0.6305000000000003, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -0.009999999999998233, + "window_lag_worst_end_s": 15.5, + "window_lag_worst_max_error_rad": 0.005973875522613525, + "window_lag_worst_rms_error_rad": 0.0022074245804313535, + "window_lag_worst_start_s": 14.5, + "zero_lag_max_error_rad": 0.005786597728729248, + "zero_lag_p95_error_rad": 0.0017206338234245777, + "zero_lag_rms_error_rad": 0.0007763773930781392, + "zero_lag_samples": 1008, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 14.679000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a634a0ec36d515a25566e42dfec3d3ff933fa7b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_154917.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7239f437f8ff6d52199291bb9a8faabe70a3929636daa999192a0fd6ac5f3e0e +size 102988 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.json new file mode 100644 index 0000000000000000000000000000000000000000..71c69381b52ad91e99cb502f2553a396a1c3f81a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.json @@ -0,0 +1,665 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:51:08", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1036, + "actual_playback_duration_s": 34.546931607997976, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005842231214046478, + "aligned_p95_error_rad": 0.002074955031275749, + "aligned_rms_error_rad": 0.0008995221439009237, + "aligned_samples": 1036, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 10.703, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1036, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1036, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5713150008186108, + "image_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0053275227546691895, + 0.0044622719287872314, + 0.005723300389945507, + 0.005842231214046478, + 0.005055367946624756, + 0.004767715930938721 + ], + "joint_lag_p95_error_rad": [ + 0.0021495490800589323, + 0.001573510468006134, + 0.0019513173028826714, + 0.0022200760431587696, + 0.0020678937435150146, + 0.0024465620517730713 + ], + "joint_lag_rms_error_rad": [ + 0.000906210899365743, + 0.0007169175346974402, + 0.0009149656425391543, + 0.0009430123359122254, + 0.0008947018645188446, + 0.0009963562412307878 + ], + "joint_lag_samples": [ + 1036, + 1036, + 1036, + 1036, + 1036, + 1036 + ], + "joint_lag_worst_time_s": [ + 20.61, + 10.487000000000002, + 10.715, + 10.703, + 16.106, + 20.602 + ], + "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": 30, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006913722027093172, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972553473431617, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004372412420343607, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0049118297616951145, + "leadthrough_capture_egm_poll_duration_warn_count": 2960, + "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": 0.006963466061279178, + "leadthrough_capture_host_loop_dt_median_s": 0.004001455032266676, + "leadthrough_capture_host_loop_dt_p95_s": 0.004404634423553944, + "leadthrough_capture_host_loop_dt_p99_s": 0.004945883220061659, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006908918963745236, + "leadthrough_capture_host_receive_dt_median_s": 0.004005572060123086, + "leadthrough_capture_host_receive_dt_p95_s": 0.004380656755529344, + "leadthrough_capture_host_receive_dt_p99_s": 0.004829414510168133, + "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": 0.01658559439238161, + "leadthrough_capture_loop_late_median_s": 0.013490159530192614, + "leadthrough_capture_loop_late_p95_s": 0.01377973880735226, + "leadthrough_capture_loop_late_p99_s": 0.014449083700310438, + "leadthrough_capture_loop_late_warn_count": 6990, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006945937988348305, + "leadthrough_capture_read_duration_median_s": 0.003988996439147741, + "leadthrough_capture_read_duration_p95_s": 0.004390286613488569, + "leadthrough_capture_read_duration_p99_s": 0.004933461142936721, + "leadthrough_capture_read_duration_warn_count": 3248, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 11, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0030096471309661865, + 0.0014289319515228271, + 0.002295374870300293, + 0.0026011765003204346, + 0.003979325294494629, + 0.006985604763031006 + ], + "leadthrough_delta_max_abs_rad": 0.006985604763031006, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001652705599553883, + 0.0012539506424218416, + 0.0020306138321757317, + 0.0009356137597933412, + 0.0011127591133117676, + 0.003158590290695429 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007527428679168224, + 0.0005913327913731337, + 0.0007694976520724595, + 0.0004118340148124844, + 0.0005885408609174192, + 0.001374005456455052 + ], + "leadthrough_delta_samples": 5497, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006985604763031006, + "leadthrough_delta_worst_from_rad": -0.7075936198234558, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.8559999999999999, + "leadthrough_delta_worst_to_rad": -0.7145792245864868, + "leadthrough_duration_s": 21.986, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5496, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.7149999999999999, + "leadthrough_final_stillness_removed_samples": 429, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5497, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6990, + "leadthrough_initial_stillness_first_motion_index": 1064, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.252, + "leadthrough_initial_stillness_removed_samples": 1063, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1063, + "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": [ + 0.0030096471309661865, + 0.0014289319515228271, + 0.002295374870300293, + 0.0026011765003204346, + 0.003979325294494629, + 0.006985604763031006 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006985604763031006, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0018795728683092, + 0.47270953655241127, + 0.6677905718485261, + 0.867058833440112, + 1.3264417648314928, + 1.7464011907579438 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7487555742263794, + "leadthrough_velocity_rms_rad_s": 0.20305351531071397, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005842231214046478, + "measured_wall_accel_p95_abs_rad_s2": 0.5290618538856506, + "measured_wall_accel_peak_abs_rad_s2": 2.5954058170318604, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 18.949058280908503, + "measured_wall_accel_rms_rad_s2": 0.2672885413038185, + "measured_wall_jerk_p95_abs_rad_s3": 8.79615592956543, + "measured_wall_jerk_peak_abs_rad_s3": 55.982784271240234, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 36.98266723100096, + "measured_wall_jerk_rms_rad_s3": 4.683432753071104, + "measured_wall_smoothness_samples": 1036, + "measured_wall_velocity_peak_abs_rad_s": 0.7019646763801575, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.822609493974596, + "measured_wall_velocity_rms_rad_s": 0.09877009997430462, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005842231214046478, + "moving_aligned_p95_error_rad": 0.002334078773856163, + "moving_aligned_rms_error_rad": 0.0010475037823285658, + "moving_aligned_samples": 739, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 10.703, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0053275227546691895, + 0.0044622719287872314, + 0.005723300389945507, + 0.005842231214046478, + 0.004953503608703613, + 0.004767715930938721 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024644210934638977, + 0.0017573876539245248, + 0.002629574853926897, + 0.003421474015340209, + 0.002425532089546323, + 0.003085744334384799 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010956257997281043, + 0.0008347749845345886, + 0.0012111603685157836, + 0.0015945402105950247, + 0.001163844825874648, + 0.001557904808354336 + ], + "moving_joint_lag_samples": [ + 626, + 683, + 540, + 289, + 475, + 360 + ], + "moving_joint_lag_worst_time_s": [ + 20.61, + 10.487000000000002, + 10.715, + 10.703, + 15.062000000000001, + 20.602 + ], + "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": 2.1501195430755615, + "playback_velocity_rms_rad_s": 0.31856112351543503, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.97200000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.986, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1939, + 4650 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43899674852422954, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.086872398853302, + "rapid_planner_max_dt_s": 2.268, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007661938667297363, + "rapid_planner_median_dt_s": 0.11599999999999966, + "rapid_planner_path_max_error_rad": 0.005842231214046478, + "rapid_planner_path_p95_error_rad": 0.003136084880679846, + "rapid_planner_path_rms_error_rad": 0.001516759517681977, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 30, + 60, + 76, + 90, + 100, + 109, + 123, + 137, + 144, + 152, + 160, + 168, + 176, + 184, + 192, + 200, + 210, + 220, + 230, + 239, + 250, + 260, + 276, + 291, + 306, + 320, + 335, + 350, + 366, + 392, + 418, + 443, + 509, + 590, + 638, + 678, + 735, + 1013, + 1081, + 1147, + 1183, + 1252, + 1331, + 1382, + 1496, + 1939, + 2506, + 2583, + 2641, + 2702, + 2736, + 2770, + 2804, + 2838, + 2868, + 2898, + 2961, + 3004, + 3040, + 3075, + 3104, + 3134, + 3179, + 3203, + 3222, + 3250, + 3264, + 3278, + 3305, + 3338, + 3370, + 3389, + 3419, + 3465, + 3497, + 3523, + 3545, + 3574, + 3602, + 3659, + 3718, + 3814, + 4005, + 4115, + 4367, + 4650, + 4838, + 4898, + 4977, + 5022, + 5058, + 5095, + 5115, + 5136, + 5170, + 5190, + 5210, + 5226, + 5242, + 5266, + 5291, + 5321, + 5341, + 5359, + 5378, + 5398, + 5420, + 5441, + 5497 + ], + "rapid_planner_selected_max_joint_step_deg": 4.977421810471337, + "rapid_planner_selected_samples": 110, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5498, + "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": 110, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005842231214046478, + "raw_replay_rms_error_rad": 0.0008995221439009237, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9640965756865184, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9724913099027944, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9665264793335544, + "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": 0.9839419230528876, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9626093214727812, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9834594112999263, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0011283010244369507, + 0.0004999786615371704, + 0.0009098326554521918, + 0.004337310791015625, + 0.0023874640464782715, + 0.00827014446258545 + ], + "replay_smoothing_max_deviation_normalized": 0.9476887546804138, + "replay_smoothing_max_deviation_rad": 0.00827014446258545, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0025171006564050913, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.320689678192139, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 36.7692756652832, + "replay_smoothing_raw_accel_rms_rad_s2": 2.8405045557426174, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 980.590576171875, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11024.9267578125, + "replay_smoothing_raw_jerk_rms_rad_s3": 702.4617699953741, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7456486225128174, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20449619307048056, + "replay_smoothing_rms_deviation_rad": 0.0011630591819456271, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.1296586990356445, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 35.7578010559082, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.745422867792834, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 964.8441772460938, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10612.697265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 690.8426387803548, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7487555742263794, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20305351531071397, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0017798265203508, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9929452096975254, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3760000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.00827014446258545, + "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": 0.005842231214046478, + "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": 0.04030776023864746, + "stage_planned_to_measured_rms_error_rad": 0.005863095444152276, + "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": 1036, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7467722296714783, + "target_wall_accel_peak_abs_rad_s2": 3.48488450050354, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 25.10007486899849, + "target_wall_accel_rms_rad_s2": 0.3736279735747423, + "target_wall_jerk_p95_abs_rad_s3": 16.362159729003906, + "target_wall_jerk_peak_abs_rad_s3": 98.04422760009766, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 25.06672334903851, + "target_wall_jerk_rms_rad_s3": 8.274199869264077, + "target_wall_smoothness_samples": 1036, + "target_wall_velocity_peak_abs_rad_s": 0.734442949295044, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.4337981500430033, + "target_wall_velocity_rms_rad_s": 0.09980297456553557, + "tcp_pose_count": 1036, + "timestamp_count": 1036, + "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": 1.8000000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.889999999999999, + "window_lag_best_lag_p95_abs_s": 1.4815000000000005, + "window_lag_count": 28, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.8000000000000034, + "window_lag_worst_end_s": 8.0, + "window_lag_worst_max_error_rad": 0.0330202579498291, + "window_lag_worst_rms_error_rad": 0.0019591718151143354, + "window_lag_worst_start_s": 7.0, + "zero_lag_max_error_rad": 0.005842231214046478, + "zero_lag_p95_error_rad": 0.002074955031275749, + "zero_lag_rms_error_rad": 0.0008995221439009237, + "zero_lag_samples": 1036, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 10.703 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.npz new file mode 100644 index 0000000000000000000000000000000000000000..626e27cd3c3d968393c2ffba6272ce857b32bba6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155107.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:148c8cc9d08f54eaf9240fe65dcd6d8cf3f9af15cde2d8847832b0c2acc2834a +size 108094 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.json new file mode 100644 index 0000000000000000000000000000000000000000..6b030d4d8250d7b7fd25490931e9c3aec10717d4 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.json @@ -0,0 +1,657 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:53:04", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 984, + "actual_playback_duration_s": 32.81114504497964, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006696581840515137, + "aligned_p95_error_rad": 0.0015669770073145628, + "aligned_rms_error_rad": 0.000774844776328876, + "aligned_samples": 984, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 1.6159999999999997, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 984, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 984, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.549595968875963, + "image_frame_counts": { + "cam_scene": 984, + "cam_wrist": 984 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004341445863246918, + 0.003534459974616766, + 0.004735831171274185, + 0.005206778645515442, + 0.00649869441986084, + 0.006696581840515137 + ], + "joint_lag_p95_error_rad": [ + 0.0015006317989900708, + 0.0011245801579207182, + 0.0015064754988998175, + 0.0012475954135879874, + 0.0017807958647608757, + 0.002381836762651801 + ], + "joint_lag_rms_error_rad": [ + 0.0007084317915441474, + 0.0005450400568757076, + 0.000732359991955212, + 0.0006287127155353165, + 0.0009563232954907007, + 0.0009783543404946523 + ], + "joint_lag_samples": [ + 984, + 984, + 984, + 984, + 984, + 984 + ], + "joint_lag_worst_time_s": [ + 20.69, + 14.298000000000002, + 1.6479999999999997, + 20.701, + 1.6319999999999997, + 1.6159999999999997 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 29, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005621879012323916, + "leadthrough_capture_egm_poll_duration_median_s": 0.003988325013779104, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004228935204446315, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004670010786503555, + "leadthrough_capture_egm_poll_duration_warn_count": 3218, + "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": 0.005651267012581229, + "leadthrough_capture_host_loop_dt_median_s": 0.0040161299402825534, + "leadthrough_capture_host_loop_dt_p95_s": 0.004262022452894598, + "leadthrough_capture_host_loop_dt_p99_s": 0.0047095173143316005, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.0056592070031911135, + "leadthrough_capture_host_receive_dt_median_s": 0.004018485022243112, + "leadthrough_capture_host_receive_dt_p95_s": 0.0042455028917174785, + "leadthrough_capture_host_receive_dt_p99_s": 0.004637171726208174, + "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": 0.03213278006296605, + "leadthrough_capture_loop_late_median_s": 0.025343797402456403, + "leadthrough_capture_loop_late_p95_s": 0.02562807707581669, + "leadthrough_capture_loop_late_p99_s": 0.026100702062249185, + "leadthrough_capture_loop_late_warn_count": 7125, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005638633039779961, + "leadthrough_capture_read_duration_median_s": 0.004003867041319609, + "leadthrough_capture_read_duration_p95_s": 0.004246948030777275, + "leadthrough_capture_read_duration_p99_s": 0.004688552664592863, + "leadthrough_capture_read_duration_warn_count": 3669, + "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": [ + 0.003001660108566284, + 0.0018375813961029053, + 0.0027683675289154053, + 0.002698257565498352, + 0.002291440963745117, + 0.007337331771850586 + ], + "leadthrough_delta_max_abs_rad": 0.007337331771850586, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019237432861700654, + 0.0013150677550584078, + 0.0021273763850331306, + 0.0004941699444316328, + 0.0014259220333769917, + 0.003755351062864065 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007774069672450423, + 0.0005548592889681458, + 0.0007670636987313628, + 0.0003208184498362243, + 0.0005285087390802801, + 0.001536885043606162 + ], + "leadthrough_delta_samples": 5294, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007337331771850586, + "leadthrough_delta_worst_from_rad": -0.6495791673660278, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7320000000000002, + "leadthrough_delta_worst_to_rad": -0.6569164991378784, + "leadthrough_duration_s": 21.174, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5293, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 1.2750000000000021, + "leadthrough_final_stillness_removed_samples": 319, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5294, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7125, + "leadthrough_initial_stillness_first_motion_index": 1512, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.043, + "leadthrough_initial_stillness_removed_samples": 1511, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1511, + "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": [ + 0.003001660108566284, + 0.0018375813961029053, + 0.0027683675289154053, + 0.002698257565498352, + 0.002291440963745117, + 0.007337331771850586 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007337331771850586, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9880264600117626, + 0.5896240472793356, + 0.6920918822287738, + 0.8898327747980417, + 0.7532040278116576, + 1.834332942962441 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.791447401046753, + "leadthrough_velocity_rms_rad_s": 0.2121172387331552, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006696581840515137, + "measured_wall_accel_p95_abs_rad_s2": 0.4774630665779114, + "measured_wall_accel_peak_abs_rad_s2": 3.0980958938598633, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 33.65658117609564, + "measured_wall_accel_rms_rad_s2": 0.26147609213104883, + "measured_wall_jerk_p95_abs_rad_s3": 7.843835830688477, + "measured_wall_jerk_peak_abs_rad_s3": 70.40935516357422, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 33.62351489602588, + "measured_wall_jerk_rms_rad_s3": 4.115714019450965, + "measured_wall_smoothness_samples": 984, + "measured_wall_velocity_peak_abs_rad_s": 0.8622645735740662, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 33.62351489602588, + "measured_wall_velocity_rms_rad_s": 0.10408196357986772, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006696581840515137, + "moving_aligned_p95_error_rad": 0.0018774665659293532, + "moving_aligned_rms_error_rad": 0.0009178450974206996, + "moving_aligned_samples": 678, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 1.6159999999999997, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004341445863246918, + 0.0031517744064331055, + 0.004735831171274185, + 0.005206778645515442, + 0.00649869441986084, + 0.006696581840515137 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016827527433633804, + 0.0012245232937857509, + 0.0018256724579259753, + 0.002935785334557295, + 0.0032314087729901075, + 0.003079125192016363 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0008525096909167466, + 0.0006255801365205775, + 0.0009579295150865032, + 0.00138547567724234, + 0.001432632264711814, + 0.001690645241503225 + ], + "moving_joint_lag_samples": [ + 577, + 613, + 464, + 165, + 380, + 313 + ], + "moving_joint_lag_worst_time_s": [ + 20.69, + 8.607, + 1.6479999999999997, + 20.701, + 1.6319999999999997, + 1.6159999999999997 + ], + "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": 2.1945314407348633, + "playback_velocity_rms_rad_s": 0.361429851464592, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.348, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.174, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1568, + 4538 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.443531994133118, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.080078125, + "rapid_planner_max_dt_s": 1.912, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007741093635559082, + "rapid_planner_median_dt_s": 0.11199999999999832, + "rapid_planner_path_max_error_rad": 0.006696581840515137, + "rapid_planner_path_p95_error_rad": 0.0028979063034057593, + "rapid_planner_path_rms_error_rad": 0.0013504192484390162, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 29, + 48, + 63, + 77, + 86, + 96, + 105, + 114, + 122, + 131, + 140, + 150, + 160, + 170, + 180, + 190, + 200, + 209, + 217, + 225, + 233, + 241, + 255, + 269, + 283, + 297, + 313, + 330, + 357, + 384, + 437, + 469, + 504, + 522, + 558, + 593, + 657, + 694, + 747, + 964, + 1083, + 1257, + 1568, + 2046, + 2136, + 2181, + 2218, + 2248, + 2277, + 2308, + 2338, + 2368, + 2399, + 2443, + 2487, + 2543, + 2599, + 2651, + 2703, + 2744, + 2785, + 2822, + 2841, + 2858, + 2876, + 2894, + 2910, + 2926, + 2942, + 2959, + 2988, + 3019, + 3048, + 3076, + 3152, + 3229, + 3325, + 3426, + 3904, + 3985, + 4075, + 4218, + 4538, + 4863, + 4893, + 4921, + 4945, + 4969, + 4988, + 5008, + 5028, + 5052, + 5068, + 5085, + 5102, + 5118, + 5138, + 5159, + 5194, + 5242, + 5294 + ], + "rapid_planner_selected_max_joint_step_deg": 4.5881385938210455, + "rapid_planner_selected_samples": 102, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5295, + "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": 102, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006696581840515137, + "raw_replay_rms_error_rad": 0.000774844776328876, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9796489431041778, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9332094925078174, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9769659637436419, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.9584615230560303, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9584615230560303 + ], + "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": 0.9926072650779598, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9083367644993415, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9883561720635251, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005193729884922504, + 0.00032657384872436523, + 0.00048295408487319946, + 0.0027609802782535553, + 0.002513408660888672, + 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": 0.002273248741403222, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.630955219268799, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.36241912841797, + "replay_smoothing_raw_accel_rms_rad_s2": 3.1082915797692174, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1155.3255615234375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 11389.357421875, + "replay_smoothing_raw_jerk_rms_rad_s3": 776.2502715917522, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8340349197387695, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21324655326419834, + "replay_smoothing_rms_deviation_rad": 0.0010159137142881668, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.516359329223633, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 36.73338317871094, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.0366950788254807, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1146.7845458984375, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10345.3720703125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 767.2117469936959, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.791447401046753, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2121172387331552, + "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": 0.976779330516737, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9947041838953242, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.2359999999999998, + "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": 0.006696581840515137, + "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": 0.051094114780426025, + "stage_planned_to_measured_rms_error_rad": 0.006177925356334735, + "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": 984, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7083200812339783, + "target_wall_accel_peak_abs_rad_s2": 3.5756094455718994, + "target_wall_accel_peak_joint": 3, + "target_wall_accel_peak_time_s": 6.4333873050054535, + "target_wall_accel_rms_rad_s2": 0.3763394565267235, + "target_wall_jerk_p95_abs_rad_s3": 16.780324935913086, + "target_wall_jerk_peak_abs_rad_s3": 85.35049438476562, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 2.4333883959334344, + "target_wall_jerk_rms_rad_s3": 8.29630379508635, + "target_wall_smoothness_samples": 984, + "target_wall_velocity_peak_abs_rad_s": 0.8560292720794678, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 22.633392005925998, + "target_wall_velocity_rms_rad_s": 0.10489839701342957, + "tcp_pose_count": 984, + "timestamp_count": 984, + "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": 1.6700000000000035, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -2.0, + "window_lag_best_lag_p95_abs_s": 1.9505, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 2.5, + "window_lag_worst_max_error_rad": 0.006696581840515137, + "window_lag_worst_rms_error_rad": 0.0016535508613998897, + "window_lag_worst_start_s": 1.5, + "zero_lag_max_error_rad": 0.006696581840515137, + "zero_lag_p95_error_rad": 0.0015669770073145628, + "zero_lag_rms_error_rad": 0.000774844776328876, + "zero_lag_samples": 984, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 1.6159999999999997 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.npz new file mode 100644 index 0000000000000000000000000000000000000000..c81092ad0823a48b62c425b00ac70dd6d04524dc --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155303.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b787162090656898d353a21d2092c8066b7f0b07db3b9038513661517ef58744 +size 97359 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.json new file mode 100644 index 0000000000000000000000000000000000000000..39cea50b012313b9a52560ae3150de59b98b676a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.json @@ -0,0 +1,660 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:55:10", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1014, + "actual_playback_duration_s": 33.82088684197515, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006689906120300293, + "aligned_p95_error_rad": 0.0019601741805672646, + "aligned_rms_error_rad": 0.0008682923473263405, + "aligned_samples": 1014, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 2.0679999999999996, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1014, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1014, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5414469186443258, + "image_frame_counts": { + "cam_scene": 1014, + "cam_wrist": 1014 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0036409497261047363, + 0.005198365077376366, + 0.0056333988904953, + 0.005740329623222351, + 0.006689906120300293, + 0.006510257720947266 + ], + "joint_lag_p95_error_rad": [ + 0.0019229564350098372, + 0.0015630873385816813, + 0.0015084173064678907, + 0.0018274823669344187, + 0.0019387006759643555, + 0.0026281741447746754 + ], + "joint_lag_rms_error_rad": [ + 0.0008087668784198041, + 0.0007404202605833062, + 0.0007396202128576308, + 0.0008245965230942468, + 0.0009273802576675644, + 0.0011109599223930212 + ], + "joint_lag_samples": [ + 1014, + 1014, + 1014, + 1014, + 1014, + 1014 + ], + "joint_lag_worst_time_s": [ + 19.381999999999998, + 21.365, + 1.4959999999999987, + 1.4799999999999986, + 2.0679999999999996, + 2.0679999999999996 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 33, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006848917924799025, + "leadthrough_capture_egm_poll_duration_median_s": 0.003990245459135622, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004240913625108078, + "leadthrough_capture_egm_poll_duration_p99_s": 0.005230935947038231, + "leadthrough_capture_egm_poll_duration_warn_count": 3794, + "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": 0.006942781968973577, + "leadthrough_capture_host_loop_dt_median_s": 0.004015759099274874, + "leadthrough_capture_host_loop_dt_p95_s": 0.004270506033208221, + "leadthrough_capture_host_loop_dt_p99_s": 0.005274015238974244, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006807169993408024, + "leadthrough_capture_host_receive_dt_median_s": 0.004017326980829239, + "leadthrough_capture_host_receive_dt_p95_s": 0.00425325216492638, + "leadthrough_capture_host_receive_dt_p99_s": 0.0052339872834272685, + "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": 0.014901706017553806, + "leadthrough_capture_loop_late_median_s": 0.010520644427742809, + "leadthrough_capture_loop_late_p95_s": 0.010820213012630118, + "leadthrough_capture_loop_late_p99_s": 0.01187797974096611, + "leadthrough_capture_loop_late_warn_count": 8160, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0069084069691598415, + "leadthrough_capture_read_duration_median_s": 0.004004380025435239, + "leadthrough_capture_read_duration_p95_s": 0.004259359079878777, + "leadthrough_capture_read_duration_p99_s": 0.005261061420897021, + "leadthrough_capture_read_duration_warn_count": 4207, + "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": 0.0050000000000015275, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 34, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003188595175743103, + 0.001877516508102417, + 0.0023788660764694214, + 0.0027635693550109863, + 0.0034202933311462402, + 0.008741885423660278 + ], + "leadthrough_delta_max_abs_rad": 0.008741885423660278, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0020584948360919952, + 0.0013845786452293396, + 0.0020133554935455322, + 0.0008233156986534595, + 0.001333087682723999, + 0.0039806067943573 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008328426629304886, + 0.0006049242219887674, + 0.0007681576535105705, + 0.0004228864563629031, + 0.0005828000721521676, + 0.0015301567036658525 + ], + "leadthrough_delta_samples": 5486, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008741885423660278, + "leadthrough_delta_worst_from_rad": -0.25257954001426697, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5640000000000001, + "leadthrough_delta_worst_to_rad": -0.26132142543792725, + "leadthrough_duration_s": 21.941, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5485, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9210000000000029, + "leadthrough_final_stillness_removed_samples": 230, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5486, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8160, + "leadthrough_initial_stillness_first_motion_index": 2444, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 9.771, + "leadthrough_initial_stillness_removed_samples": 2443, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 2443, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.003188595175743103, + 0.001877516508102417, + 0.0023788660764694214, + 0.0027635693550109863, + 0.0034202933311462402, + 0.008741885423660278 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008741885423660278, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.7971487939362175, + 0.4693791270254475, + 0.594716519117685, + 0.7871687412261664, + 1.1243025461832257, + 2.18547135591434 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.188380718231201, + "leadthrough_velocity_rms_rad_s": 0.21741386051208378, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006689906120300293, + "measured_wall_accel_p95_abs_rad_s2": 0.5117787718772888, + "measured_wall_accel_peak_abs_rad_s2": 2.98162579536438, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 12.708896449999884, + "measured_wall_accel_rms_rad_s2": 0.24913417529171217, + "measured_wall_jerk_p95_abs_rad_s3": 8.32200813293457, + "measured_wall_jerk_peak_abs_rad_s3": 56.55236053466797, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 18.707454063929617, + "measured_wall_jerk_rms_rad_s3": 4.1096731181548005, + "measured_wall_smoothness_samples": 1014, + "measured_wall_velocity_peak_abs_rad_s": 0.8552446365356445, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 13.040892546996474, + "measured_wall_velocity_rms_rad_s": 0.10773910842079233, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006689906120300293, + "moving_aligned_p95_error_rad": 0.002331166760995984, + "moving_aligned_rms_error_rad": 0.0010263867329497916, + "moving_aligned_samples": 715, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 2.0679999999999996, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0036409497261047363, + 0.005198365077376366, + 0.0056333988904953, + 0.005740329623222351, + 0.006689906120300293, + 0.006510257720947266 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002320796251296997, + 0.0017033100593835115, + 0.001851052395068109, + 0.0038565844297409058, + 0.0028214575722813606, + 0.003360940609127283 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009902234033680826, + 0.0008644828464177351, + 0.000935184191598805, + 0.00187076797913786, + 0.0014214734307157158, + 0.0018599972601358677 + ], + "moving_joint_lag_samples": [ + 641, + 667, + 550, + 174, + 394, + 307 + ], + "moving_joint_lag_worst_time_s": [ + 19.381999999999998, + 21.365, + 1.4959999999999987, + 1.4799999999999986, + 2.0679999999999996, + 2.0679999999999996 + ], + "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": 2.3647372722625732, + "playback_velocity_rms_rad_s": 0.3538585774425539, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.882, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.941, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1943, + 4409 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4369408615840557, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08719140291213989, + "rapid_planner_max_dt_s": 2.120000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007626056671142578, + "rapid_planner_median_dt_s": 0.10200000000000209, + "rapid_planner_path_max_error_rad": 0.006689906120300293, + "rapid_planner_path_p95_error_rad": 0.0030666045844554863, + "rapid_planner_path_rms_error_rad": 0.0014968448387191054, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 30, + 66, + 82, + 96, + 107, + 119, + 124, + 130, + 140, + 150, + 156, + 161, + 171, + 181, + 192, + 202, + 214, + 225, + 236, + 247, + 258, + 269, + 280, + 291, + 302, + 313, + 331, + 351, + 395, + 440, + 477, + 541, + 586, + 651, + 702, + 763, + 825, + 907, + 996, + 1398, + 1567, + 1943, + 2463, + 2559, + 2605, + 2644, + 2674, + 2705, + 2728, + 2750, + 2773, + 2796, + 2826, + 2855, + 2883, + 2911, + 2939, + 2967, + 3008, + 3050, + 3087, + 3124, + 3139, + 3153, + 3166, + 3178, + 3190, + 3202, + 3214, + 3225, + 3248, + 3274, + 3299, + 3358, + 3428, + 3519, + 3601, + 3879, + 4409, + 4700, + 4789, + 4893, + 4931, + 4954, + 4982, + 5016, + 5034, + 5053, + 5066, + 5080, + 5107, + 5128, + 5154, + 5172, + 5191, + 5208, + 5226, + 5252, + 5270, + 5293, + 5324, + 5389, + 5435, + 5486 + ], + "rapid_planner_selected_max_joint_step_deg": 4.995699396690291, + "rapid_planner_selected_samples": 105, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5487, + "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": 105, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006689906120300293, + "raw_replay_rms_error_rad": 0.0008682923473263405, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8916925462555066, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.963186618819623, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9678329866444124, + "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": 0.9587156558751279, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.970882936829649, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9869431137101309, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006038695573806763, + 0.0004127025604248047, + 0.0006181001663208008, + 0.002645432949066162, + 0.0021309852600097656, + 0.006835818290710449 + ], + "replay_smoothing_max_deviation_normalized": 0.7833270812200213, + "replay_smoothing_max_deviation_rad": 0.006835818290710449, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001976302359253168, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.5369226932525635, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.432979583740234, + "replay_smoothing_raw_accel_rms_rad_s2": 2.099003291457567, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 329.13751220703125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16562.822265625, + "replay_smoothing_raw_jerk_rms_rad_s3": 527.5421007715615, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1849498748779297, + "replay_smoothing_raw_velocity_rms_rad_s": 0.218392444627573, + "replay_smoothing_rms_deviation_rad": 0.0009054784147133247, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.262155055999756, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.4659309387207, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.0314846245478293, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 315.5492858886719, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16080.5615234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 520.6540435486686, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.188380718231201, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21741386051208378, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.001570216046015, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9955191484890513, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3119999999999994, + "replay_smoothing_wrist_max_deviation_rad": 0.006835818290710449, + "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": 0.006689906120300293, + "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": 0.04996617138385773, + "stage_planned_to_measured_rms_error_rad": 0.006400148356165143, + "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": 1014, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7056479454040527, + "target_wall_accel_peak_abs_rad_s2": 4.343865394592285, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 1.1342014760011807, + "target_wall_accel_rms_rad_s2": 0.36071841008372457, + "target_wall_jerk_p95_abs_rad_s3": 15.578320503234863, + "target_wall_jerk_peak_abs_rad_s3": 94.35064697265625, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 7.133415427990258, + "target_wall_jerk_rms_rad_s3": 7.9788308044717065, + "target_wall_smoothness_samples": 1014, + "target_wall_velocity_peak_abs_rad_s": 0.9162151217460632, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.4000593309756368, + "target_wall_velocity_rms_rad_s": 0.10877107878225899, + "tcp_pose_count": 1014, + "timestamp_count": 1014, + "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": 1.7800000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.6299999999999997, + "window_lag_best_lag_p95_abs_s": 1.7425000000000024, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.7800000000000034, + "window_lag_worst_end_s": 18.0, + "window_lag_worst_max_error_rad": 0.006888270378112793, + "window_lag_worst_rms_error_rad": 0.002807549666426383, + "window_lag_worst_start_s": 17.0, + "zero_lag_max_error_rad": 0.006689906120300293, + "zero_lag_p95_error_rad": 0.0019601741805672646, + "zero_lag_rms_error_rad": 0.0008682923473263405, + "zero_lag_samples": 1014, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 2.0679999999999996 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.npz new file mode 100644 index 0000000000000000000000000000000000000000..f51c1ea974619b033f1b2e8003248ec288bf7fc0 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155509.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad2f8b1d4ae812a659a85408b8b5b3faee55b69d5642146944fd00f5ffcbda5c +size 103634 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.json new file mode 100644 index 0000000000000000000000000000000000000000..1b00e4666c3f3684fd1225ae12149781ac599d6d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.json @@ -0,0 +1,675 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:57:07", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1031, + "actual_playback_duration_s": 34.38224286795594, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.2601245641708374, + "aligned_p95_error_rad": 0.001692701713182032, + "aligned_rms_error_rad": 0.004802850589676462, + "aligned_samples": 1031, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 21.357, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1031, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1031, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5961303035121832, + "image_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.05350692570209503, + 0.19363099336624146, + 0.08574354648590088, + 0.15530186891555786, + 0.2601245641708374, + 0.0033229589462280273 + ], + "joint_lag_p95_error_rad": [ + 0.0015197843313217163, + 0.0013496726751327515, + 0.0014868751168251038, + 0.001717057079076767, + 0.001978456974029541, + 0.0020876675844192505 + ], + "joint_lag_rms_error_rad": [ + 0.0018059965948137345, + 0.00606464821418633, + 0.0027496834203468937, + 0.004889906547790277, + 0.008141097194999052, + 0.0007831044384669938 + ], + "joint_lag_samples": [ + 1031, + 1031, + 1031, + 1031, + 1031, + 1031 + ], + "joint_lag_worst_time_s": [ + 21.357, + 21.357, + 21.357, + 21.357, + 21.357, + 2.938999999999999 + ], + "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": 0.005996915977448225, + "leadthrough_capture_egm_poll_duration_median_s": 0.003987116971984506, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004313759732758627, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004560369099490342, + "leadthrough_capture_egm_poll_duration_warn_count": 3511, + "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": 0.00603160506580025, + "leadthrough_capture_host_loop_dt_median_s": 0.004012137069366872, + "leadthrough_capture_host_loop_dt_p95_s": 0.004341196012683212, + "leadthrough_capture_host_loop_dt_p99_s": 0.004604164846241474, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005965542979538441, + "leadthrough_capture_host_receive_dt_median_s": 0.0040147959953173995, + "leadthrough_capture_host_receive_dt_p95_s": 0.004332543769851327, + "leadthrough_capture_host_receive_dt_p99_s": 0.004567674049176275, + "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": 0.01430891000200063, + "leadthrough_capture_loop_late_median_s": 0.007860903686378151, + "leadthrough_capture_loop_late_p95_s": 0.00814834144548513, + "leadthrough_capture_loop_late_p99_s": 0.00852634016773663, + "leadthrough_capture_loop_late_warn_count": 7598, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006018207990564406, + "leadthrough_capture_read_duration_median_s": 0.004001083492767066, + "leadthrough_capture_read_duration_p95_s": 0.004329372232314199, + "leadthrough_capture_read_duration_p99_s": 0.004581449700053781, + "leadthrough_capture_read_duration_warn_count": 3827, + "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": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.004033491015434265, + 0.002204298973083496, + 0.003075152635574341, + 0.004095613956451416, + 0.0028821825981140137, + 0.006639301776885986 + ], + "leadthrough_delta_max_abs_rad": 0.006639301776885986, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019221734255552292, + 0.0015868134796619415, + 0.002120792865753174, + 0.0010131176095455885, + 0.0013446211814880371, + 0.004106104373931885 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008297126623801887, + 0.0006189949344843626, + 0.0007841619662940502, + 0.000514801184181124, + 0.0005993119557388127, + 0.001421225257217884 + ], + "leadthrough_delta_samples": 5386, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006639301776885986, + "leadthrough_delta_worst_from_rad": -0.7771296501159668, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9799999999999995, + "leadthrough_delta_worst_to_rad": -0.7837689518928528, + "leadthrough_duration_s": 21.541, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5385, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9000000000000021, + "leadthrough_final_stillness_removed_samples": 225, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5386, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7598, + "leadthrough_initial_stillness_first_motion_index": 1987, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.944, + "leadthrough_initial_stillness_removed_samples": 1986, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1986, + "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": [ + 0.004033491015434265, + 0.002204298973083496, + 0.003075152635574341, + 0.004095613956451416, + 0.0028821825981140137, + 0.006639301776885986 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006639301776885986, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.321330666542003, + 0.7247800628343943, + 1.0250508785247414, + 1.362611850102691, + 0.9567340215046838, + 2.212484677632566 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9476314783096313, + "leadthrough_velocity_rms_rad_s": 0.21895271310774436, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.2601245641708374, + "measured_wall_accel_p95_abs_rad_s2": 0.6146050691604614, + "measured_wall_accel_peak_abs_rad_s2": 291.3502502441406, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 13.09358419594355, + "measured_wall_accel_rms_rad_s2": 8.119293970237424, + "measured_wall_jerk_p95_abs_rad_s3": 10.027091026306152, + "measured_wall_jerk_peak_abs_rad_s3": 4389.56982421875, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 13.127503330004402, + "measured_wall_jerk_rms_rad_s3": 99.25409319164294, + "measured_wall_smoothness_samples": 1031, + "measured_wall_velocity_peak_abs_rad_s": 18.87543296813965, + "measured_wall_velocity_peak_joint": 3, + "measured_wall_velocity_peak_time_s": 13.06271706300322, + "measured_wall_velocity_rms_rad_s": 0.4102410523989285, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.2601245641708374, + "moving_aligned_p95_error_rad": 0.0019167304271832108, + "moving_aligned_rms_error_rad": 0.005690703435075886, + "moving_aligned_samples": 734, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 21.357, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.05350692570209503, + 0.0036406926810741425, + 0.004835009574890137, + 0.004248335957527161, + 0.004989564418792725, + 0.0033229589462280273 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0016510996501892805, + 0.0015715360641479492, + 0.001727202907204628, + 0.002306943526491523, + 0.002426430583000183, + 0.0026769516989588737 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0023060178998654916, + 0.000766159629997613, + 0.0008400101709803272, + 0.001179988034961466, + 0.0010820400408967856, + 0.0013197011093349597 + ], + "moving_joint_lag_samples": [ + 617, + 601, + 491, + 291, + 476, + 328 + ], + "moving_joint_lag_worst_time_s": [ + 21.357, + 13.366, + 20.545, + 18.981, + 18.998, + 2.938999999999999 + ], + "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": 4.1135172843933105, + "playback_velocity_rms_rad_s": 0.36339139718898367, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.082, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.541, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1696, + 4287 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.38865227792571183, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08319598436355591, + "rapid_planner_max_dt_s": 2.1320000000000023, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0067832618951797485, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.2601245641708374, + "rapid_planner_path_p95_error_rad": 0.002578645944595337, + "rapid_planner_path_rms_error_rad": 0.008196154512511199, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 29, + 69, + 85, + 100, + 110, + 120, + 129, + 138, + 147, + 156, + 165, + 174, + 182, + 191, + 200, + 210, + 219, + 228, + 237, + 246, + 255, + 264, + 272, + 280, + 295, + 311, + 327, + 344, + 360, + 380, + 401, + 425, + 462, + 512, + 546, + 626, + 696, + 781, + 824, + 878, + 1093, + 1271, + 1350, + 1696, + 2229, + 2268, + 2298, + 2331, + 2356, + 2381, + 2405, + 2428, + 2451, + 2476, + 2500, + 2524, + 2548, + 2572, + 2595, + 2624, + 2652, + 2680, + 2708, + 2740, + 2772, + 2823, + 2872, + 2921, + 2952, + 2984, + 3011, + 3036, + 3056, + 3077, + 3088, + 3099, + 3110, + 3121, + 3140, + 3158, + 3175, + 3194, + 3235, + 3281, + 3327, + 3587, + 3693, + 3788, + 3872, + 4001, + 4287, + 4523, + 4553, + 4574, + 4595, + 4613, + 4633, + 4648, + 4664, + 4676, + 4688, + 4702, + 4715, + 4736, + 4764, + 4800, + 4827, + 4871, + 4894, + 4917, + 4938, + 4959, + 4983, + 5043, + 5079, + 5173, + 5244, + 5318, + 5386 + ], + "rapid_planner_selected_max_joint_step_deg": 4.7667787764681435, + "rapid_planner_selected_samples": 120, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5387, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 120, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.2601245641708374, + "raw_replay_rms_error_rad": 0.004802850589676462, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9849992062239669, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9798589495765662, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9889897114191988, + "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": 0.9949298763774189, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9799155786023078, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9938871405173498, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008088499307632446, + 0.0005309917032718658, + 0.0006214678287506104, + 0.0042268335819244385, + 0.0026164650917053223, + 0.006757974624633789 + ], + "replay_smoothing_max_deviation_normalized": 0.7744068540948852, + "replay_smoothing_max_deviation_rad": 0.006757974624633789, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002316996455192566, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.001988410949707, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 65.0798110961914, + "replay_smoothing_raw_accel_rms_rad_s2": 4.939680224186309, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2325.58740234375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18570.34375, + "replay_smoothing_raw_jerk_rms_rad_s3": 1260.6447426134594, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.975630760192871, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22006997686902582, + "replay_smoothing_rms_deviation_rad": 0.0010218038687789855, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.851950645446777, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.76903533935547, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.885292919421141, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2313.79638671875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18197.369140625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1252.9385984443215, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9476314783096313, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21895271310774436, + "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": 0.9858276746609744, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.994923143187558, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.8400000000000007, + "replay_smoothing_wrist_max_deviation_rad": 0.006757974624633789, + "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": 0.2601245641708374, + "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": 0.5836980938911438, + "stage_planned_to_measured_rms_error_rad": 0.012521255819236866, + "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": 1031, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.2601", + "target_wall_accel_p95_abs_rad_s2": 0.8245815634727478, + "target_wall_accel_peak_abs_rad_s2": 225.70420837402344, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.680027581751347e-06, + "target_wall_accel_rms_rad_s2": 5.865689707594936, + "target_wall_jerk_p95_abs_rad_s3": 17.266794204711914, + "target_wall_jerk_peak_abs_rad_s3": 3392.060302734375, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06673676194623113, + "target_wall_jerk_rms_rad_s3": 72.31391136479077, + "target_wall_smoothness_samples": 1031, + "target_wall_velocity_peak_abs_rad_s": 15.061260223388672, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.680027581751347e-06, + "target_wall_velocity_rms_rad_s": 0.3095510786686457, + "tcp_pose_count": 1031, + "timestamp_count": 1031, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.2601", + "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": 1.190000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0199999999999991, + "window_lag_best_lag_p95_abs_s": 1.1390000000000018, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.190000000000003, + "window_lag_worst_end_s": 17.5, + "window_lag_worst_max_error_rad": 0.0035317130386829376, + "window_lag_worst_rms_error_rad": 0.0017546660047595163, + "window_lag_worst_start_s": 16.5, + "zero_lag_max_error_rad": 0.2601245641708374, + "zero_lag_p95_error_rad": 0.001692701713182032, + "zero_lag_rms_error_rad": 0.004802850589676462, + "zero_lag_samples": 1031, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 21.357 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a22ae490600e4bf83782dc015a8ad61bd5a5b9d --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155706.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e9465b9d574cc3170675813c34936f13710478a5850b7361b21f0abced4bcc9 +size 108567 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.json new file mode 100644 index 0000000000000000000000000000000000000000..97287239c043be681ccf27d41ad110032b614395 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.json @@ -0,0 +1,655 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T15:59:09", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1023, + "actual_playback_duration_s": 34.110894515994005, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006548494100570679, + "aligned_p95_error_rad": 0.0019681528210639954, + "aligned_rms_error_rad": 0.0008952553855284596, + "aligned_samples": 1023, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 2.899, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1023, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1023, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6196236890933007, + "image_frame_counts": { + "cam_scene": 1023, + "cam_wrist": 1023 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004773229360580444, + 0.006548494100570679, + 0.005593925714492798, + 0.00494031235575676, + 0.0065250396728515625, + 0.005915999412536621 + ], + "joint_lag_p95_error_rad": [ + 0.0021327552385628223, + 0.0018980931490659714, + 0.0016246788436546922, + 0.0018604729557409883, + 0.002217888133600354, + 0.002118147909641266 + ], + "joint_lag_rms_error_rad": [ + 0.0009294392099292785, + 0.0008438896874049458, + 0.0008048120908765825, + 0.0008080026188049249, + 0.00103216168925641, + 0.0009310948910065437 + ], + "joint_lag_samples": [ + 1023, + 1023, + 1023, + 1023, + 1023, + 1023 + ], + "joint_lag_worst_time_s": [ + 18.821, + 2.899, + 1.955, + 18.821, + 2.899, + 1.9720000000000004 + ], + "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": 43, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007242530002258718, + "leadthrough_capture_egm_poll_duration_median_s": 0.003991115954704583, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004231956577859818, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004992619035765531, + "leadthrough_capture_egm_poll_duration_warn_count": 2985, + "leadthrough_capture_egm_recorded_seqno_jump_count": 0, + "leadthrough_capture_egm_recorded_seqno_step_max": 1, + "leadthrough_capture_egm_recorded_seqno_step_median": 1.0, + "leadthrough_capture_expected_dt_s": 0.004, + "leadthrough_capture_host_loop_dt_max_s": 0.0072914749616757035, + "leadthrough_capture_host_loop_dt_median_s": 0.004016658989712596, + "leadthrough_capture_host_loop_dt_p95_s": 0.004261033691000193, + "leadthrough_capture_host_loop_dt_p99_s": 0.00502942669438198, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006291222060099244, + "leadthrough_capture_host_receive_dt_median_s": 0.004017200495582074, + "leadthrough_capture_host_receive_dt_p95_s": 0.004248499224195257, + "leadthrough_capture_host_receive_dt_p99_s": 0.005001589903840791, + "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": 0.012390575953759253, + "leadthrough_capture_loop_late_median_s": 0.00793682353105396, + "leadthrough_capture_loop_late_p95_s": 0.008204081933945418, + "leadthrough_capture_loop_late_p99_s": 0.00896890297997743, + "leadthrough_capture_loop_late_warn_count": 6429, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007276482996530831, + "leadthrough_capture_read_duration_median_s": 0.004005241906270385, + "leadthrough_capture_read_duration_p95_s": 0.004248155606910586, + "leadthrough_capture_read_duration_p99_s": 0.005016937260515989, + "leadthrough_capture_read_duration_warn_count": 3341, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002979278564453125, + 0.0019086822867393494, + 0.0025191009044647217, + 0.004420369863510132, + 0.003471195697784424, + 0.006440311670303345 + ], + "leadthrough_delta_max_abs_rad": 0.006440311670303345, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0020715701393783092, + 0.001687279436737299, + 0.0021199025213718414, + 0.0007111132144927979, + 0.0015422403812408447, + 0.003538966178894043 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008102102437987924, + 0.0006277472712099552, + 0.0007619335083290935, + 0.0005221699248068035, + 0.0006664378452114761, + 0.0013061267090961337 + ], + "leadthrough_delta_samples": 5266, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006440311670303345, + "leadthrough_delta_worst_from_rad": -0.26090678572654724, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5390000000000006, + "leadthrough_delta_worst_to_rad": -0.2673470973968506, + "leadthrough_duration_s": 21.061, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5253, + "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": 5254, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6429, + "leadthrough_initial_stillness_first_motion_index": 1163, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.648, + "leadthrough_initial_stillness_removed_samples": 1162, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1162, + "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": [ + 0.002979278564453125, + 0.0019086822867393494, + 0.0025191009044647217, + 0.004420369863510132, + 0.003471195697784424, + 0.006440311670303345 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006440311670303345, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.982175270716312, + 0.630637009938534, + 0.8239944775898939, + 1.4712611834207614, + 1.1532902717589895, + 2.143581708272217 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.875697135925293, + "leadthrough_velocity_rms_rad_s": 0.21170434926289827, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006548494100570679, + "measured_wall_accel_p95_abs_rad_s2": 0.49759042263031006, + "measured_wall_accel_peak_abs_rad_s2": 2.501920461654663, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 12.072133983951062, + "measured_wall_accel_rms_rad_s2": 0.2614583155175357, + "measured_wall_jerk_p95_abs_rad_s3": 8.104185104370117, + "measured_wall_jerk_peak_abs_rad_s3": 67.26288604736328, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 34.24372278992087, + "measured_wall_jerk_rms_rad_s3": 4.4395638594054185, + "measured_wall_smoothness_samples": 1023, + "measured_wall_velocity_peak_abs_rad_s": 0.760566771030426, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 34.24372278992087, + "measured_wall_velocity_rms_rad_s": 0.1016896101335078, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006548494100570679, + "moving_aligned_p95_error_rad": 0.002380584366619587, + "moving_aligned_rms_error_rad": 0.0010568192943489233, + "moving_aligned_samples": 718, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 2.899, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004773229360580444, + 0.006548494100570679, + 0.005593925714492798, + 0.00494031235575676, + 0.0065250396728515625, + 0.005915999412536621 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0026501535903662443, + 0.0022046801168471575, + 0.0023600657004863024, + 0.003492665011435747, + 0.0035857316106557846, + 0.003088168101385236 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011265943878510387, + 0.0009592317824042292, + 0.0011109230172625902, + 0.0015133185013865536, + 0.0014583591882984211, + 0.0015600577562411007 + ], + "moving_joint_lag_samples": [ + 617, + 662, + 487, + 229, + 388, + 322 + ], + "moving_joint_lag_worst_time_s": [ + 18.821, + 2.899, + 1.955, + 18.821, + 2.899, + 1.9720000000000004 + ], + "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": 1.9511456489562988, + "playback_velocity_rms_rad_s": 0.3203336876727126, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.122, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.061, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1703, + 4284 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.41227021830196964, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.087180957198143, + "rapid_planner_max_dt_s": 2.251999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007195472717285156, + "rapid_planner_median_dt_s": 0.10000000000000142, + "rapid_planner_path_max_error_rad": 0.006548494100570679, + "rapid_planner_path_p95_error_rad": 0.003191614151000976, + "rapid_planner_path_rms_error_rad": 0.0014577552711052882, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 43, + 60, + 77, + 96, + 104, + 113, + 126, + 140, + 153, + 166, + 180, + 194, + 204, + 214, + 224, + 233, + 250, + 266, + 277, + 288, + 310, + 333, + 356, + 376, + 400, + 436, + 458, + 542, + 577, + 625, + 677, + 789, + 867, + 936, + 1140, + 1703, + 2189, + 2269, + 2322, + 2371, + 2424, + 2473, + 2508, + 2544, + 2568, + 2593, + 2618, + 2642, + 2678, + 2715, + 2751, + 2787, + 2806, + 2826, + 2864, + 2888, + 2911, + 2934, + 2965, + 2980, + 2996, + 3012, + 3027, + 3062, + 3091, + 3179, + 3276, + 3317, + 3381, + 3748, + 3888, + 4033, + 4284, + 4513, + 4565, + 4596, + 4612, + 4627, + 4646, + 4664, + 4689, + 4721, + 4749, + 4778, + 4807, + 4831, + 4849, + 4870, + 4892, + 4906, + 4922, + 4947, + 5000, + 5080, + 5121, + 5148, + 5183, + 5218, + 5266 + ], + "rapid_planner_selected_max_joint_step_deg": 4.995100901364268, + "rapid_planner_selected_samples": 100, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5267, + "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": 100, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006548494100570679, + "raw_replay_rms_error_rad": 0.0008952553855284596, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9791577097927769, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9650319044223129, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9921971632204866, + "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": 0.9941866235771325, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9693904762828314, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9958267848592705, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005907267332077026, + 0.0004050135612487793, + 0.0003760606050491333, + 0.003917574882507324, + 0.0023496150970458984, + 0.004174232482910156 + ], + "replay_smoothing_max_deviation_normalized": 0.4783318116596666, + "replay_smoothing_max_deviation_rad": 0.004174232482910156, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.001853191526606679, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.729063034057617, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.644004821777344, + "replay_smoothing_raw_accel_rms_rad_s2": 4.613344818275329, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2144.8798828125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18126.826171875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1179.8762692300552, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9149372577667236, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21255071476578036, + "replay_smoothing_rms_deviation_rad": 0.000835736227309001, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.526287078857422, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 61.418495178222656, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.577347641650713, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2132.410888671875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17571.97265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1174.9523917191168, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.875697135925293, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21170434926289827, + "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": 0.9795084033786078, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9960180538380464, + "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": 11.530000000000001, + "replay_smoothing_wrist_max_deviation_rad": 0.004174232482910156, + "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": 0.006548494100570679, + "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": 0.043713271617889404, + "stage_planned_to_measured_rms_error_rad": 0.006036223300900773, + "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": 1023, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.726958155632019, + "target_wall_accel_peak_abs_rad_s2": 4.048254489898682, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 6.2333892699098215, + "target_wall_accel_rms_rad_s2": 0.3536043723858159, + "target_wall_jerk_p95_abs_rad_s3": 15.052042961120605, + "target_wall_jerk_peak_abs_rad_s3": 105.1749267578125, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 6.200058382004499, + "target_wall_jerk_rms_rad_s3": 7.64648259333264, + "target_wall_smoothness_samples": 1023, + "target_wall_velocity_peak_abs_rad_s": 0.750575602054596, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 22.533389949938282, + "target_wall_velocity_rms_rad_s": 0.10256877898221836, + "tcp_pose_count": 1023, + "timestamp_count": 1023, + "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": -1.93, + "window_lag_best_lag_p95_abs_s": 1.5299999999999976, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.91, + "window_lag_worst_end_s": 7.5, + "window_lag_worst_max_error_rad": 0.038274675607681274, + "window_lag_worst_rms_error_rad": 0.005038341783608516, + "window_lag_worst_start_s": 6.5, + "zero_lag_max_error_rad": 0.006548494100570679, + "zero_lag_p95_error_rad": 0.0019681528210639954, + "zero_lag_rms_error_rad": 0.0008952553855284596, + "zero_lag_samples": 1023, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 2.899 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.npz new file mode 100644 index 0000000000000000000000000000000000000000..25c36b2e032305aeeb3368319da72f6978d3d8dc --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_155908.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7336c7a0eb882a63d80871c05fb40a1b1ad806fdc7634dc33eccbcc0ce65299a +size 106063 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.json new file mode 100644 index 0000000000000000000000000000000000000000..541fb0e918a95bf40c9ae14aebe4334e79132a49 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.json @@ -0,0 +1,670 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:01:03", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1060, + "actual_playback_duration_s": 35.34913860808592, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.006190180778503418, + "aligned_p95_error_rad": 0.0020034322515130043, + "aligned_rms_error_rad": 0.0008752265731949845, + "aligned_samples": 1060, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 2.6510000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1060, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1060, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8886113484044411, + "image_frame_counts": { + "cam_scene": 1060, + "cam_wrist": 1060 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00500863790512085, + 0.004221290349960327, + 0.006084812339395285, + 0.00413176417350769, + 0.006190180778503418, + 0.004685163497924805 + ], + "joint_lag_p95_error_rad": [ + 0.001931426697410643, + 0.0017220941372215748, + 0.0013736156979575753, + 0.0017206365009769797, + 0.002490642247721553, + 0.00260284380055964 + ], + "joint_lag_rms_error_rad": [ + 0.0008572169501264742, + 0.0007942109772786476, + 0.0007130852747293168, + 0.0006373253209432655, + 0.0011163052180064416, + 0.0010342755131231452 + ], + "joint_lag_samples": [ + 1060, + 1060, + 1060, + 1060, + 1060, + 1060 + ], + "joint_lag_worst_time_s": [ + 2.7390000000000003, + 2.0189999999999997, + 2.6510000000000002, + 17.638, + 2.6510000000000002, + 2.679 + ], + "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": 22, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005755665013566613, + "leadthrough_capture_egm_poll_duration_median_s": 0.003984787035733461, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004321666620671748, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004557724008336664, + "leadthrough_capture_egm_poll_duration_warn_count": 2819, + "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": 0.005802050000056624, + "leadthrough_capture_host_loop_dt_median_s": 0.004009845550172031, + "leadthrough_capture_host_loop_dt_p95_s": 0.004347623768262565, + "leadthrough_capture_host_loop_dt_p99_s": 0.0046010386629495754, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005366919911466539, + "leadthrough_capture_host_receive_dt_median_s": 0.004013682482764125, + "leadthrough_capture_host_receive_dt_p95_s": 0.004336746240733191, + "leadthrough_capture_host_receive_dt_p99_s": 0.004540590310934928, + "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": 0.012824853998608887, + "leadthrough_capture_loop_late_median_s": 0.008517881156876683, + "leadthrough_capture_loop_late_p95_s": 0.008796556759625674, + "leadthrough_capture_loop_late_p99_s": 0.009208020661026241, + "leadthrough_capture_loop_late_warn_count": 6225, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.00578590901568532, + "leadthrough_capture_read_duration_median_s": 0.0039993299869820476, + "leadthrough_capture_read_duration_p95_s": 0.004336462565697729, + "leadthrough_capture_read_duration_p99_s": 0.0045839991280809044, + "leadthrough_capture_read_duration_warn_count": 3097, + "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": [ + 0.004726186394691467, + 0.0029860585927963257, + 0.0027591735124588013, + 0.006786078214645386, + 0.006306707859039307, + 0.010618627071380615 + ], + "leadthrough_delta_max_abs_rad": 0.010618627071380615, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002247551456093788, + 0.002168957842513919, + 0.002169186482205987, + 0.0014892220497131348, + 0.0019517536275088787, + 0.004415242001414299 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0010143701219931245, + 0.0008657588623464108, + 0.0008613538229838014, + 0.000809336663223803, + 0.001082796137779951, + 0.0017752385465428233 + ], + "leadthrough_delta_samples": 4680, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.010618627071380615, + "leadthrough_delta_worst_from_rad": -0.5459318161010742, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 17.878, + "leadthrough_delta_worst_to_rad": -0.5565504431724548, + "leadthrough_duration_s": 18.717, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4679, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 2.6560000000000024, + "leadthrough_final_stillness_removed_samples": 664, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4680, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6225, + "leadthrough_initial_stillness_first_motion_index": 881, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.52, + "leadthrough_initial_stillness_removed_samples": 880, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 880, + "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": [ + 0.004726186394691467, + 0.0029860585927963257, + 0.0027591735124588013, + 0.006786078214645386, + 0.006306707859039307, + 0.010618627071380615 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.010618627071380615, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.5659381945927344, + 0.9901672601699454, + 0.8918941020965239, + 2.2492408752440554, + 2.0942489306131207, + 3.532946109771595 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.9985194206237793, + "leadthrough_velocity_rms_rad_s": 0.2852519459035299, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.006190180778503418, + "measured_wall_accel_p95_abs_rad_s2": 0.5567384958267212, + "measured_wall_accel_peak_abs_rad_s2": 3.8659675121307373, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 35.56388921197504, + "measured_wall_accel_rms_rad_s2": 0.2928202590783835, + "measured_wall_jerk_p95_abs_rad_s3": 9.059989929199219, + "measured_wall_jerk_peak_abs_rad_s3": 52.0847282409668, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 18.828561729984358, + "measured_wall_jerk_rms_rad_s3": 4.673098243897477, + "measured_wall_smoothness_samples": 1060, + "measured_wall_velocity_peak_abs_rad_s": 0.8052002191543579, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.196418144972995, + "measured_wall_velocity_rms_rad_s": 0.11409757033649251, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.006190180778503418, + "moving_aligned_p95_error_rad": 0.002316911704838276, + "moving_aligned_rms_error_rad": 0.0010254626008261434, + "moving_aligned_samples": 768, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 2.6510000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.00500863790512085, + 0.004221290349960327, + 0.006084812339395285, + 0.00413176417350769, + 0.006190180778503418, + 0.004685163497924805 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0023306533694267273, + 0.001953338971361518, + 0.0017869113944470882, + 0.0023401391226798296, + 0.003075861372053623, + 0.0032145651057362556 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010669532574922743, + 0.0009336062100979418, + 0.0009501636511093136, + 0.0011880288755493562, + 0.0014651663925120577, + 0.0016179697361629142 + ], + "moving_joint_lag_samples": [ + 666, + 732, + 564, + 273, + 507, + 414 + ], + "moving_joint_lag_worst_time_s": [ + 2.7390000000000003, + 2.0189999999999997, + 2.6510000000000002, + 17.638, + 2.6510000000000002, + 2.679 + ], + "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": 3.0030312538146973, + "playback_velocity_rms_rad_s": 0.5055600504966165, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 67.434, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 18.717, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1652, + 3813 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.6879639739603644, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08726498484611511, + "rapid_planner_max_dt_s": 2.1479999999999997, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.01200723648071289, + "rapid_planner_median_dt_s": 0.0759999999999994, + "rapid_planner_path_max_error_rad": 0.006190180778503418, + "rapid_planner_path_p95_error_rad": 0.0032198548316955565, + "rapid_planner_path_rms_error_rad": 0.0015173401721736552, + "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, + 89, + 108, + 125, + 144, + 156, + 168, + 176, + 183, + 190, + 198, + 210, + 222, + 234, + 247, + 256, + 266, + 276, + 285, + 296, + 306, + 317, + 328, + 341, + 354, + 367, + 380, + 400, + 418, + 450, + 481, + 552, + 583, + 638, + 706, + 764, + 794, + 836, + 934, + 1262, + 1389, + 1652, + 2189, + 2226, + 2274, + 2315, + 2357, + 2387, + 2419, + 2451, + 2470, + 2489, + 2527, + 2560, + 2594, + 2620, + 2645, + 2664, + 2684, + 2723, + 2756, + 2790, + 2805, + 2820, + 2835, + 2850, + 2864, + 2879, + 2898, + 2917, + 2941, + 2960, + 3011, + 3061, + 3114, + 3133, + 3208, + 3395, + 3516, + 3813, + 4145, + 4169, + 4188, + 4202, + 4217, + 4232, + 4246, + 4266, + 4276, + 4285, + 4303, + 4320, + 4331, + 4342, + 4361, + 4370, + 4379, + 4390, + 4400, + 4414, + 4428, + 4439, + 4448, + 4457, + 4464, + 4471, + 4478, + 4485, + 4501, + 4517, + 4549, + 4573, + 4611, + 4680 + ], + "rapid_planner_selected_max_joint_step_deg": 4.999915330955481, + "rapid_planner_selected_samples": 115, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4681, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 115, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.006190180778503418, + "raw_replay_rms_error_rad": 0.0008752265731949845, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.019506647975293, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9554976717761093, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9818760385029973, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.4970542788505554, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.4970542788505554 + ], + "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": 1.016915703432396, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9470269507171907, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9893096228231831, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.001046106219291687, + 0.0006369650363922119, + 0.0006238222122192383, + 0.006347179412841797, + 0.004427313804626465, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0025780200958251953, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.25810718536377, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 103.45552062988281, + "replay_smoothing_raw_accel_rms_rad_s2": 5.612542032444842, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1633.9566650390625, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 28500.009765625, + "replay_smoothing_raw_jerk_rms_rad_s3": 1414.7784262442428, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 3.156536340713501, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2874182564255505, + "replay_smoothing_rms_deviation_rad": 0.0011671443948158213, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.419195175170898, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 98.85150909423828, + "replay_smoothing_smoothed_accel_rms_rad_s2": 5.510820536748502, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1661.59619140625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 26990.27734375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1399.6539112460684, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.9985194206237793, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2852519459035299, + "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": 0.9499397747931507, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9924628638801107, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 17.97, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "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": 0.006190180778503418, + "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": 0.048605382442474365, + "stage_planned_to_measured_rms_error_rad": 0.006776436897489111, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 1060, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.9297831654548645, + "target_wall_accel_peak_abs_rad_s2": 5.014811038970947, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 33.93338775401935, + "target_wall_accel_rms_rad_s2": 0.4359319340035186, + "target_wall_jerk_p95_abs_rad_s3": 20.165996551513672, + "target_wall_jerk_peak_abs_rad_s3": 139.34530639648438, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 33.900062396074645, + "target_wall_jerk_rms_rad_s3": 9.989110035224178, + "target_wall_smoothness_samples": 1060, + "target_wall_velocity_peak_abs_rad_s": 0.9159566164016724, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 21.966720630065538, + "target_wall_velocity_rms_rad_s": 0.11521620654029781, + "tcp_pose_count": 1060, + "timestamp_count": 1060, + "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": 1.480000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.4450000000000025, + "window_lag_count": 23, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.480000000000003, + "window_lag_worst_end_s": 15.5, + "window_lag_worst_max_error_rad": 0.013010230846703053, + "window_lag_worst_rms_error_rad": 0.002559315137318681, + "window_lag_worst_start_s": 14.5, + "zero_lag_max_error_rad": 0.006190180778503418, + "zero_lag_p95_error_rad": 0.0020034322515130043, + "zero_lag_rms_error_rad": 0.0008752265731949845, + "zero_lag_samples": 1060, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 2.6510000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.npz new file mode 100644 index 0000000000000000000000000000000000000000..b117188c43efe5d322037665e93d852b76813c57 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160102.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9307d69d45f16d99026bc48778c061c5c970704b030ec1be1dc222cec5f0fcf6 +size 108479 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.json new file mode 100644 index 0000000000000000000000000000000000000000..5226f0cd98450cc677ff885af978c9cef53e8596 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.json @@ -0,0 +1,659 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:03:16", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1025, + "actual_playback_duration_s": 34.18841462500859, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.00534588098526001, + "aligned_p95_error_rad": 0.0022320118732750416, + "aligned_rms_error_rad": 0.0009332421308162287, + "aligned_samples": 1025, + "aligned_worst_joint": 1, + "aligned_worst_time_s": 11.114, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1025, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1025, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.8038524046329654, + "image_frame_counts": { + "cam_scene": 1025, + "cam_wrist": 1025 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004629548639059067, + 0.00534588098526001, + 0.00471574068069458, + 0.004989296197891235, + 0.0052269697189331055, + 0.0052831172943115234 + ], + "joint_lag_p95_error_rad": [ + 0.002143651247024536, + 0.0019740238785743713, + 0.002283062320202589, + 0.002388563472777605, + 0.002549791242927313, + 0.002077728509902954 + ], + "joint_lag_rms_error_rad": [ + 0.0009162343039577796, + 0.0008896345857996472, + 0.0009112835052895445, + 0.000877102490406806, + 0.0011128052677247347, + 0.0008698438266815736 + ], + "joint_lag_samples": [ + 1025, + 1025, + 1025, + 1025, + 1025, + 1025 + ], + "joint_lag_worst_time_s": [ + 17.429, + 11.114, + 11.654, + 18.197, + 2.5950000000000024, + 2.5950000000000024 + ], + "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": 15, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.007346721948124468, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972532518673688, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004353226069360971, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004831106051569806, + "leadthrough_capture_egm_poll_duration_warn_count": 4171, + "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": 0.007451963028870523, + "leadthrough_capture_host_loop_dt_median_s": 0.0039971868973225355, + "leadthrough_capture_host_loop_dt_p95_s": 0.004381755948998034, + "leadthrough_capture_host_loop_dt_p99_s": 0.004868150088004768, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.007307745981961489, + "leadthrough_capture_host_receive_dt_median_s": 0.004000474000349641, + "leadthrough_capture_host_receive_dt_p95_s": 0.004367638425901532, + "leadthrough_capture_host_receive_dt_p99_s": 0.004828619807958604, + "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": 0.029067869996652007, + "leadthrough_capture_loop_late_median_s": 0.022854300623293966, + "leadthrough_capture_loop_late_p95_s": 0.023206948209553956, + "leadthrough_capture_loop_late_p99_s": 0.023721546264132486, + "leadthrough_capture_loop_late_warn_count": 10158, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007418620982207358, + "leadthrough_capture_read_duration_median_s": 0.003986440948210657, + "leadthrough_capture_read_duration_p95_s": 0.004370393662247807, + "leadthrough_capture_read_duration_p99_s": 0.0048538418987300255, + "leadthrough_capture_read_duration_warn_count": 4622, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.004, + "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": 24, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003349587321281433, + 0.0021120309829711914, + 0.0022270679473876953, + 0.0032417327165603638, + 0.002742588520050049, + 0.005368918180465698 + ], + "leadthrough_delta_max_abs_rad": 0.005368918180465698, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018048286437988281, + 0.0013710737694054842, + 0.0020657272543758154, + 0.001028605387546122, + 0.0013344293693080544, + 0.004087388515472412 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008659249288029969, + 0.000677438045386225, + 0.0008548088371753693, + 0.0005234623095020652, + 0.00058060756418854, + 0.0014091627672314644 + ], + "leadthrough_delta_samples": 4739, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005368918180465698, + "leadthrough_delta_worst_from_rad": -0.3953721821308136, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6430000000000007, + "leadthrough_delta_worst_to_rad": -0.4007411003112793, + "leadthrough_duration_s": 18.953, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 4738, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.48799999999999955, + "leadthrough_final_stillness_removed_samples": 122, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 4739, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 10158, + "leadthrough_initial_stillness_first_motion_index": 5297, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 21.182, + "leadthrough_initial_stillness_removed_samples": 5296, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 5296, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.003999999999997783, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.003349587321281433, + 0.0021120309829711914, + 0.0022270679473876953, + 0.0032417327165603638, + 0.002742588520050049, + 0.005368918180465698 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005368918180465698, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1157294114430323, + 0.6977518399556214, + 0.7407565911610641, + 1.0731865962345988, + 0.913798809051479, + 1.7852584520975072 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.5918399095535278, + "leadthrough_velocity_rms_rad_s": 0.22164630121411283, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.00534588098526001, + "measured_wall_accel_p95_abs_rad_s2": 0.5063559412956238, + "measured_wall_accel_peak_abs_rad_s2": 2.900836229324341, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 18.881772616994567, + "measured_wall_accel_rms_rad_s2": 0.24655436524685356, + "measured_wall_jerk_p95_abs_rad_s3": 8.146427154541016, + "measured_wall_jerk_peak_abs_rad_s3": 52.75382614135742, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 33.72182324901223, + "measured_wall_jerk_rms_rad_s3": 4.156100595223045, + "measured_wall_smoothness_samples": 1025, + "measured_wall_velocity_peak_abs_rad_s": 0.7251836061477661, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 12.948002511984669, + "measured_wall_velocity_rms_rad_s": 0.10312680405284509, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.00534588098526001, + "moving_aligned_p95_error_rad": 0.0025641941465437412, + "moving_aligned_rms_error_rad": 0.0010981982294086567, + "moving_aligned_samples": 736, + "moving_aligned_worst_joint": 1, + "moving_aligned_worst_time_s": 11.114, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004629548639059067, + 0.00534588098526001, + 0.00471574068069458, + 0.004989296197891235, + 0.0052269697189331055, + 0.0052831172943115234 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024615877773612738, + 0.002555456478148699, + 0.0026271480601280928, + 0.0034979169722646475, + 0.0035761743783950806, + 0.002960205078125 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0011067818205297223, + 0.0010997083721553075, + 0.0011746212760385503, + 0.0017826160493839378, + 0.0015909721959598867, + 0.0014955473389214138 + ], + "moving_joint_lag_samples": [ + 646, + 650, + 567, + 203, + 456, + 311 + ], + "moving_joint_lag_worst_time_s": [ + 17.429, + 11.114, + 11.654, + 18.197, + 2.5950000000000024, + 2.5950000000000024 + ], + "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": 1.5988693237304688, + "playback_velocity_rms_rad_s": 0.3152811979743881, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 67.906, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 18.953, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1387, + 3835 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4272454080572226, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08594051003456116, + "rapid_planner_max_dt_s": 2.1359999999999992, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007456839084625244, + "rapid_planner_median_dt_s": 0.09999999999999432, + "rapid_planner_path_max_error_rad": 0.00534588098526001, + "rapid_planner_path_p95_error_rad": 0.00344240665435791, + "rapid_planner_path_rms_error_rad": 0.00158955079420928, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 25, + 41, + 55, + 73, + 91, + 109, + 122, + 134, + 146, + 158, + 170, + 182, + 194, + 206, + 219, + 232, + 246, + 259, + 271, + 283, + 295, + 307, + 320, + 332, + 343, + 354, + 376, + 394, + 413, + 447, + 481, + 517, + 550, + 616, + 676, + 733, + 831, + 920, + 999, + 1086, + 1387, + 1921, + 2016, + 2069, + 2096, + 2124, + 2151, + 2193, + 2218, + 2242, + 2266, + 2291, + 2337, + 2383, + 2412, + 2440, + 2468, + 2497, + 2524, + 2552, + 2580, + 2602, + 2623, + 2636, + 2649, + 2662, + 2675, + 2688, + 2701, + 2726, + 2750, + 2815, + 2879, + 2962, + 2996, + 3034, + 3054, + 3076, + 3140, + 3211, + 3512, + 3835, + 4061, + 4146, + 4171, + 4205, + 4234, + 4255, + 4273, + 4292, + 4312, + 4328, + 4344, + 4373, + 4399, + 4429, + 4446, + 4464, + 4490, + 4514, + 4532, + 4588, + 4739 + ], + "rapid_planner_selected_max_joint_step_deg": 4.924028514182055, + "rapid_planner_selected_samples": 104, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 4740, + "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": 104, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.00534588098526001, + "raw_replay_rms_error_rad": 0.0009332421308162287, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9876157285654681, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9815771986351838, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9890554889285591, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.007294590190193, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9937266460903029, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9952862226548641, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006812810897827148, + 0.0005183815956115723, + 0.0006952583789825439, + 0.002810180187225342, + 0.003121018409729004, + 0.004030942916870117 + ], + "replay_smoothing_max_deviation_normalized": 0.4619120367677624, + "replay_smoothing_max_deviation_rad": 0.004030942916870117, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021681038197129965, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.06859016418457, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.96798324584961, + "replay_smoothing_raw_accel_rms_rad_s2": 4.065781198697788, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1682.70703125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14719.685546875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1038.4254519684048, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5944221019744873, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22267864609536772, + "replay_smoothing_rms_deviation_rad": 0.0009466162688105408, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.9686665534973145, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.992164611816406, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.021283211354584, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1694.981689453125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14627.34375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1033.5305455983037, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5918399095535278, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22164630121411283, + "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": 0.9983804838017726, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953639700107896, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.5790000000000006, + "replay_smoothing_wrist_max_deviation_rad": 0.004030942916870117, + "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": 0.00534588098526001, + "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": 0.04124651849269867, + "stage_planned_to_measured_rms_error_rad": 0.006111973082560078, + "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": 1025, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.707492470741272, + "target_wall_accel_peak_abs_rad_s2": 3.28068208694458, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.4000550920609385, + "target_wall_accel_rms_rad_s2": 0.33464541272485987, + "target_wall_jerk_p95_abs_rad_s3": 14.897429466247559, + "target_wall_jerk_peak_abs_rad_s3": 68.57806396484375, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 24.16672014805954, + "target_wall_jerk_rms_rad_s3": 7.204563862155608, + "target_wall_smoothness_samples": 1025, + "target_wall_velocity_peak_abs_rad_s": 0.7383276224136353, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.7667220230214298, + "target_wall_velocity_rms_rad_s": 0.10391368761302266, + "tcp_pose_count": 1025, + "timestamp_count": 1025, + "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": 1.280000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2299999999999993, + "window_lag_best_lag_p95_abs_s": 1.265000000000002, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 3.5, + "window_lag_worst_max_error_rad": 0.0052831172943115234, + "window_lag_worst_rms_error_rad": 0.0019899152567736922, + "window_lag_worst_start_s": 2.5, + "zero_lag_max_error_rad": 0.00534588098526001, + "zero_lag_p95_error_rad": 0.0022320118732750416, + "zero_lag_rms_error_rad": 0.0009332421308162287, + "zero_lag_samples": 1025, + "zero_lag_worst_joint": 1, + "zero_lag_worst_time_s": 11.114 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b7a884dd4acb29069ec295133a5ef270417a1c8 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160315.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e36daef8af655a6ed4046a639f14214b37a65febf93f573d5cd3cbcee9a8d61e +size 108285 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.json new file mode 100644 index 0000000000000000000000000000000000000000..dc1bac74d4f0199c8ea4d5ed2d4f2e807895586a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.json @@ -0,0 +1,661 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:05:10", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1060, + "actual_playback_duration_s": 35.34564461093396, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005180954933166504, + "aligned_p95_error_rad": 0.001894438173621893, + "aligned_rms_error_rad": 0.0008246260553598824, + "aligned_samples": 1060, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 14.266000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1060, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1060, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3589774543786366, + "image_frame_counts": { + "cam_scene": 1060, + "cam_wrist": 1060 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.003750234842300415, + 0.005108289420604706, + 0.004593968391418457, + 0.0028713876381516457, + 0.005180954933166504, + 0.004320383071899414 + ], + "joint_lag_p95_error_rad": [ + 0.0019252136116847396, + 0.0018178450409322977, + 0.001572839100845158, + 0.0016379817388951778, + 0.00205341842956841, + 0.0021707455161958933 + ], + "joint_lag_rms_error_rad": [ + 0.0008151710837742381, + 0.0008409056717094736, + 0.0007653009286627857, + 0.0006185553534785019, + 0.0009349162375392431, + 0.0009306223372517996 + ], + "joint_lag_samples": [ + 1060, + 1060, + 1060, + 1060, + 1060, + 1060 + ], + "joint_lag_worst_time_s": [ + 12.418, + 14.266000000000002, + 14.266000000000002, + 24.333000000000002, + 14.266000000000002, + 12.425999999999998 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.0067095940466970205, + "leadthrough_capture_egm_poll_duration_median_s": 0.003973487007897347, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004367932613240554, + "leadthrough_capture_egm_poll_duration_p99_s": 0.0052820203173905575, + "leadthrough_capture_egm_poll_duration_warn_count": 2974, + "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": 0.006751872948370874, + "leadthrough_capture_host_loop_dt_median_s": 0.003997492021881044, + "leadthrough_capture_host_loop_dt_p95_s": 0.004397803521715105, + "leadthrough_capture_host_loop_dt_p99_s": 0.00534588915063068, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006664172047749162, + "leadthrough_capture_host_receive_dt_median_s": 0.0040002219611778855, + "leadthrough_capture_host_receive_dt_p95_s": 0.0043824253953062, + "leadthrough_capture_host_receive_dt_p99_s": 0.00526139646070078, + "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": 0.013290158938616514, + "leadthrough_capture_loop_late_median_s": 0.007569657056592405, + "leadthrough_capture_loop_late_p95_s": 0.007933050690917298, + "leadthrough_capture_loop_late_p99_s": 0.009055084870196874, + "leadthrough_capture_loop_late_warn_count": 7320, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006735629984177649, + "leadthrough_capture_read_duration_median_s": 0.003986463008914143, + "leadthrough_capture_read_duration_p95_s": 0.004385871661361306, + "leadthrough_capture_read_duration_p99_s": 0.005328555045416573, + "leadthrough_capture_read_duration_warn_count": 3313, + "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": 19, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0046211183071136475, + 0.00306876003742218, + 0.0029241517186164856, + 0.0033328086137771606, + 0.004196882247924805, + 0.006157517433166504 + ], + "leadthrough_delta_max_abs_rad": 0.006157517433166504, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017935598734766245, + 0.0018508549546822906, + 0.0020192652009427547, + 0.0006615296006202698, + 0.0014319401234388351, + 0.003281467827036977 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008292334387078881, + 0.0007520954823121428, + 0.0007745851762592793, + 0.0004290094366297126, + 0.0006475543486885726, + 0.001254772418178618 + ], + "leadthrough_delta_samples": 6503, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.006157517433166504, + "leadthrough_delta_worst_from_rad": -0.25880712270736694, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5150000000000001, + "leadthrough_delta_worst_to_rad": -0.26496464014053345, + "leadthrough_duration_s": 26.009, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6502, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.254999999999999, + "leadthrough_final_stillness_removed_samples": 64, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6503, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7320, + "leadthrough_initial_stillness_first_motion_index": 753, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.008, + "leadthrough_initial_stillness_removed_samples": 752, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 752, + "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": [ + 0.0046211183071136475, + 0.00306876003742218, + 0.0029241517186164856, + 0.0033328086137771606, + 0.004196882247924805, + 0.006157517433166504 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.006157517433166504, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.1552795767790522, + 0.7771054903665884, + 0.9661950170993439, + 0.8332021534440119, + 1.0492205619808508, + 2.0525058110554237 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7361218929290771, + "leadthrough_velocity_rms_rad_s": 0.20828645061698475, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005180954933166504, + "measured_wall_accel_p95_abs_rad_s2": 0.47495514154434204, + "measured_wall_accel_peak_abs_rad_s2": 3.3730270862579346, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 12.637382577056997, + "measured_wall_accel_rms_rad_s2": 0.2529660769923371, + "measured_wall_jerk_p95_abs_rad_s3": 8.238449096679688, + "measured_wall_jerk_peak_abs_rad_s3": 57.86513137817383, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 36.03773592901416, + "measured_wall_jerk_rms_rad_s3": 4.279534856748523, + "measured_wall_smoothness_samples": 1060, + "measured_wall_velocity_peak_abs_rad_s": 0.7488958835601807, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 12.771138929063454, + "measured_wall_velocity_rms_rad_s": 0.1020571468373574, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005180954933166504, + "moving_aligned_p95_error_rad": 0.002068485599011183, + "moving_aligned_rms_error_rad": 0.0009604807333910349, + "moving_aligned_samples": 758, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 14.266000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.003750234842300415, + 0.005108289420604706, + 0.004593968391418457, + 0.0028713876381516457, + 0.005180954933166504, + 0.004320383071899414 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002156213391572237, + 0.0020299286115914583, + 0.0020355493761599064, + 0.0021427704486995935, + 0.002308046678081155, + 0.002812090329825878 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010162972711544658, + 0.0009819719526704632, + 0.0010254318139759683, + 0.0010741983114836318, + 0.0011957846303155965, + 0.0014588572286400048 + ], + "moving_joint_lag_samples": [ + 628, + 719, + 572, + 303, + 554, + 405 + ], + "moving_joint_lag_worst_time_s": [ + 12.418, + 14.266000000000002, + 14.266000000000002, + 24.333000000000002, + 14.266000000000002, + 12.425999999999998 + ], + "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": 1.7061532735824585, + "playback_velocity_rms_rad_s": 0.4160133444892743, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 82.018, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 26.009, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2013, + 5491 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4245133323892175, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08665525913238525, + "rapid_planner_max_dt_s": 3.267999999999998, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007409155368804932, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.005180954933166504, + "rapid_planner_path_p95_error_rad": 0.0025678962469100936, + "rapid_planner_path_rms_error_rad": 0.0013688938028619914, + "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, + 56, + 73, + 90, + 98, + 107, + 118, + 129, + 140, + 151, + 166, + 182, + 198, + 213, + 226, + 240, + 253, + 266, + 282, + 297, + 315, + 333, + 368, + 404, + 428, + 458, + 488, + 544, + 602, + 656, + 711, + 743, + 822, + 856, + 890, + 1119, + 1196, + 2013, + 2539, + 2597, + 2664, + 2694, + 2718, + 2741, + 2772, + 2797, + 2822, + 2856, + 2887, + 2922, + 2957, + 2990, + 3022, + 3054, + 3085, + 3120, + 3148, + 3177, + 3200, + 3224, + 3248, + 3271, + 3309, + 3331, + 3390, + 3458, + 3527, + 3601, + 3664, + 3732, + 3892, + 3979, + 4088, + 4320, + 5028, + 5120, + 5491, + 5893, + 5914, + 5931, + 5950, + 5960, + 5969, + 5985, + 6000, + 6020, + 6038, + 6057, + 6073, + 6092, + 6104, + 6116, + 6129, + 6142, + 6158, + 6174, + 6188, + 6202, + 6223, + 6244, + 6261, + 6280, + 6314, + 6349, + 6503 + ], + "rapid_planner_selected_max_joint_step_deg": 4.964980620898159, + "rapid_planner_selected_samples": 106, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6504, + "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": 106, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005180954933166504, + "raw_replay_rms_error_rad": 0.0008246260553598824, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9565937180814699, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9459831680553038, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9879296954058764, + "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": 0.9961906823999601, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9627123303405455, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9956445811045446, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.001002192497253418, + 0.000425487756729126, + 0.0009317994117736816, + 0.003406912088394165, + 0.0030902624130249023, + 0.006653264164924622 + ], + "replay_smoothing_max_deviation_normalized": 0.7624079191775172, + "replay_smoothing_max_deviation_rad": 0.006653264164924622, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002234453335404396, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.370633125305176, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 60.02003479003906, + "replay_smoothing_raw_accel_rms_rad_s2": 3.7622354494985553, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1328.273193359375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16902.396484375, + "replay_smoothing_raw_jerk_rms_rad_s3": 949.5204856249965, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8320133686065674, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2094284133491372, + "replay_smoothing_rms_deviation_rad": 0.001008804853127138, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.094107627868652, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 56.7779426574707, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.716824121668298, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1323.21337890625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16272.1455078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 945.3849261602834, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7361218929290771, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20828645061698475, + "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": 0.9476578733972747, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9945472406829121, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 24.441000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.006653264164924622, + "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": 0.005180954933166504, + "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": 0.04314160346984863, + "stage_planned_to_measured_rms_error_rad": 0.006054412996598365, + "stage_sent_to_measured_max_error_rad": null, + "stage_sent_to_measured_rms_error_rad": null, + "stage_sent_to_planned_max_error_rad": null, + "stage_sent_to_planned_rms_error_rad": null, + "stage_target_to_sent_max_error_rad": null, + "stage_target_to_sent_rms_error_rad": null, + "state_frame_count": 1060, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7554387450218201, + "target_wall_accel_peak_abs_rad_s2": 4.2769060134887695, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.36803249595686793, + "target_wall_accel_rms_rad_s2": 0.36301428610752584, + "target_wall_jerk_p95_abs_rad_s3": 16.706867218017578, + "target_wall_jerk_peak_abs_rad_s3": 76.54997253417969, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 24.300076781888492, + "target_wall_jerk_rms_rad_s3": 8.033282557782183, + "target_wall_smoothness_samples": 1060, + "target_wall_velocity_peak_abs_rad_s": 0.7479639053344727, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 0.43352805299218744, + "target_wall_velocity_rms_rad_s": 0.10284102382394966, + "tcp_pose_count": 1060, + "timestamp_count": 1060, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.7400000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.7899999999999998, + "window_lag_best_lag_p95_abs_s": 1.7145000000000024, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": -1.7899999999999998, + "window_lag_worst_end_s": 9.0, + "window_lag_worst_max_error_rad": 0.04339456558227539, + "window_lag_worst_rms_error_rad": 0.011435669992767522, + "window_lag_worst_start_s": 8.0, + "zero_lag_max_error_rad": 0.005180954933166504, + "zero_lag_p95_error_rad": 0.001894438173621893, + "zero_lag_rms_error_rad": 0.0008246260553598824, + "zero_lag_samples": 1060, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 14.266000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.npz new file mode 100644 index 0000000000000000000000000000000000000000..e7f8fac43d68469df35b1749a869ee470d703348 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160509.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:909e15a174298da373834dbe5e28f740965d5ef4a32da2b7251312c477f5d945 +size 110569 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e08edca4411334d95996420ec24acb00bc0568 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.json @@ -0,0 +1,666 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:06:58", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1031, + "actual_playback_duration_s": 34.386083942023106, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.10547184944152832, + "aligned_p95_error_rad": 0.0020933300256729126, + "aligned_rms_error_rad": 0.0021661817566468763, + "aligned_samples": 1031, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 20.962, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1031, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1031, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6289002341081529, + "image_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.00615750253200531, + 0.10511314123868942, + 0.00475870817899704, + 0.10547184944152832, + 0.04257577657699585, + 0.005398750305175781 + ], + "joint_lag_p95_error_rad": [ + 0.0019835904240608215, + 0.0021208380348980427, + 0.0016217734664678574, + 0.0017900466918945312, + 0.0024666786193847656, + 0.0021210014820098877 + ], + "joint_lag_rms_error_rad": [ + 0.0008856432185184039, + 0.003409765669215169, + 0.000767340448554931, + 0.0033707238959929946, + 0.0016955997815894244, + 0.0009578857036096193 + ], + "joint_lag_samples": [ + 1031, + 1031, + 1031, + 1031, + 1031, + 1031 + ], + "joint_lag_worst_time_s": [ + 20.962, + 20.962, + 2.888, + 20.962, + 20.962, + 2.9400000000000004 + ], + "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": 17, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006973179988563061, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971575992181897, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004356941347941756, + "leadthrough_capture_egm_poll_duration_p99_s": 0.00480242463760078, + "leadthrough_capture_egm_poll_duration_warn_count": 2648, + "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": 0.0070330590242519975, + "leadthrough_capture_host_loop_dt_median_s": 0.003997051564510912, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043886270490474995, + "leadthrough_capture_host_loop_dt_p99_s": 0.0048458973038941625, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00699099397752434, + "leadthrough_capture_host_receive_dt_median_s": 0.004000012937467545, + "leadthrough_capture_host_receive_dt_p95_s": 0.004378595331218094, + "leadthrough_capture_host_receive_dt_p99_s": 0.004772808068664743, + "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": 0.013158924994058907, + "leadthrough_capture_loop_late_median_s": 0.007594244554638863, + "leadthrough_capture_loop_late_p95_s": 0.007948597590439022, + "leadthrough_capture_loop_late_p99_s": 0.008430093675851824, + "leadthrough_capture_loop_late_warn_count": 6533, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.007007792009972036, + "leadthrough_capture_read_duration_median_s": 0.003986017080023885, + "leadthrough_capture_read_duration_p95_s": 0.004377111047506333, + "leadthrough_capture_read_duration_p99_s": 0.0048293598461896185, + "leadthrough_capture_read_duration_warn_count": 2983, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036, + "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005, + "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782, + "leadthrough_capture_recorded_timestamp_gap_warn": false, + "leadthrough_capture_recorded_timestamp_gap_warn_count": 0, + "leadthrough_capture_slow_ticks": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0037650465965270996, + 0.001886717975139618, + 0.0027731657028198242, + 0.004961490631103516, + 0.003873884677886963, + 0.005937591195106506 + ], + "leadthrough_delta_max_abs_rad": 0.005937591195106506, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.002220273483544588, + 0.0015650151763111353, + 0.0019176347414031625, + 0.0012206820538267493, + 0.0014771308051422238, + 0.004322469234466553 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008683589403517544, + 0.0006668188725598156, + 0.0007908019470050931, + 0.0007045338279567659, + 0.0007116220658645034, + 0.0013452982529997826 + ], + "leadthrough_delta_samples": 5278, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005937591195106506, + "leadthrough_delta_worst_from_rad": -0.1747240126132965, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6920000000000002, + "leadthrough_delta_worst_to_rad": -0.18066160380840302, + "leadthrough_duration_s": 21.11, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5263, + "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": 5264, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 6533, + "leadthrough_initial_stillness_first_motion_index": 1255, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 5.015, + "leadthrough_initial_stillness_removed_samples": 1254, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1254, + "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": [ + 0.0037650465965270996, + 0.001886717975139618, + 0.0027731657028198242, + 0.004961490631103516, + 0.003873884677886963, + 0.005937591195106506 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005937591195106506, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9412616491322966, + 0.6223817666371427, + 0.7363657156626104, + 1.2403726577754646, + 1.003881295522016, + 1.979192097981696 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.7396397590637207, + "leadthrough_velocity_rms_rad_s": 0.22147443575226777, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.10547184944152832, + "measured_wall_accel_p95_abs_rad_s2": 0.639689564704895, + "measured_wall_accel_peak_abs_rad_s2": 347.10040283203125, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 12.51755061908625, + "measured_wall_accel_rms_rad_s2": 9.338069520870786, + "measured_wall_jerk_p95_abs_rad_s3": 10.077949523925781, + "measured_wall_jerk_peak_abs_rad_s3": 5486.42724609375, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 12.547418859088793, + "measured_wall_jerk_rms_rad_s3": 121.19889252561576, + "measured_wall_smoothness_samples": 1031, + "measured_wall_velocity_peak_abs_rad_s": 22.103275299072266, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 12.48373864009045, + "measured_wall_velocity_rms_rad_s": 0.4486029253605594, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.10547184944152832, + "moving_aligned_p95_error_rad": 0.0024113059043884277, + "moving_aligned_rms_error_rad": 0.0025533811625473492, + "moving_aligned_samples": 741, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 20.962, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0045948754996061325, + 0.10511314123868942, + 0.00475870817899704, + 0.004301667213439941, + 0.0051877498626708984, + 0.005398750305175781 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0024778745137155056, + 0.002618874656036496, + 0.002124079968780279, + 0.003262054407969117, + 0.0029108698945492506, + 0.0030535459518432617 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010743113247458568, + 0.004152523003202683, + 0.0009876875423306295, + 0.0014807280375938726, + 0.0014620217930292685, + 0.0015474516148002151 + ], + "moving_joint_lag_samples": [ + 604, + 692, + 490, + 242, + 460, + 321 + ], + "moving_joint_lag_worst_time_s": [ + 19.426, + 20.962, + 2.888, + 19.998, + 10.338999999999999, + 2.9400000000000004 + ], + "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": 8.258918762207031, + "playback_velocity_rms_rad_s": 0.4061069777843032, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.22, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.11, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1907, + 4312 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.40454164581268864, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08674746751785278, + "rapid_planner_max_dt_s": 2.594999999999999, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007060583680868149, + "rapid_planner_median_dt_s": 0.0940000000000012, + "rapid_planner_path_max_error_rad": 0.10547184944152832, + "rapid_planner_path_p95_error_rad": 0.0032210052013397217, + "rapid_planner_path_rms_error_rad": 0.0036203284287952115, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 67, + 90, + 105, + 122, + 134, + 147, + 156, + 166, + 175, + 184, + 193, + 202, + 212, + 221, + 238, + 256, + 273, + 290, + 304, + 317, + 330, + 344, + 354, + 365, + 376, + 386, + 400, + 413, + 430, + 446, + 459, + 474, + 503, + 549, + 588, + 640, + 690, + 769, + 843, + 901, + 949, + 977, + 1026, + 1089, + 1258, + 1907, + 2457, + 2547, + 2618, + 2667, + 2706, + 2746, + 2774, + 2803, + 2834, + 2864, + 2891, + 2916, + 2940, + 2970, + 2999, + 3032, + 3066, + 3095, + 3124, + 3148, + 3174, + 3196, + 3208, + 3219, + 3230, + 3241, + 3257, + 3277, + 3331, + 3368, + 3406, + 3438, + 3460, + 3527, + 3600, + 3733, + 3858, + 3971, + 4312, + 4599, + 4628, + 4653, + 4689, + 4708, + 4726, + 4747, + 4766, + 4784, + 4802, + 4820, + 4840, + 4865, + 4882, + 4896, + 4912, + 4928, + 4942, + 4955, + 4978, + 5021, + 5110, + 5182, + 5278 + ], + "rapid_planner_selected_max_joint_step_deg": 4.970263772221164, + "rapid_planner_selected_samples": 111, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5279, + "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": 111, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.10547184944152832, + "raw_replay_rms_error_rad": 0.0021661817566468763, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9742959276928391, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9792577447750386, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9794294470765538, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.8754257559776306, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8754257559776306 + ], + "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": 0.9880726907959676, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.008132251976747, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.99436159792296, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0010179877281188965, + 0.00037954747676849365, + 0.0009000152349472046, + 0.0049558281898498535, + 0.002713918685913086, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002402528887614608, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.8753855228424072, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 58.26472854614258, + "replay_smoothing_raw_accel_rms_rad_s2": 3.226687468731899, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 479.587158203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16100.8935546875, + "replay_smoothing_raw_jerk_rms_rad_s3": 801.5215889026932, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7671374082565308, + "replay_smoothing_raw_velocity_rms_rad_s": 0.2228703721720637, + "replay_smoothing_rms_deviation_rad": 0.0010744362699241635, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.7757723331451416, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.05618667602539, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.160312723388929, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 473.8669738769531, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16231.830078125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 797.0022879110319, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7396397590637207, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22147443575226777, + "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": 0.9844394391379336, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9937365545442791, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 19.79, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "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": 0.10547184944152832, + "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": 0.7473472952842712, + "stage_planned_to_measured_rms_error_rad": 0.014809089550466892, + "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": 1031, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.1055", + "target_wall_accel_p95_abs_rad_s2": 0.8396363258361816, + "target_wall_accel_peak_abs_rad_s2": 335.63177490234375, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 7.27199949324131e-06, + "target_wall_accel_rms_rad_s2": 8.221613013439965, + "target_wall_jerk_p95_abs_rad_s3": 17.629087448120117, + "target_wall_jerk_peak_abs_rad_s3": 5034.50244140625, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06672284100204706, + "target_wall_jerk_rms_rad_s3": 100.94056348036519, + "target_wall_smoothness_samples": 1031, + "target_wall_velocity_peak_abs_rad_s": 22.391864776611328, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 7.27199949324131e-06, + "target_wall_velocity_rms_rad_s": 0.4230731822171235, + "tcp_pose_count": 1031, + "timestamp_count": 1031, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.1055", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.460000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.10999999999999832, + "window_lag_best_lag_p95_abs_s": 1.433000000000003, + "window_lag_count": 30, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 21.0, + "window_lag_worst_max_error_rad": 0.10547184944152832, + "window_lag_worst_rms_error_rad": 0.010918082321732926, + "window_lag_worst_start_s": 20.0, + "zero_lag_max_error_rad": 0.10547184944152832, + "zero_lag_p95_error_rad": 0.0020933300256729126, + "zero_lag_rms_error_rad": 0.0021661817566468763, + "zero_lag_samples": 1031, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 20.962 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.npz new file mode 100644 index 0000000000000000000000000000000000000000..2edbd8afaeb1fee1e0b489a9ec8640c545d3635f --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160657.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2231a82d06a622b4f238d131e04e8920fb4210b3e2fde3ce05836e737fb5ff29 +size 107293 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.json new file mode 100644 index 0000000000000000000000000000000000000000..9d13ebdef0bdb2af0565032212e2ea90b70cee46 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.json @@ -0,0 +1,666 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:08:41", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1054, + "actual_playback_duration_s": 35.143324998090975, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005770944058895111, + "aligned_p95_error_rad": 0.0018841406563296914, + "aligned_rms_error_rad": 0.0008085734172581271, + "aligned_samples": 1054, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 1.7079999999999997, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1054, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1054, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6553615166316993, + "image_frame_counts": { + "cam_scene": 1054, + "cam_wrist": 1054 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0032961368560791016, + 0.002966996282339096, + 0.003447294235229492, + 0.005770944058895111, + 0.004775524139404297, + 0.005356550216674805 + ], + "joint_lag_p95_error_rad": [ + 0.0018059819703921676, + 0.0014900903915986419, + 0.001627837074920535, + 0.0015868039336055517, + 0.0021070162765681744, + 0.0024716719053685665 + ], + "joint_lag_rms_error_rad": [ + 0.0007949098371219294, + 0.0006836481125198233, + 0.0007236031111448629, + 0.0007062240957753105, + 0.0008957393766663288, + 0.0009993930502314992 + ], + "joint_lag_samples": [ + 1054, + 1054, + 1054, + 1054, + 1054, + 1054 + ], + "joint_lag_worst_time_s": [ + 13.211, + 13.211, + 0.19599999999999973, + 1.7079999999999997, + 1.6969999999999996, + 1.741 + ], + "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": 30, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005825455999001861, + "leadthrough_capture_egm_poll_duration_median_s": 0.003979120054282248, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004351081536151468, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004642553390003739, + "leadthrough_capture_egm_poll_duration_warn_count": 2632, + "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": 0.005914953071624041, + "leadthrough_capture_host_loop_dt_median_s": 0.004003056965302676, + "leadthrough_capture_host_loop_dt_p95_s": 0.004377774719614536, + "leadthrough_capture_host_loop_dt_p99_s": 0.004694045893847937, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005883191013708711, + "leadthrough_capture_host_receive_dt_median_s": 0.004004627000540495, + "leadthrough_capture_host_receive_dt_p95_s": 0.004372061201138422, + "leadthrough_capture_host_receive_dt_p99_s": 0.004636342753656207, + "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": 0.014554550987668335, + "leadthrough_capture_loop_late_median_s": 0.011162672424688935, + "leadthrough_capture_loop_late_p95_s": 0.01143614414613694, + "leadthrough_capture_loop_late_p99_s": 0.011828228635713449, + "leadthrough_capture_loop_late_warn_count": 6157, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005882385070435703, + "leadthrough_capture_read_duration_median_s": 0.003992237034253776, + "leadthrough_capture_read_duration_p95_s": 0.0043657113332301375, + "leadthrough_capture_read_duration_p99_s": 0.004676126954145718, + "leadthrough_capture_read_duration_warn_count": 2907, + "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": [ + 0.004432171583175659, + 0.0027687549591064453, + 0.003487825393676758, + 0.005259275436401367, + 0.0040476322174072266, + 0.007697463035583496 + ], + "leadthrough_delta_max_abs_rad": 0.007697463035583496, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0023327991366386414, + 0.0018888278864324093, + 0.001994153019040823, + 0.0005793788004666567, + 0.0015653457958251238, + 0.0045871310867369175 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0009170915582217276, + 0.0007658941904082894, + 0.0008479742682538927, + 0.0005841251695528626, + 0.0007470916607417166, + 0.0015298790531232953 + ], + "leadthrough_delta_samples": 5308, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.007697463035583496, + "leadthrough_delta_worst_from_rad": -0.5567044019699097, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7199999999999998, + "leadthrough_delta_worst_to_rad": -0.5644018650054932, + "leadthrough_duration_s": 21.23, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5307, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.3279999999999994, + "leadthrough_final_stillness_removed_samples": 82, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5308, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6157, + "leadthrough_initial_stillness_first_motion_index": 767, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 3.063, + "leadthrough_initial_stillness_removed_samples": 766, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 766, + "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": [ + 0.004432171583175659, + 0.0027687549591064453, + 0.003487825393676758, + 0.005259275436401367, + 0.0040476322174072266, + 0.007697463035583496 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.007697463035583496, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2815097967783124, + 0.9170621633529316, + 1.1495550473530651, + 1.3148188591010705, + 1.338442166646271, + 2.5628209114073734 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.2522189617156982, + "leadthrough_velocity_rms_rad_s": 0.24160705741386324, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005770944058895111, + "measured_wall_accel_p95_abs_rad_s2": 0.5404981970787048, + "measured_wall_accel_peak_abs_rad_s2": 2.9450669288635254, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 36.35016685689334, + "measured_wall_accel_rms_rad_s2": 0.2672565984786474, + "measured_wall_jerk_p95_abs_rad_s3": 9.41146469116211, + "measured_wall_jerk_peak_abs_rad_s3": 46.88884735107422, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 36.38366531592328, + "measured_wall_jerk_rms_rad_s3": 4.5342004900310995, + "measured_wall_smoothness_samples": 1054, + "measured_wall_velocity_peak_abs_rad_s": 0.8144044876098633, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.250490159960464, + "measured_wall_velocity_rms_rad_s": 0.10847699262014433, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005770944058895111, + "moving_aligned_p95_error_rad": 0.002121955854818225, + "moving_aligned_rms_error_rad": 0.0009474642745234325, + "moving_aligned_samples": 759, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 1.7079999999999997, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0032961368560791016, + 0.002966996282339096, + 0.003447294235229492, + 0.005770944058895111, + 0.004775524139404297, + 0.005356550216674805 + ], + "moving_joint_lag_p95_error_rad": [ + 0.001943156123161316, + 0.0017655426636338234, + 0.0020257888827472925, + 0.003123220056295395, + 0.0027155401185154915, + 0.003213190473616123 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009449039978092299, + 0.0008126768922434945, + 0.0009506505707019404, + 0.0015342496508806449, + 0.0012556682725123522, + 0.0017379844676597119 + ], + "moving_joint_lag_samples": [ + 671, + 713, + 565, + 202, + 489, + 310 + ], + "moving_joint_lag_worst_time_s": [ + 13.211, + 13.211, + 0.19599999999999973, + 1.7079999999999997, + 1.6969999999999996, + 1.741 + ], + "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": 2.0898427963256836, + "playback_velocity_rms_rad_s": 0.4032824352830353, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 72.46000000000001, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.23, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1688, + 4454 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4432622016609025, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08591175079345703, + "rapid_planner_max_dt_s": 2.216000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007736384868621826, + "rapid_planner_median_dt_s": 0.08800000000000097, + "rapid_planner_path_max_error_rad": 0.005770944058895111, + "rapid_planner_path_p95_error_rad": 0.0028612642548978325, + "rapid_planner_path_rms_error_rad": 0.0014080094352255477, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 58, + 75, + 88, + 100, + 109, + 118, + 128, + 137, + 146, + 156, + 166, + 175, + 184, + 194, + 202, + 210, + 218, + 227, + 240, + 252, + 265, + 278, + 299, + 320, + 336, + 353, + 366, + 382, + 406, + 446, + 477, + 515, + 563, + 615, + 664, + 697, + 759, + 856, + 905, + 1022, + 1331, + 1688, + 2242, + 2289, + 2367, + 2410, + 2436, + 2463, + 2490, + 2518, + 2552, + 2576, + 2599, + 2619, + 2642, + 2666, + 2698, + 2729, + 2752, + 2774, + 2796, + 2819, + 2848, + 2878, + 2899, + 2918, + 2938, + 2950, + 2963, + 2976, + 2988, + 3004, + 3021, + 3069, + 3111, + 3182, + 3239, + 3352, + 3423, + 3656, + 3968, + 4055, + 4454, + 4780, + 4810, + 4832, + 4858, + 4882, + 4894, + 4906, + 4924, + 4941, + 4955, + 4970, + 4984, + 4998, + 5012, + 5025, + 5039, + 5053, + 5070, + 5085, + 5102, + 5117, + 5148, + 5182, + 5213, + 5244, + 5274, + 5308 + ], + "rapid_planner_selected_max_joint_step_deg": 4.92238073104479, + "rapid_planner_selected_samples": 111, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5309, + "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": 111, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005770944058895111, + "raw_replay_rms_error_rad": 0.0008085734172581271, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.984016983809272, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9850713390806587, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9840558799169522, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.777984082698822, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.777984082698822 + ], + "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": 1.006658762983138, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9939352947205882, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.992183930804159, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0011293888092041016, + 0.0013755559921264648, + 0.0013054385781288147, + 0.003553323447704315, + 0.003522157669067383, + 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": 0.0020349430851638317, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.600955009460449, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 74.49931335449219, + "replay_smoothing_raw_accel_rms_rad_s2": 4.562194458584386, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1688.1097412109375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21227.13671875, + "replay_smoothing_raw_jerk_rms_rad_s3": 1155.1863126118526, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.2891972064971924, + "replay_smoothing_raw_velocity_rms_rad_s": 0.24298289315431149, + "replay_smoothing_rms_deviation_rad": 0.0010446288284865406, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.479468822479248, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 73.38713836669922, + "replay_smoothing_smoothed_accel_rms_rad_s2": 4.489454282294502, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1699.3504638671875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21098.400390625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 1146.15729645839, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.2522189617156982, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24160705741386324, + "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": 0.9838466320522572, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9943377259090643, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.44, + "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": 0.005770944058895111, + "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": 0.04768407344818115, + "stage_planned_to_measured_rms_error_rad": 0.006438722890963568, + "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": 1054, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.8498680591583252, + "target_wall_accel_peak_abs_rad_s2": 5.157073497772217, + "target_wall_accel_peak_joint": 4, + "target_wall_accel_peak_time_s": 35.10005348001141, + "target_wall_accel_rms_rad_s2": 0.3972370518686312, + "target_wall_jerk_p95_abs_rad_s3": 18.139497756958008, + "target_wall_jerk_peak_abs_rad_s3": 86.10128021240234, + "target_wall_jerk_peak_joint": 4, + "target_wall_jerk_peak_time_s": 35.066721435054205, + "target_wall_jerk_rms_rad_s3": 8.807369589378819, + "target_wall_smoothness_samples": 1054, + "target_wall_velocity_peak_abs_rad_s": 0.9031708240509033, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.6668190950294957, + "target_wall_velocity_rms_rad_s": 0.10953836238851904, + "tcp_pose_count": 1054, + "timestamp_count": 1054, + "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": 1.7600000000000033, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.9899999999999991, + "window_lag_best_lag_p95_abs_s": 1.418000000000003, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.460000000000003, + "window_lag_worst_end_s": 18.0, + "window_lag_worst_max_error_rad": 0.005134284496307373, + "window_lag_worst_rms_error_rad": 0.0022779821186431617, + "window_lag_worst_start_s": 17.0, + "zero_lag_max_error_rad": 0.005770944058895111, + "zero_lag_p95_error_rad": 0.0018841406563296914, + "zero_lag_rms_error_rad": 0.0008085734172581271, + "zero_lag_samples": 1054, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 1.7079999999999997 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3c922debf5bb4c981aa131f9d7f27b6518f9e74 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_160840.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:992a38376799db077c5f4157dce46bfff9cda2ae159758b5c1f346bb295aa0c1 +size 111369 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.json new file mode 100644 index 0000000000000000000000000000000000000000..274146a4a77c68099217beb288bfa6b97773e6dc --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.json @@ -0,0 +1,660 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:10:24", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1035, + "actual_playback_duration_s": 34.517438885057345, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005604863166809082, + "aligned_p95_error_rad": 0.002080937149003148, + "aligned_rms_error_rad": 0.0009232364047104264, + "aligned_samples": 1035, + "aligned_worst_joint": 5, + "aligned_worst_time_s": 20.51, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1035, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1035, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.5838046657363194, + "image_frame_counts": { + "cam_scene": 1035, + "cam_wrist": 1035 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0037589967250823975, + 0.004731714725494385, + 0.0053362250328063965, + 0.0053006852976977825, + 0.0053174495697021484, + 0.005604863166809082 + ], + "joint_lag_p95_error_rad": [ + 0.0017565741436555982, + 0.002007296308875084, + 0.0017552493372932076, + 0.0014236392453312874, + 0.002315711695700884, + 0.0025522951036691666 + ], + "joint_lag_rms_error_rad": [ + 0.0007913236664763945, + 0.0008888829457707607, + 0.0009156650574349454, + 0.0007140021609003682, + 0.0010173045343344316, + 0.0011466196486773306 + ], + "joint_lag_samples": [ + 1035, + 1035, + 1035, + 1035, + 1035, + 1035 + ], + "joint_lag_worst_time_s": [ + 11.103000000000002, + 3.0440000000000005, + 13.439, + 13.439, + 20.526, + 20.51 + ], + "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162, + "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291, + "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935, + "leadthrough_capture_controller_tm_gap_warn": false, + "leadthrough_capture_controller_tm_gap_warn_count": 0, + "leadthrough_capture_dropped_ticks": 0, + "leadthrough_capture_egm_client_seqno_gap_count_delta": 0, + "leadthrough_capture_egm_client_seqno_gap_count_final": 0, + "leadthrough_capture_egm_client_seqno_gap_count_initial": 0, + "leadthrough_capture_egm_drained_packet_events": 1, + "leadthrough_capture_egm_drained_packet_max": 39, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.005517887999303639, + "leadthrough_capture_egm_poll_duration_median_s": 0.003982658090535551, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00432494193664752, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004594086506403982, + "leadthrough_capture_egm_poll_duration_warn_count": 3262, + "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": 0.005544699961319566, + "leadthrough_capture_host_loop_dt_median_s": 0.004008498974144459, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043543947627767915, + "leadthrough_capture_host_loop_dt_p99_s": 0.004640634548850359, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005711361998692155, + "leadthrough_capture_host_receive_dt_median_s": 0.0040116069139912724, + "leadthrough_capture_host_receive_dt_p95_s": 0.004341248609125614, + "leadthrough_capture_host_receive_dt_p99_s": 0.0045970744965598, + "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": 0.018503420054912567, + "leadthrough_capture_loop_late_median_s": 0.013707624690141529, + "leadthrough_capture_loop_late_p95_s": 0.014013616187730804, + "leadthrough_capture_loop_late_p99_s": 0.014423497330863028, + "leadthrough_capture_loop_late_warn_count": 7314, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005534256924875081, + "leadthrough_capture_read_duration_median_s": 0.003997510997578502, + "leadthrough_capture_read_duration_p95_s": 0.00434195349807851, + "leadthrough_capture_read_duration_p99_s": 0.004623523788759484, + "leadthrough_capture_read_duration_warn_count": 3599, + "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": [ + 0.003781825304031372, + 0.002389654517173767, + 0.0030476003885269165, + 0.002694055438041687, + 0.0036755800247192383, + 0.008169054985046387 + ], + "leadthrough_delta_max_abs_rad": 0.008169054985046387, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0021353394258767366, + 0.0019211441976949573, + 0.002443969249725342, + 0.00045839400263503194, + 0.0019369960064068437, + 0.003974318504333496 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008864995324984193, + 0.0007679882110096514, + 0.0008799599600024521, + 0.0002889052266255021, + 0.000781817187089473, + 0.0014740783954039216 + ], + "leadthrough_delta_samples": 5449, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008169054985046387, + "leadthrough_delta_worst_from_rad": -0.32376402616500854, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.6200000000000001, + "leadthrough_delta_worst_to_rad": -0.33193308115005493, + "leadthrough_duration_s": 21.794, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5448, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9519999999999982, + "leadthrough_final_stillness_removed_samples": 238, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5449, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7314, + "leadthrough_initial_stillness_first_motion_index": 1627, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 6.503, + "leadthrough_initial_stillness_removed_samples": 1626, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1626, + "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": [ + 0.003781825304031372, + 0.002389654517173767, + 0.0030476003885269165, + 0.002694055438041687, + 0.0036755800247192383, + 0.008169054985046387 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008169054985046387, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.945456326008367, + 0.6145238876349818, + 0.9099940458935861, + 0.6735138595101968, + 0.9188950061795027, + 2.7230183283486924 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.440747022628784, + "leadthrough_velocity_rms_rad_s": 0.22977036157491282, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005604863166809082, + "measured_wall_accel_p95_abs_rad_s2": 0.46924301981925964, + "measured_wall_accel_peak_abs_rad_s2": 3.3262903690338135, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 35.21966818207875, + "measured_wall_accel_rms_rad_s2": 0.24826026446007424, + "measured_wall_jerk_p95_abs_rad_s3": 8.157923698425293, + "measured_wall_jerk_peak_abs_rad_s3": 62.16905212402344, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 35.25460554601159, + "measured_wall_jerk_rms_rad_s3": 4.191666746872688, + "measured_wall_smoothness_samples": 1035, + "measured_wall_velocity_peak_abs_rad_s": 0.6500116586685181, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 13.25391423003748, + "measured_wall_velocity_rms_rad_s": 0.09950731056749099, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005604863166809082, + "moving_aligned_p95_error_rad": 0.002458197297528386, + "moving_aligned_rms_error_rad": 0.0010873431303295876, + "moving_aligned_samples": 737, + "moving_aligned_worst_joint": 5, + "moving_aligned_worst_time_s": 20.51, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0037589967250823975, + 0.004731714725494385, + 0.005216639488935471, + 0.0053006852976977825, + 0.0053174495697021484, + 0.005604863166809082 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020698606967926025, + 0.0024748221039772034, + 0.002625161549076438, + 0.0032182002905756235, + 0.003001855919137597, + 0.0035211145877838135 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009402335231542875, + 0.0010580828458708956, + 0.0011796440698266751, + 0.001254213833971388, + 0.0013461585911171124, + 0.0017070993305953615 + ], + "moving_joint_lag_samples": [ + 631, + 691, + 519, + 239, + 515, + 416 + ], + "moving_joint_lag_worst_time_s": [ + 11.103000000000002, + 3.0440000000000005, + 9.783000000000001, + 13.439, + 20.526, + 20.51 + ], + "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": 2.472982406616211, + "playback_velocity_rms_rad_s": 0.4379083369227241, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 73.588, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 21.794, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1736, + 4562 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4306263516963789, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08720028400421143, + "rapid_planner_max_dt_s": 2.123000000000001, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007515847682952881, + "rapid_planner_median_dt_s": 0.08599999999999852, + "rapid_planner_path_max_error_rad": 0.005604863166809082, + "rapid_planner_path_p95_error_rad": 0.0032460808753967275, + "rapid_planner_path_rms_error_rad": 0.001517909543106843, + "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, + 70, + 87, + 99, + 108, + 118, + 126, + 134, + 142, + 150, + 158, + 166, + 174, + 183, + 192, + 201, + 209, + 217, + 228, + 239, + 250, + 261, + 276, + 290, + 304, + 318, + 335, + 354, + 376, + 399, + 444, + 491, + 532, + 595, + 671, + 794, + 906, + 1259, + 1335, + 1736, + 2267, + 2314, + 2381, + 2406, + 2431, + 2464, + 2481, + 2498, + 2518, + 2539, + 2566, + 2593, + 2634, + 2676, + 2697, + 2718, + 2759, + 2785, + 2808, + 2830, + 2857, + 2878, + 2902, + 2925, + 2942, + 2961, + 2996, + 3014, + 3050, + 3075, + 3129, + 3169, + 3235, + 3467, + 3573, + 3963, + 4093, + 4235, + 4562, + 4933, + 4968, + 4995, + 5023, + 5040, + 5058, + 5072, + 5087, + 5116, + 5142, + 5156, + 5170, + 5182, + 5195, + 5208, + 5220, + 5238, + 5257, + 5276, + 5294, + 5310, + 5327, + 5353, + 5399, + 5449 + ], + "rapid_planner_selected_max_joint_step_deg": 4.996208245783457, + "rapid_planner_selected_samples": 105, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5450, + "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": 105, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005604863166809082, + "raw_replay_rms_error_rad": 0.0009232364047104264, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8858204413290264, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0014234772103705, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9641885791758759, + "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": 0.3943669720966026, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0153085901675971, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9893663177265095, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0009993277490139008, + 0.0005554556846618652, + 0.0005820989608764648, + 0.0026256758719682693, + 0.0020705461502075195, + 0.007847189903259277 + ], + "replay_smoothing_max_deviation_normalized": 0.89922173195456, + "replay_smoothing_max_deviation_rad": 0.007847189903259277, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002744838362559676, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.334360361099243, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 79.87007904052734, + "replay_smoothing_raw_accel_rms_rad_s2": 2.496470942085862, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 194.27487182617188, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21260.658203125, + "replay_smoothing_raw_jerk_rms_rad_s3": 636.6166868509756, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.4312024116516113, + "replay_smoothing_raw_velocity_rms_rad_s": 0.23113725719420236, + "replay_smoothing_rms_deviation_rad": 0.001171154796341645, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.067824125289917, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 79.98377227783203, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.407068770603628, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 76.61559295654297, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21586.12890625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 629.8471072730001, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.440747022628784, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22977036157491282, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.003925880844569, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9940862168398015, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3360000000000003, + "replay_smoothing_wrist_max_deviation_rad": 0.007847189903259277, + "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": 0.005604863166809082, + "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": 0.03754536807537079, + "stage_planned_to_measured_rms_error_rad": 0.005901913964314963, + "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": 1035, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7674080729484558, + "target_wall_accel_peak_abs_rad_s2": 3.597097873687744, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 23.433391410042532, + "target_wall_accel_rms_rad_s2": 0.36206745446252214, + "target_wall_jerk_p95_abs_rad_s3": 17.808305740356445, + "target_wall_jerk_peak_abs_rad_s3": 76.473388671875, + "target_wall_jerk_peak_joint": 1, + "target_wall_jerk_peak_time_s": 34.10005562705919, + "target_wall_jerk_rms_rad_s3": 8.054497765971794, + "target_wall_smoothness_samples": 1035, + "target_wall_velocity_peak_abs_rad_s": 0.6964554786682129, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.166721706977114, + "target_wall_velocity_rms_rad_s": 0.10045138592745995, + "tcp_pose_count": 1035, + "timestamp_count": 1035, + "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": 1.6300000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.6170000000000033, + "window_lag_count": 22, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.6300000000000034, + "window_lag_worst_end_s": 7.0, + "window_lag_worst_max_error_rad": 0.005701877176761627, + "window_lag_worst_rms_error_rad": 0.0027914781342594716, + "window_lag_worst_start_s": 6.0, + "zero_lag_max_error_rad": 0.005604863166809082, + "zero_lag_p95_error_rad": 0.002080937149003148, + "zero_lag_rms_error_rad": 0.0009232364047104264, + "zero_lag_samples": 1035, + "zero_lag_worst_joint": 5, + "zero_lag_worst_time_s": 20.51 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.npz new file mode 100644 index 0000000000000000000000000000000000000000..079b053b51f8eba4ae261db83d09541ceaa98f32 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161023.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8110fb4617dda9cadd387cf7d8aef4408ed0a3fc0950709b773be97e15dfbcf +size 107046 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.json new file mode 100644 index 0000000000000000000000000000000000000000..61129685e44cd00b5e46fe35a4b6334884b78b5b --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.json @@ -0,0 +1,656 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:13:00", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1004, + "actual_playback_duration_s": 33.477563283988275, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005694459658116102, + "aligned_p95_error_rad": 0.002066776854917407, + "aligned_rms_error_rad": 0.0008917108848419965, + "aligned_samples": 1004, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 5.888000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1004, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1004, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.6421840127532752, + "image_frame_counts": { + "cam_scene": 1004, + "cam_wrist": 1004 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.004030585289001465, + 0.0040572285652160645, + 0.005213797092437744, + 0.005694459658116102, + 0.005350708961486816, + 0.005690336227416992 + ], + "joint_lag_p95_error_rad": [ + 0.001962421927601099, + 0.0020123496651649475, + 0.0016670525074005127, + 0.0016748402267694473, + 0.002378850942477584, + 0.0024974222760647535 + ], + "joint_lag_rms_error_rad": [ + 0.000853655872711014, + 0.0008562978133305413, + 0.0008011112278370079, + 0.0007008215137692471, + 0.001005122731491755, + 0.0010796822772722193 + ], + "joint_lag_samples": [ + 1004, + 1004, + 1004, + 1004, + 1004, + 1004 + ], + "joint_lag_worst_time_s": [ + 12.426000000000002, + 9.027000000000001, + 1.9520000000000017, + 5.888000000000002, + 18.566000000000003, + 5.888000000000002 + ], + "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": 41, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006145954015664756, + "leadthrough_capture_egm_poll_duration_median_s": 0.003984532551839948, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004310497129335999, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004561265797819942, + "leadthrough_capture_egm_poll_duration_warn_count": 4076, + "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": 0.00618316198233515, + "leadthrough_capture_host_loop_dt_median_s": 0.004009558004327118, + "leadthrough_capture_host_loop_dt_p95_s": 0.004336306545883417, + "leadthrough_capture_host_loop_dt_p99_s": 0.004598163242917508, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00618122098967433, + "leadthrough_capture_host_receive_dt_median_s": 0.004012059071101248, + "leadthrough_capture_host_receive_dt_p95_s": 0.004331393982283771, + "leadthrough_capture_host_receive_dt_p99_s": 0.004558879074174912, + "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": 0.01099799107760191, + "leadthrough_capture_loop_late_median_s": 0.005433816812001169, + "leadthrough_capture_loop_late_p95_s": 0.005707609257660806, + "leadthrough_capture_loop_late_p99_s": 0.006122717272955924, + "leadthrough_capture_loop_late_warn_count": 9168, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006168460939079523, + "leadthrough_capture_read_duration_median_s": 0.003998628002591431, + "leadthrough_capture_read_duration_p95_s": 0.004325292602879926, + "leadthrough_capture_read_duration_p99_s": 0.004586501842131838, + "leadthrough_capture_read_duration_warn_count": 4531, + "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": [ + 0.0039939433336257935, + 0.0022646193392574787, + 0.002606987953186035, + 0.0036144405603408813, + 0.004021286964416504, + 0.004776895046234131 + ], + "leadthrough_delta_max_abs_rad": 0.004776895046234131, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0019275485537946224, + 0.002019585110247135, + 0.002184568904340267, + 0.0007881963392719626, + 0.0014656782150268555, + 0.0038837241008877754 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008828833233565092, + 0.0007495331228710711, + 0.0008355487370863557, + 0.00044720209552906454, + 0.0007238623220473528, + 0.0013110220897942781 + ], + "leadthrough_delta_samples": 5097, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.004776895046234131, + "leadthrough_delta_worst_from_rad": -0.6475903987884521, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.9720000000000013, + "leadthrough_delta_worst_to_rad": -0.6523672938346863, + "leadthrough_duration_s": 20.386000000000003, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5039, + "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": 5040, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 9168, + "leadthrough_initial_stillness_first_motion_index": 4071, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 16.278, + "leadthrough_initial_stillness_removed_samples": 4070, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 4070, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.004000000000001336, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.0039939433336257935, + 0.002264619222842157, + 0.002606987953186035, + 0.0036144405603408813, + 0.004021286964416504, + 0.004776895046234131 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.004776895046234131, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.9984858334052281, + 0.5661548348146834, + 0.6517469882962912, + 0.903610140084116, + 1.005321741104683, + 1.194223761558134 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.188725233078003, + "leadthrough_velocity_rms_rad_s": 0.21550247733541972, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005694459658116102, + "measured_wall_accel_p95_abs_rad_s2": 0.48505792021751404, + "measured_wall_accel_peak_abs_rad_s2": 2.2742056846618652, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 44.10396639897954, + "measured_wall_accel_rms_rad_s2": 0.23553734119489206, + "measured_wall_jerk_p95_abs_rad_s3": 8.419791221618652, + "measured_wall_jerk_peak_abs_rad_s3": 55.073055267333984, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 17.87104909401387, + "measured_wall_jerk_rms_rad_s3": 4.1447828930683865, + "measured_wall_smoothness_samples": 1004, + "measured_wall_velocity_peak_abs_rad_s": 0.5977383852005005, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 13.604000587947667, + "measured_wall_velocity_rms_rad_s": 0.10210238657827418, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005350708961486816, + "moving_aligned_p95_error_rad": 0.0023728979285806417, + "moving_aligned_rms_error_rad": 0.0010444954904826626, + "moving_aligned_samples": 703, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 18.566000000000003, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.004030585289001465, + 0.0040572285652160645, + 0.005213797092437744, + 0.004040658473968506, + 0.005350708961486816, + 0.005018711090087891 + ], + "moving_joint_lag_p95_error_rad": [ + 0.00225144624710083, + 0.002456298330798745, + 0.0021434619557112455, + 0.002577568870037794, + 0.0030239280313253403, + 0.002944165375083685 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010210605882244941, + 0.0010109044777672457, + 0.0010957606788662894, + 0.0012829043671692818, + 0.0013291423364758103, + 0.00160058541190745 + ], + "moving_joint_lag_samples": [ + 601, + 658, + 505, + 223, + 470, + 402 + ], + "moving_joint_lag_worst_time_s": [ + 12.426000000000002, + 9.027000000000001, + 1.9520000000000017, + 19.426000000000002, + 18.566000000000003, + 18.550000000000004 + ], + "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": 1.5056195259094238, + "playback_velocity_rms_rad_s": 0.3915655410395419, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.772, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.386000000000003, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1620, + 4187 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4385860834003825, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.0858493447303772, + "rapid_planner_max_dt_s": 2.2680000000000007, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0076547712087631226, + "rapid_planner_median_dt_s": 0.09600000000000009, + "rapid_planner_path_max_error_rad": 0.005694459658116102, + "rapid_planner_path_p95_error_rad": 0.0030999436974525423, + "rapid_planner_path_rms_error_rad": 0.0015293010272807452, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 45, + 60, + 74, + 86, + 98, + 110, + 123, + 136, + 150, + 163, + 176, + 188, + 199, + 210, + 222, + 233, + 244, + 256, + 267, + 286, + 304, + 322, + 340, + 359, + 378, + 389, + 400, + 412, + 423, + 441, + 461, + 509, + 537, + 579, + 636, + 706, + 795, + 840, + 912, + 1126, + 1620, + 2173, + 2214, + 2299, + 2323, + 2347, + 2370, + 2394, + 2429, + 2451, + 2473, + 2505, + 2537, + 2572, + 2608, + 2638, + 2667, + 2705, + 2736, + 2755, + 2784, + 2810, + 2837, + 2869, + 2901, + 2928, + 2954, + 2980, + 3031, + 3059, + 3156, + 3252, + 3336, + 3903, + 4004, + 4187, + 4438, + 4509, + 4536, + 4557, + 4572, + 4588, + 4611, + 4628, + 4653, + 4671, + 4690, + 4702, + 4714, + 4727, + 4740, + 4759, + 4774, + 4797, + 4814, + 4838, + 4873, + 4904, + 4959, + 5097 + ], + "rapid_planner_selected_max_joint_step_deg": 4.918805127014288, + "rapid_planner_selected_samples": 101, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5098, + "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": 101, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005694459658116102, + "raw_replay_rms_error_rad": 0.0008917108848419965, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8860501971214595, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9673288854365075, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9123779999867506, + "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": 0.7173528616919495, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.996812205037812, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9714893059521026, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007158219814300537, + 0.0005949735641479492, + 0.0007874816656112671, + 0.003994941711425781, + 0.0023671388626098633, + 0.005548745393753052 + ], + "replay_smoothing_max_deviation_normalized": 0.6358393902348571, + "replay_smoothing_max_deviation_rad": 0.005548745393753052, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0021419788245111704, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.4421637058258057, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 27.96251678466797, + "replay_smoothing_raw_accel_rms_rad_s2": 1.2932448332689457, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 227.8253936767578, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 6869.921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 266.70953541747485, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.1941492557525635, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21652512579683783, + "replay_smoothing_rms_deviation_rad": 0.0009411308968522076, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.163879632949829, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 27.0489501953125, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.1799281344711194, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 163.4311981201172, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 6848.02197265625, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 259.1054614535304, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.188725233078003, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21550247733541972, + "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": 0.9954578352342209, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952769986501352, + "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": 18.862000000000002, + "replay_smoothing_wrist_max_deviation_rad": 0.005548745393753052, + "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": 0.005694459658116102, + "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": 0.03370720148086548, + "stage_planned_to_measured_rms_error_rad": 0.006051919068752856, + "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": 1004, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7603714466094971, + "target_wall_accel_peak_abs_rad_s2": 3.6950485706329346, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.766723173903301, + "target_wall_accel_rms_rad_s2": 0.34586715741014123, + "target_wall_jerk_p95_abs_rad_s3": 17.032466888427734, + "target_wall_jerk_peak_abs_rad_s3": 105.16974639892578, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 6.73338911391329, + "target_wall_jerk_rms_rad_s3": 7.761684015944566, + "target_wall_smoothness_samples": 1004, + "target_wall_velocity_peak_abs_rad_s": 0.6136373281478882, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 2.3000556159531698, + "target_wall_velocity_rms_rad_s": 0.10301265129058149, + "tcp_pose_count": 1004, + "timestamp_count": 1004, + "tool_failures": 0, + "tracking_geometry_pass": true, + "tracking_geometry_reason": "ok", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.400000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": 0.0, + "window_lag_best_lag_p95_abs_s": 1.3085000000000018, + "window_lag_count": 24, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 4.0, + "window_lag_worst_max_error_rad": 0.004779696464538574, + "window_lag_worst_rms_error_rad": 0.0016530445507817306, + "window_lag_worst_start_s": 3.0, + "zero_lag_max_error_rad": 0.005694459658116102, + "zero_lag_p95_error_rad": 0.002066776854917407, + "zero_lag_rms_error_rad": 0.0008917108848419965, + "zero_lag_samples": 1004, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 5.888000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.npz new file mode 100644 index 0000000000000000000000000000000000000000..db6499e7b2efe989c311a8638f8dc707b41e93ee --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161258.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4297af94e382493740f028d82b0b65c86d3b1314a445bf23bacf295c4a650fbf +size 101579 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.json new file mode 100644 index 0000000000000000000000000000000000000000..3197052ac378869e60fd2b760f56b1d746e0e769 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.json @@ -0,0 +1,660 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:14:48", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1036, + "actual_playback_duration_s": 34.54432240501046, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.3069715201854706, + "aligned_p95_error_rad": 0.0020011737942695618, + "aligned_rms_error_rad": 0.005863067099307751, + "aligned_samples": 1036, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 19.778, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1036, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1036, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.7008529002959363, + "image_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.04761430621147156, + 0.2258092761039734, + 0.03353238105773926, + 0.24438166618347168, + 0.3069715201854706, + 0.006300806999206543 + ], + "joint_lag_p95_error_rad": [ + 0.0017958544194698334, + 0.0019818469882011414, + 0.0017068556044250727, + 0.0018262732774019241, + 0.002008289098739624, + 0.0024999529123306274 + ], + "joint_lag_rms_error_rad": [ + 0.0017199768617708407, + 0.00708013001006838, + 0.0014013933757691165, + 0.00763692572833608, + 0.009583916737465009, + 0.0010142857077663234 + ], + "joint_lag_samples": [ + 1036, + 1036, + 1036, + 1036, + 1036, + 1036 + ], + "joint_lag_worst_time_s": [ + 19.778, + 19.778, + 19.778, + 19.778, + 19.778, + 2.34 + ], + "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": 0.005627689999528229, + "leadthrough_capture_egm_poll_duration_median_s": 0.003972820995841175, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004338753409683704, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004650899838889018, + "leadthrough_capture_egm_poll_duration_warn_count": 2628, + "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": 0.0056666419841349125, + "leadthrough_capture_host_loop_dt_median_s": 0.003997919033281505, + "leadthrough_capture_host_loop_dt_p95_s": 0.004365852009505033, + "leadthrough_capture_host_loop_dt_p99_s": 0.004689519074745476, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.005554824019782245, + "leadthrough_capture_host_receive_dt_median_s": 0.003998630912974477, + "leadthrough_capture_host_receive_dt_p95_s": 0.004354907316155732, + "leadthrough_capture_host_receive_dt_p99_s": 0.004632893623784184, + "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": 0.027651009033434093, + "leadthrough_capture_loop_late_median_s": 0.021332610223907977, + "leadthrough_capture_loop_late_p95_s": 0.021637634246144444, + "leadthrough_capture_loop_late_p99_s": 0.022051163755822927, + "leadthrough_capture_loop_late_warn_count": 6120, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.005651370971463621, + "leadthrough_capture_read_duration_median_s": 0.00398729054722935, + "leadthrough_capture_read_duration_p95_s": 0.004353927809279412, + "leadthrough_capture_read_duration_p99_s": 0.004678341653198004, + "leadthrough_capture_read_duration_warn_count": 2864, + "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": [ + 0.003912448883056641, + 0.001947849988937378, + 0.002588599920272827, + 0.0037055164575576782, + 0.003541290760040283, + 0.008330225944519043 + ], + "leadthrough_delta_max_abs_rad": 0.008330225944519043, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017679783049970865, + 0.001496785320341587, + 0.002237303415313363, + 0.0005339873605407774, + 0.0017637399723753333, + 0.0038905683904886246 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008538393885828555, + 0.0006486581405624747, + 0.000827921146992594, + 0.0004414027207531035, + 0.0006588282994925976, + 0.0015507438220083714 + ], + "leadthrough_delta_samples": 5078, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.008330225944519043, + "leadthrough_delta_worst_from_rad": -0.2571377456188202, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.5959999999999996, + "leadthrough_delta_worst_to_rad": -0.26546797156333923, + "leadthrough_duration_s": 20.31, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5077, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.9149999999999991, + "leadthrough_final_stillness_removed_samples": 229, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5078, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 6120, + "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": [ + 0.003912448883056641, + 0.001947849988937378, + 0.002588599920272827, + 0.0037055164575576782, + 0.003541290760040283, + 0.008330225944519043 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.008330225944519043, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.2253224849700464, + 0.5900214115778382, + 0.8536775906882901, + 0.9263791143891101, + 0.8853226900105615, + 2.082556486129759 + ], + "leadthrough_velocity_peak_abs_rad_s": 2.097487449645996, + "leadthrough_velocity_rms_rad_s": 0.2247649343092974, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.3069715201854706, + "measured_wall_accel_p95_abs_rad_s2": 0.5109288692474365, + "measured_wall_accel_peak_abs_rad_s2": 222.7255859375, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 12.502020179992542, + "measured_wall_accel_rms_rad_s2": 7.059520541411147, + "measured_wall_jerk_p95_abs_rad_s3": 8.865948677062988, + "measured_wall_jerk_peak_abs_rad_s3": 3579.009521484375, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 12.530551649979316, + "measured_wall_jerk_rms_rad_s3": 94.31980850945835, + "measured_wall_smoothness_samples": 1036, + "measured_wall_velocity_peak_abs_rad_s": 13.961520195007324, + "measured_wall_velocity_peak_joint": 3, + "measured_wall_velocity_peak_time_s": 12.467866668011993, + "measured_wall_velocity_rms_rad_s": 0.3364106722001439, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.3069715201854706, + "moving_aligned_p95_error_rad": 0.002433549612760544, + "moving_aligned_rms_error_rad": 0.006950211632818332, + "moving_aligned_samples": 737, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 19.778, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.006636857986450195, + 0.2258092761039734, + 0.006339123472571373, + 0.0060304999351501465, + 0.006075680255889893, + 0.006300806999206543 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020030944142490625, + 0.0027008538600057364, + 0.002602130174636841, + 0.003530216636136174, + 0.0025995252653956413, + 0.0031076492741703987 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010288829750218695, + 0.008866241161628355, + 0.0012144806023207042, + 0.001628037009358481, + 0.0013386686876263015, + 0.001634015095680204 + ], + "moving_joint_lag_samples": [ + 639, + 660, + 601, + 205, + 428, + 334 + ], + "moving_joint_lag_worst_time_s": [ + 12.751000000000001, + 19.778, + 2.34, + 19.009999999999998, + 18.994, + 2.34 + ], + "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": 2.3769876956939697, + "playback_velocity_rms_rad_s": 0.3741211560461576, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 70.62, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 20.31, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 1630, + 4229 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.44045840900661226, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08485841751098633, + "rapid_planner_max_dt_s": 2.0280000000000014, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.0076874494552612305, + "rapid_planner_median_dt_s": 0.10200000000000031, + "rapid_planner_path_max_error_rad": 0.3069715201854706, + "rapid_planner_path_p95_error_rad": 0.003410039993468672, + "rapid_planner_path_rms_error_rad": 0.009663999490077364, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 37, + 73, + 88, + 101, + 112, + 123, + 130, + 138, + 145, + 152, + 160, + 167, + 174, + 182, + 190, + 198, + 206, + 215, + 228, + 240, + 252, + 264, + 275, + 286, + 296, + 307, + 325, + 344, + 370, + 395, + 423, + 452, + 542, + 662, + 718, + 743, + 766, + 804, + 825, + 989, + 1130, + 1302, + 1630, + 2137, + 2189, + 2227, + 2266, + 2312, + 2338, + 2363, + 2403, + 2441, + 2479, + 2510, + 2541, + 2581, + 2614, + 2648, + 2686, + 2725, + 2754, + 2780, + 2802, + 2825, + 2844, + 2863, + 2883, + 2903, + 2927, + 2947, + 3014, + 3082, + 3132, + 3258, + 3311, + 3351, + 3458, + 3559, + 3623, + 3884, + 4004, + 4229, + 4450, + 4502, + 4532, + 4556, + 4580, + 4604, + 4626, + 4642, + 4659, + 4676, + 4692, + 4706, + 4720, + 4739, + 4765, + 4786, + 4808, + 4834, + 4860, + 4912, + 4993, + 5078 + ], + "rapid_planner_selected_max_joint_step_deg": 4.862029179538557, + "rapid_planner_selected_samples": 105, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5079, + "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": 105, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.3069715201854706, + "raw_replay_rms_error_rad": 0.005863067099307751, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8994183454195137, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9688219924700318, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9129664364898256, + "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": 0.8459221324330336, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9744990273734286, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9688602065079424, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0007168054580688477, + 0.0006389319896697998, + 0.0006891228258609772, + 0.0030187666416168213, + 0.0026764869689941406, + 0.007494881749153137 + ], + "replay_smoothing_max_deviation_normalized": 0.8588501910051745, + "replay_smoothing_max_deviation_rad": 0.007494881749153137, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002425480168312788, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.5350911617279053, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.96799087524414, + "replay_smoothing_raw_accel_rms_rad_s2": 1.5950206162174438, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 267.56134033203125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13683.1484375, + "replay_smoothing_raw_jerk_rms_rad_s3": 363.37943843780494, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.080911874771118, + "replay_smoothing_raw_velocity_rms_rad_s": 0.22611220970450485, + "replay_smoothing_rms_deviation_rad": 0.0011032428295293135, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.2801074981689453, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.5971565246582, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.4562002881158453, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 226.3360595703125, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13334.21484375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 352.0638777655918, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.097487449645996, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2247649343092974, + "replay_smoothing_tolerance_by_joint_rad": [ + 0.03490658476948738, + 0.03490658476948738, + 0.02617993950843811, + 0.008726646192371845, + 0.008726646192371845, + 0.008726646192371845 + ], + "replay_smoothing_tolerance_rad": 0.034906585, + "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0079655342813116, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9940415628286144, + "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": 19.23, + "replay_smoothing_wrist_max_deviation_rad": 0.007494881749153137, + "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": 0.3069715201854706, + "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": 0.47787797451019287, + "stage_planned_to_measured_rms_error_rad": 0.011654289921891546, + "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": 1036, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.3070", + "target_wall_accel_p95_abs_rad_s2": 0.7784231901168823, + "target_wall_accel_peak_abs_rad_s2": 144.90362548828125, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 6.6390493884682655e-06, + "target_wall_accel_rms_rad_s2": 4.053739546513179, + "target_wall_jerk_p95_abs_rad_s3": 16.873905181884766, + "target_wall_jerk_peak_abs_rad_s3": 2172.9853515625, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06672173901461065, + "target_wall_jerk_rms_rad_s3": 50.08427549097541, + "target_wall_smoothness_samples": 1036, + "target_wall_velocity_peak_abs_rad_s": 9.66726016998291, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 6.6390493884682655e-06, + "target_wall_velocity_rms_rad_s": 0.2251483590406408, + "tcp_pose_count": 1036, + "timestamp_count": 1036, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.3070", + "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": 0.9400000000000026, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.2599999999999993, + "window_lag_best_lag_p95_abs_s": 1.1099999999999992, + "window_lag_count": 28, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 20.0, + "window_lag_worst_max_error_rad": 0.3069715201854706, + "window_lag_worst_rms_error_rad": 0.024722170712934158, + "window_lag_worst_start_s": 19.0, + "zero_lag_max_error_rad": 0.3069715201854706, + "zero_lag_p95_error_rad": 0.0020011737942695618, + "zero_lag_rms_error_rad": 0.005863067099307751, + "zero_lag_samples": 1036, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 19.778 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.npz new file mode 100644 index 0000000000000000000000000000000000000000..15dc6d3b9318ffc6e05e5b9634195fa6f9fe7963 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161447.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fe3e0f36bc3c7fdae92a15e1653a99f78a049a90b786f593d34070a7d42fa7d +size 108766 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.json new file mode 100644 index 0000000000000000000000000000000000000000..5cca46190e9c10ae59313dd0b9f3cb8edfea5002 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.json @@ -0,0 +1,661 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:16:30", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1004, + "actual_playback_duration_s": 33.47994429303799, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.43758606910705566, + "aligned_p95_error_rad": 0.0020272377878427505, + "aligned_rms_error_rad": 0.008887930443840267, + "aligned_samples": 1004, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 23.148999999999997, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1004, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1004, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4175605171072059, + "image_frame_counts": { + "cam_scene": 1004, + "cam_wrist": 1004 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.1608179658651352, + 0.2486913800239563, + 0.13902080059051514, + 0.43758606910705566, + 0.41567763686180115, + 0.004649102687835693 + ], + "joint_lag_p95_error_rad": [ + 0.0018212500726804137, + 0.0022515198215842247, + 0.0015715236077085137, + 0.0014413930475711823, + 0.0021284371614456177, + 0.00253864424303174 + ], + "joint_lag_rms_error_rad": [ + 0.00513602339325092, + 0.007903136651649387, + 0.004444705258413618, + 0.013828207660971719, + 0.013152030495016363, + 0.0010876130403891003 + ], + "joint_lag_samples": [ + 1004, + 1004, + 1004, + 1004, + 1004, + 1004 + ], + "joint_lag_worst_time_s": [ + 23.148999999999997, + 23.148999999999997, + 23.148999999999997, + 23.148999999999997, + 23.148999999999997, + 22.000999999999998 + ], + "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": 41, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006100376020185649, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971272031776607, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004358730046078563, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004854156081564725, + "leadthrough_capture_egm_poll_duration_warn_count": 3102, + "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": 0.00615057407412678, + "leadthrough_capture_host_loop_dt_median_s": 0.003997437946964055, + "leadthrough_capture_host_loop_dt_p95_s": 0.0043944527336861935, + "leadthrough_capture_host_loop_dt_p99_s": 0.0049099061207380145, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006111969007179141, + "leadthrough_capture_host_receive_dt_median_s": 0.003998954489361495, + "leadthrough_capture_host_receive_dt_p95_s": 0.004374281427590177, + "leadthrough_capture_host_receive_dt_p99_s": 0.00485946329194121, + "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": 0.019812603015452623, + "leadthrough_capture_loop_late_median_s": 0.014473743154667318, + "leadthrough_capture_loop_late_p95_s": 0.014854720584116875, + "leadthrough_capture_loop_late_p99_s": 0.015396465589292347, + "leadthrough_capture_loop_late_warn_count": 7185, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006131797097623348, + "leadthrough_capture_read_duration_median_s": 0.003986172028817236, + "leadthrough_capture_read_duration_p95_s": 0.0043778863735497, + "leadthrough_capture_read_duration_p99_s": 0.004891721457242966, + "leadthrough_capture_read_duration_warn_count": 3359, + "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": 1, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0041936784982681274, + 0.0022789984941482544, + 0.002674877643585205, + 0.002775542438030243, + 0.0024225711822509766, + 0.0078089237213134766 + ], + "leadthrough_delta_max_abs_rad": 0.0078089237213134766, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017734235152602196, + 0.0014927624724805355, + 0.0019317122641950846, + 0.00041681056609377265, + 0.001630472019314766, + 0.004564404021948576 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0008013345650397241, + 0.0006165163940750062, + 0.0007445403607562184, + 0.0003078218433074653, + 0.0005907958257012069, + 0.0015100360615178943 + ], + "leadthrough_delta_samples": 5905, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.0078089237213134766, + "leadthrough_delta_worst_from_rad": -0.49151742458343506, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7479999999999993, + "leadthrough_delta_worst_to_rad": -0.49932634830474854, + "leadthrough_duration_s": 23.618, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5904, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.36400000000000077, + "leadthrough_final_stillness_removed_samples": 91, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 5905, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 7185, + "leadthrough_initial_stillness_first_motion_index": 1189, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.751, + "leadthrough_initial_stillness_removed_samples": 1188, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1188, + "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": [ + 0.0041936784982681274, + 0.0022789984941482544, + 0.002674877643585205, + 0.002775542438030243, + 0.0024225711822509766, + 0.0078089237213134766 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.0078089237213134766, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.3978928327559894, + 0.7531444231668822, + 0.6687194108966719, + 0.9183908502260496, + 0.8057554562886251, + 1.952230930328584 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.9147731065750122, + "leadthrough_velocity_rms_rad_s": 0.21417344091658008, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.43758606910705566, + "measured_wall_accel_p95_abs_rad_s2": 0.5398846864700317, + "measured_wall_accel_peak_abs_rad_s2": 264.011962890625, + "measured_wall_accel_peak_joint": 3, + "measured_wall_accel_peak_time_s": 11.617398966103792, + "measured_wall_accel_rms_rad_s2": 7.0276380139859285, + "measured_wall_jerk_p95_abs_rad_s3": 9.377935409545898, + "measured_wall_jerk_peak_abs_rad_s3": 4159.47802734375, + "measured_wall_jerk_peak_joint": 3, + "measured_wall_jerk_peak_time_s": 11.67999121802859, + "measured_wall_jerk_rms_rad_s3": 90.72450805683019, + "measured_wall_smoothness_samples": 1004, + "measured_wall_velocity_peak_abs_rad_s": 16.525062561035156, + "measured_wall_velocity_peak_joint": 3, + "measured_wall_velocity_peak_time_s": 11.617398966103792, + "measured_wall_velocity_rms_rad_s": 0.34139884520118513, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005759388208389282, + "moving_aligned_p95_error_rad": 0.0023317448794841766, + "moving_aligned_rms_error_rad": 0.001027075272301781, + "moving_aligned_samples": 701, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 22.549, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0036957263946533203, + 0.0044385939836502075, + 0.0040198564529418945, + 0.005759388208389282, + 0.005026400089263916, + 0.004649102687835693 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0020149562042206526, + 0.0027573578990995884, + 0.001964808441698551, + 0.002890384756028652, + 0.0029674768447875977, + 0.003402728121727705 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0009622741720217609, + 0.0011047754183784262, + 0.0008901411894606739, + 0.0014134749864276944, + 0.001295924045994535, + 0.0017168764052683462 + ], + "moving_joint_lag_samples": [ + 597, + 655, + 542, + 210, + 461, + 334 + ], + "moving_joint_lag_worst_time_s": [ + 13.657999999999998, + 14.242999999999999, + 11.035, + 22.549, + 22.566, + 22.000999999999998 + ], + "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": 2.3556275367736816, + "playback_velocity_rms_rad_s": 0.39826153340516, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.23599999999999, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.618, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2111, + 5034 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.43390484249798505, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08550715446472168, + "rapid_planner_max_dt_s": 2.644000000000002, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007573068141937256, + "rapid_planner_median_dt_s": 0.1039999999999992, + "rapid_planner_path_max_error_rad": 0.43758606910705566, + "rapid_planner_path_p95_error_rad": 0.003201419860124587, + "rapid_planner_path_rms_error_rad": 0.013890508159311294, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 44, + 75, + 91, + 105, + 116, + 128, + 139, + 150, + 160, + 171, + 177, + 183, + 189, + 195, + 201, + 207, + 219, + 227, + 235, + 243, + 251, + 262, + 272, + 282, + 293, + 307, + 320, + 333, + 347, + 376, + 411, + 446, + 474, + 518, + 623, + 685, + 751, + 817, + 900, + 983, + 1049, + 1412, + 1483, + 1614, + 2111, + 2668, + 2724, + 2799, + 2847, + 2889, + 2921, + 2947, + 2973, + 3000, + 3028, + 3053, + 3078, + 3114, + 3150, + 3178, + 3206, + 3234, + 3263, + 3318, + 3373, + 3399, + 3428, + 3440, + 3452, + 3463, + 3474, + 3486, + 3497, + 3514, + 3532, + 3592, + 3656, + 3720, + 3831, + 3900, + 3985, + 4296, + 4373, + 5034, + 5116, + 5362, + 5386, + 5409, + 5430, + 5450, + 5473, + 5487, + 5509, + 5524, + 5539, + 5555, + 5572, + 5584, + 5595, + 5609, + 5623, + 5656, + 5695, + 5748, + 5905 + ], + "rapid_planner_selected_max_joint_step_deg": 4.899199069001766, + "rapid_planner_selected_samples": 106, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5906, + "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": 106, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.43758606910705566, + "raw_replay_rms_error_rad": 0.008887930443840267, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.996183713319313, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9852126521040316, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9854740894458108, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0117130713161917, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.002981390388961, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9933227228487104, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0008862167596817017, + 0.0005078194662928581, + 0.0004981160163879395, + 0.0031272023916244507, + 0.0025954842567443848, + 0.006172776222229004 + ], + "replay_smoothing_max_deviation_normalized": 0.707348056304238, + "replay_smoothing_max_deviation_rad": 0.006172776222229004, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002119230106472969, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.389504432678223, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.043025970458984, + "replay_smoothing_raw_accel_rms_rad_s2": 3.4238692375618665, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1061.71240234375, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15563.6669921875, + "replay_smoothing_raw_jerk_rms_rad_s3": 856.9919804900869, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9510313272476196, + "replay_smoothing_raw_velocity_rms_rad_s": 0.21520455197208582, + "replay_smoothing_rms_deviation_rad": 0.0009046070827628208, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.368936538696289, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.214298248291016, + "replay_smoothing_smoothed_accel_rms_rad_s2": 3.374134419267803, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1074.1483154296875, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15610.068359375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 851.269607519922, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9147731065750122, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21417344091658008, + "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": 0.9814158695628132, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952086930966056, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": true, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 1.3119999999999994, + "replay_smoothing_wrist_max_deviation_rad": 0.006172776222229004, + "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": 0.43758606910705566, + "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": 0.534227192401886, + "stage_planned_to_measured_rms_error_rad": 0.011395179052740909, + "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": 1004, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.4376", + "target_wall_accel_p95_abs_rad_s2": 0.8088104724884033, + "target_wall_accel_peak_abs_rad_s2": 144.2633819580078, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 7.761060260236263e-06, + "target_wall_accel_rms_rad_s2": 3.776214225244393, + "target_wall_jerk_p95_abs_rad_s3": 18.105487823486328, + "target_wall_jerk_peak_abs_rad_s3": 2163.968017578125, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.06672001001425087, + "target_wall_jerk_rms_rad_s3": 46.78006165859814, + "target_wall_smoothness_samples": 1004, + "target_wall_velocity_peak_abs_rad_s": 9.62413501739502, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 7.761060260236263e-06, + "target_wall_velocity_rms_rad_s": 0.21617263919161145, + "tcp_pose_count": 1004, + "timestamp_count": 1004, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4376", + "tracking_pass": true, + "tracking_reason": "ok", + "tracking_threshold_abort_path_error_rad": 0.17453292519943295, + "tracking_threshold_max_error_rad": 0.08726646259971647, + "tracking_threshold_max_lag_s": 0.1, + "tracking_threshold_rms_error_rad": 0.03490658503988659, + "tracking_timing_pass": true, + "tracking_timing_reason": "ok", + "window_lag_best_lag_max_s": 1.650000000000003, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.009999999999998233, + "window_lag_best_lag_p95_abs_s": 1.5800000000000032, + "window_lag_count": 27, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.0, + "window_lag_worst_end_s": 23.5, + "window_lag_worst_max_error_rad": 0.005759388208389282, + "window_lag_worst_rms_error_rad": 0.0019733872811625555, + "window_lag_worst_start_s": 22.5, + "zero_lag_max_error_rad": 0.43758606910705566, + "zero_lag_p95_error_rad": 0.0020272377878427505, + "zero_lag_rms_error_rad": 0.008887930443840267, + "zero_lag_samples": 1004, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 23.148999999999997 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ca294f9d4051c2e9e48b87cb241f5d46fd31ac5 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_161629.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8df5a09c8ea1b0f80108ba3ec0ca7ed6f00c6c623063fe19a01ef5f57f6a49f +size 102230 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.json new file mode 100644 index 0000000000000000000000000000000000000000..a48e2431ccb6ff2460436bd7c60033de5141589e --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.json @@ -0,0 +1,670 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:21:38", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1090, + "actual_playback_duration_s": 36.34630316006951, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005750298500061035, + "aligned_p95_error_rad": 0.001830080058425665, + "aligned_rms_error_rad": 0.0007879905255946793, + "aligned_samples": 1090, + "aligned_worst_joint": 0, + "aligned_worst_time_s": 15.781000000000002, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1090, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1090, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3234162234222804, + "image_frame_counts": { + "cam_scene": 1090, + "cam_wrist": 1090 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.005750298500061035, + 0.005588363856077194, + 0.004543915390968323, + 0.003794044256210327, + 0.004366517066955566, + 0.005204916000366211 + ], + "joint_lag_p95_error_rad": [ + 0.0019652461633086205, + 0.0019027120433747768, + 0.0014433780452236533, + 0.001320012379437685, + 0.0022261803969740868, + 0.0019589592702686787 + ], + "joint_lag_rms_error_rad": [ + 0.0008880332967384664, + 0.0008413667210527309, + 0.0006969228815898556, + 0.0005660819829691968, + 0.0008536002226386935, + 0.000833240457932756 + ], + "joint_lag_samples": [ + 1090, + 1090, + 1090, + 1090, + 1090, + 1090 + ], + "joint_lag_worst_time_s": [ + 15.781000000000002, + 15.781000000000002, + 10.866, + 2.011, + 10.866, + 23.873 + ], + "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": 32, + "leadthrough_capture_egm_drained_packet_p95": 1.0, + "leadthrough_capture_egm_poll_duration_max_s": 0.006471790955401957, + "leadthrough_capture_egm_poll_duration_median_s": 0.003971277037635446, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00434171836823225, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004733512732200324, + "leadthrough_capture_egm_poll_duration_warn_count": 3455, + "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": 0.006510387058369815, + "leadthrough_capture_host_loop_dt_median_s": 0.003997884516138583, + "leadthrough_capture_host_loop_dt_p95_s": 0.004369796585524455, + "leadthrough_capture_host_loop_dt_p99_s": 0.004772619946161285, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00618316198233515, + "leadthrough_capture_host_receive_dt_median_s": 0.003999730513896793, + "leadthrough_capture_host_receive_dt_p95_s": 0.004359260475030169, + "leadthrough_capture_host_receive_dt_p99_s": 0.004721116059226915, + "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": 0.012921345070935786, + "leadthrough_capture_loop_late_median_s": 0.00841093622148037, + "leadthrough_capture_loop_late_p95_s": 0.008739369572140276, + "leadthrough_capture_loop_late_p99_s": 0.009200113979168235, + "leadthrough_capture_loop_late_warn_count": 8085, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006495840032584965, + "leadthrough_capture_read_duration_median_s": 0.003986692987382412, + "leadthrough_capture_read_duration_p95_s": 0.0043576720636337996, + "leadthrough_capture_read_duration_p99_s": 0.00475852576084435, + "leadthrough_capture_read_duration_warn_count": 3776, + "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": 2, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.0026740729808807373, + 0.0015188157558441162, + 0.0024164319038391113, + 0.0031662285327911377, + 0.0025287270545959473, + 0.005457013845443726 + ], + "leadthrough_delta_max_abs_rad": 0.005457013845443726, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.001732877572067082, + 0.0012009752681478858, + 0.0017542717978358269, + 0.0008631574455648661, + 0.001183092244900763, + 0.0032661771401762962 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0006794090149924159, + 0.0005182166933082044, + 0.0006538542220368981, + 0.0003941270988434553, + 0.0005042482516728342, + 0.0011113918153569102 + ], + "leadthrough_delta_samples": 6867, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005457013845443726, + "leadthrough_delta_worst_from_rad": -0.25597286224365234, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.96, + "leadthrough_delta_worst_to_rad": -0.26142987608909607, + "leadthrough_duration_s": 27.464000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6866, + "leadthrough_final_stillness_min_trim_s": 0.25, + "leadthrough_final_stillness_removed_s": 0.5719999999999992, + "leadthrough_final_stillness_removed_samples": 143, + "leadthrough_final_stillness_tool_tol": 0.005, + "leadthrough_final_stillness_trim_enabled": true, + "leadthrough_final_stillness_trim_end_index": 6867, + "leadthrough_final_stillness_trimmed": true, + "leadthrough_frame_count": 8085, + "leadthrough_initial_stillness_first_motion_index": 1075, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 4.296, + "leadthrough_initial_stillness_removed_samples": 1074, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1074, + "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": [ + 0.0026740729808807373, + 0.0015188157558441162, + 0.0024164319038391113, + 0.0031662285327911377, + 0.0025287270545959473, + 0.005457013845443726 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005457013845443726, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.8913576602935454, + 0.42078395684558545, + 0.7945597171783146, + 1.0436276594797376, + 0.8287032445271496, + 1.8094182014464646 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.6064708232879639, + "leadthrough_velocity_rms_rad_s": 0.17412317921564519, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005750298500061035, + "measured_wall_accel_p95_abs_rad_s2": 0.5361281633377075, + "measured_wall_accel_peak_abs_rad_s2": 2.977750778198242, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 36.60303928900976, + "measured_wall_accel_rms_rad_s2": 0.27457820839324454, + "measured_wall_jerk_p95_abs_rad_s3": 9.365822792053223, + "measured_wall_jerk_peak_abs_rad_s3": 62.340972900390625, + "measured_wall_jerk_peak_joint": 4, + "measured_wall_jerk_peak_time_s": 19.969412373029627, + "measured_wall_jerk_rms_rad_s3": 4.778809715308643, + "measured_wall_smoothness_samples": 1090, + "measured_wall_velocity_peak_abs_rad_s": 0.7908512949943542, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 36.46880121296272, + "measured_wall_velocity_rms_rad_s": 0.10243372834185518, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005750298500061035, + "moving_aligned_p95_error_rad": 0.0021259961649775505, + "moving_aligned_rms_error_rad": 0.0009188346794572937, + "moving_aligned_samples": 776, + "moving_aligned_worst_joint": 0, + "moving_aligned_worst_time_s": 15.781000000000002, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.005750298500061035, + 0.005588363856077194, + 0.004543915390968323, + 0.003794044256210327, + 0.004366517066955566, + 0.005204916000366211 + ], + "moving_joint_lag_p95_error_rad": [ + 0.0023718364536762238, + 0.002370901871472597, + 0.001884093857370317, + 0.002369228284806013, + 0.002722516655921936, + 0.0030325427651405334 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010450181973138508, + 0.0010316154617799425, + 0.0009314565436033363, + 0.0011069335031522192, + 0.0012095973958719522, + 0.0014890764942624261 + ], + "moving_joint_lag_samples": [ + 687, + 654, + 542, + 216, + 396, + 292 + ], + "moving_joint_lag_worst_time_s": [ + 15.781000000000002, + 15.781000000000002, + 10.866, + 2.011, + 10.866, + 23.873 + ], + "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": 1.6741597652435303, + "playback_velocity_rms_rad_s": 0.26754564827167243, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 84.928, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 27.464000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2069, + 5446 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4420942393128303, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08686786890029907, + "rapid_planner_max_dt_s": 2.221, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007716000080108643, + "rapid_planner_median_dt_s": 0.11800000000000033, + "rapid_planner_path_max_error_rad": 0.005750298500061035, + "rapid_planner_path_p95_error_rad": 0.0029515385627746572, + "rapid_planner_path_rms_error_rad": 0.0013304229284708555, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 68, + 115, + 140, + 163, + 188, + 200, + 212, + 229, + 238, + 246, + 262, + 279, + 296, + 313, + 328, + 344, + 359, + 374, + 384, + 394, + 404, + 413, + 426, + 438, + 462, + 486, + 523, + 555, + 592, + 628, + 669, + 785, + 849, + 944, + 1001, + 1077, + 1336, + 1833, + 2069, + 2624, + 2684, + 2743, + 2776, + 2828, + 2886, + 2915, + 2949, + 2974, + 3000, + 3033, + 3066, + 3095, + 3124, + 3152, + 3181, + 3210, + 3240, + 3268, + 3295, + 3323, + 3351, + 3396, + 3448, + 3515, + 3534, + 3550, + 3568, + 3587, + 3603, + 3619, + 3643, + 3667, + 3690, + 3741, + 3769, + 3822, + 3899, + 4072, + 4291, + 4366, + 4671, + 4936, + 5046, + 5446, + 5793, + 5876, + 5909, + 5948, + 5985, + 6004, + 6023, + 6047, + 6071, + 6088, + 6106, + 6142, + 6176, + 6210, + 6267, + 6324, + 6355, + 6396, + 6432, + 6469, + 6496, + 6522, + 6589, + 6619, + 6636, + 6654, + 6682, + 6713, + 6789, + 6867 + ], + "rapid_planner_selected_max_joint_step_deg": 4.977162263282876, + "rapid_planner_selected_samples": 115, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6868, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 115, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005750298500061035, + "raw_replay_rms_error_rad": 0.0007879905255946793, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9820665550186733, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9708377770045221, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9880574973378556, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.016982315508139, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.99153154492602, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9951990477436186, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0009564012289047241, + 0.0007555484771728516, + 0.0008482635021209717, + 0.003900885581970215, + 0.004295527935028076, + 0.003684699535369873 + ], + "replay_smoothing_max_deviation_normalized": 0.4922312467283127, + "replay_smoothing_max_deviation_rad": 0.004295527935028076, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016102715162560344, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.271751880645752, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.046974182128906, + "replay_smoothing_raw_accel_rms_rad_s2": 2.976363127923206, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 852.5391235351562, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15185.837890625, + "replay_smoothing_raw_jerk_rms_rad_s3": 768.1393022921302, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6172219514846802, + "replay_smoothing_raw_velocity_rms_rad_s": 0.17485957751211317, + "replay_smoothing_rms_deviation_rad": 0.0006960378820615339, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.1951446533203125, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.47084426879883, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.940817903344475, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 867.0172119140625, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15057.2373046875, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 764.4515021755756, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6064708232879639, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.17412317921564519, + "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": 0.9933521009983531, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9957886304716882, + "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": 26.645, + "replay_smoothing_wrist_max_deviation_rad": 0.004295527935028076, + "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": 0.005750298500061035, + "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": 0.046604275703430176, + "stage_planned_to_measured_rms_error_rad": 0.006076735468806422, + "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": 1090, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7147470712661743, + "target_wall_accel_peak_abs_rad_s2": 3.806191921234131, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 24.90005505399313, + "target_wall_accel_rms_rad_s2": 0.3750876851658208, + "target_wall_jerk_p95_abs_rad_s3": 15.197243690490723, + "target_wall_jerk_peak_abs_rad_s3": 108.71636962890625, + "target_wall_jerk_peak_joint": 3, + "target_wall_jerk_peak_time_s": 25.80015824502334, + "target_wall_jerk_rms_rad_s3": 8.12097547543592, + "target_wall_smoothness_samples": 1090, + "target_wall_velocity_peak_abs_rad_s": 0.8156020641326904, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 23.63339244306553, + "target_wall_velocity_rms_rad_s": 0.10338647487706491, + "tcp_pose_count": 1090, + "timestamp_count": 1090, + "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": 1.6300000000000034, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.3899999999999995, + "window_lag_best_lag_p95_abs_s": 1.1750000000000012, + "window_lag_count": 31, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.6300000000000034, + "window_lag_worst_end_s": 22.5, + "window_lag_worst_max_error_rad": 0.0066092051565647125, + "window_lag_worst_rms_error_rad": 0.003371356883138876, + "window_lag_worst_start_s": 21.5, + "zero_lag_max_error_rad": 0.005750298500061035, + "zero_lag_p95_error_rad": 0.001830080058425665, + "zero_lag_rms_error_rad": 0.0007879905255946793, + "zero_lag_samples": 1090, + "zero_lag_worst_joint": 0, + "zero_lag_worst_time_s": 15.781000000000002 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.npz new file mode 100644 index 0000000000000000000000000000000000000000..47b77b18620c4f15cca4e1fbbc47029c7c9c40db --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162137.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f21b70a6d92222fb1e67cc64283c7e44716143ed59c85fcedc8b0cb545b1599 +size 112660 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.json new file mode 100644 index 0000000000000000000000000000000000000000..232bff76a1eb0cad92206835ac60f96fa75321ae --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.json @@ -0,0 +1,665 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:23:29", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1036, + "actual_playback_duration_s": 34.55022191500757, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.005523681640625, + "aligned_p95_error_rad": 0.002017723396420479, + "aligned_rms_error_rad": 0.0008862822892512505, + "aligned_samples": 1036, + "aligned_worst_joint": 3, + "aligned_worst_time_s": 22.773, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1036, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1036, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.4548074409452005, + "image_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.0037687718868255615, + 0.005222024396061897, + 0.005044892430305481, + 0.005523681640625, + 0.0049561262130737305, + 0.004963397979736328 + ], + "joint_lag_p95_error_rad": [ + 0.001997072249650955, + 0.0016383156180381775, + 0.0017198175191879272, + 0.002102336846292019, + 0.002064138650894165, + 0.0025289058685302734 + ], + "joint_lag_rms_error_rad": [ + 0.0008219487484793727, + 0.0007875129672018426, + 0.0007788361616827264, + 0.0009057556203090957, + 0.0009397470120128596, + 0.0010521871990057056 + ], + "joint_lag_samples": [ + 1036, + 1036, + 1036, + 1036, + 1036, + 1036 + ], + "joint_lag_worst_time_s": [ + 21.498, + 22.773, + 3.2359999999999998, + 22.773, + 22.173000000000002, + 3.2359999999999998 + ], + "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": 0.006795354885980487, + "leadthrough_capture_egm_poll_duration_median_s": 0.003964139963500202, + "leadthrough_capture_egm_poll_duration_p95_s": 0.004360728245228529, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004917111257091164, + "leadthrough_capture_egm_poll_duration_warn_count": 3029, + "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": 0.006849239929579198, + "leadthrough_capture_host_loop_dt_median_s": 0.0039887180319055915, + "leadthrough_capture_host_loop_dt_p95_s": 0.004390036035329103, + "leadthrough_capture_host_loop_dt_p99_s": 0.00495251737185754, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.00668297300580889, + "leadthrough_capture_host_receive_dt_median_s": 0.00399129546713084, + "leadthrough_capture_host_receive_dt_p95_s": 0.004374947561882436, + "leadthrough_capture_host_receive_dt_p99_s": 0.004904609912773596, + "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": 0.011397011927329004, + "leadthrough_capture_loop_late_median_s": 0.008485711645334959, + "leadthrough_capture_loop_late_p95_s": 0.00882424453739077, + "leadthrough_capture_loop_late_p99_s": 0.009555993573740124, + "leadthrough_capture_loop_late_warn_count": 7793, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.006830293918028474, + "leadthrough_capture_read_duration_median_s": 0.003977786982432008, + "leadthrough_capture_read_duration_p95_s": 0.004376495792530477, + "leadthrough_capture_read_duration_p99_s": 0.004940750477835536, + "leadthrough_capture_read_duration_warn_count": 3321, + "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": 27, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.003211773931980133, + 0.0023597031831741333, + 0.0025658011436462402, + 0.0025160908699035645, + 0.0030170083045959473, + 0.00663149356842041 + ], + "leadthrough_delta_max_abs_rad": 0.00663149356842041, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0018523258622735739, + 0.0014563866425305605, + 0.001774982432834804, + 0.0010045483941212296, + 0.0013835519785061479, + 0.0037010780069977045 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.0007799521554261446, + 0.0006030392833054066, + 0.0007039956981316209, + 0.00038009817944839597, + 0.0006266727577894926, + 0.0013921653153374791 + ], + "leadthrough_delta_samples": 5938, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.00663149356842041, + "leadthrough_delta_worst_from_rad": -0.4893135130405426, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 0.7559999999999993, + "leadthrough_delta_worst_to_rad": -0.495945006608963, + "leadthrough_duration_s": 23.749000000000002, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 5908, + "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": 5909, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 7793, + "leadthrough_initial_stillness_first_motion_index": 1855, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 7.415, + "leadthrough_initial_stillness_removed_samples": 1854, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 1854, + "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": [ + 0.003211773931980133, + 0.0023597031831741333, + 0.0025658011436462402, + 0.0025160908699035645, + 0.0030170083045959473, + 0.00663149356842041 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.00663149356842041, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 1.0551437735557156, + 0.7592688004175534, + 0.8329053719838144, + 0.8301089207331025, + 1.0050932566324489, + 1.657873392105285 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.642286777496338, + "leadthrough_velocity_rms_rad_s": 0.2032874004436688, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.005523681640625, + "measured_wall_accel_p95_abs_rad_s2": 0.5967590808868408, + "measured_wall_accel_peak_abs_rad_s2": 2.6063382625579834, + "measured_wall_accel_peak_joint": 4, + "measured_wall_accel_peak_time_s": 19.17644127109088, + "measured_wall_accel_rms_rad_s2": 0.28007069004424767, + "measured_wall_jerk_p95_abs_rad_s3": 10.145760536193848, + "measured_wall_jerk_peak_abs_rad_s3": 56.60874557495117, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 41.2841540890513, + "measured_wall_jerk_rms_rad_s3": 4.846729417606614, + "measured_wall_smoothness_samples": 1036, + "measured_wall_velocity_peak_abs_rad_s": 0.8278494477272034, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 14.1412648470141, + "measured_wall_velocity_rms_rad_s": 0.1075985675303099, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.005523681640625, + "moving_aligned_p95_error_rad": 0.0023010780569165945, + "moving_aligned_rms_error_rad": 0.0010465810579365952, + "moving_aligned_samples": 732, + "moving_aligned_worst_joint": 3, + "moving_aligned_worst_time_s": 22.773, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.0037687718868255615, + 0.005222024396061897, + 0.005044892430305481, + 0.005523681640625, + 0.0049561262130737305, + 0.004963397979736328 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002215925371274352, + 0.0018798252567648888, + 0.002212607767432928, + 0.003745152847841382, + 0.0025974023155868053, + 0.0034285651054233313 + ], + "moving_joint_lag_rms_error_rad": [ + 0.0010069596022666688, + 0.0009631538237325179, + 0.0010505680951774163, + 0.0016363168804052065, + 0.0013357117445620716, + 0.0016173799242736526 + ], + "moving_joint_lag_samples": [ + 617, + 636, + 517, + 246, + 437, + 395 + ], + "moving_joint_lag_worst_time_s": [ + 21.498, + 22.773, + 3.2359999999999998, + 22.773, + 22.173000000000002, + 3.2359999999999998 + ], + "moving_lag_velocity_threshold_rad_s": 0.03, + "playback_backend": "rapid_planner", + "playback_keepalive_hz": null, + "playback_sample_rate_hz": 30.0, + "playback_settle_s": 0.0, + "playback_speed_scale": 1.0, + "playback_speedref_scale": 0.0, + "playback_velocity_peak_abs_rad_s": 1.898438811302185, + "playback_velocity_rms_rad_s": 0.33960798122699276, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 77.498, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 23.749000000000002, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2278, + 4960 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4464860509491485, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08691233396530151, + "rapid_planner_max_dt_s": 2.2880000000000003, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007792651653289795, + "rapid_planner_median_dt_s": 0.10400000000000276, + "rapid_planner_path_max_error_rad": 0.005523681640625, + "rapid_planner_path_p95_error_rad": 0.003148365765810013, + "rapid_planner_path_rms_error_rad": 0.0014995433469541298, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 30, + 66, + 82, + 97, + 110, + 118, + 127, + 138, + 148, + 159, + 170, + 181, + 192, + 203, + 214, + 224, + 234, + 244, + 253, + 261, + 269, + 285, + 296, + 306, + 326, + 344, + 361, + 379, + 399, + 439, + 467, + 528, + 597, + 649, + 706, + 773, + 834, + 897, + 1008, + 1352, + 1512, + 1583, + 1705, + 1792, + 2047, + 2278, + 2850, + 2907, + 2963, + 3026, + 3061, + 3093, + 3118, + 3144, + 3169, + 3194, + 3218, + 3243, + 3277, + 3311, + 3354, + 3396, + 3436, + 3475, + 3489, + 3505, + 3522, + 3538, + 3557, + 3574, + 3602, + 3629, + 3655, + 3685, + 3704, + 3753, + 3784, + 3820, + 3897, + 3964, + 4037, + 4214, + 4367, + 4688, + 4960, + 5225, + 5273, + 5303, + 5326, + 5350, + 5364, + 5401, + 5414, + 5431, + 5449, + 5465, + 5484, + 5504, + 5527, + 5556, + 5580, + 5603, + 5620, + 5638, + 5664, + 5715, + 5759, + 5803, + 5938 + ], + "rapid_planner_selected_max_joint_step_deg": 4.979709923843291, + "rapid_planner_selected_samples": 110, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 5939, + "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": 110, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.005523681640625, + "raw_replay_rms_error_rad": 0.0008862822892512505, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.977615335759439, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9884411794468465, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9679460657870086, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 1.0, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "replay_smoothing_edge_taper_s": 0.2, + "replay_smoothing_edge_taper_samples": 50, + "replay_smoothing_enabled": true, + "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0119024970657602, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9758487488015697, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9858293712692121, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0006273090839385986, + 0.00039019063115119934, + 0.0008441731333732605, + 0.0028610900044441223, + 0.0023088455200195312, + 0.006374850869178772 + ], + "replay_smoothing_max_deviation_normalized": 0.730504105317249, + "replay_smoothing_max_deviation_rad": 0.006374850869178772, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.002571112709119916, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.304188251495361, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 36.90568161010742, + "replay_smoothing_raw_accel_rms_rad_s2": 2.47124401497219, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 699.0700073242188, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10511.796875, + "replay_smoothing_raw_jerk_rms_rad_s3": 607.2948759445236, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6572736501693726, + "replay_smoothing_raw_velocity_rms_rad_s": 0.20463465863214553, + "replay_smoothing_rms_deviation_rad": 0.0010787288557135863, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.207840442657471, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 36.479095458984375, + "replay_smoothing_smoothed_accel_rms_rad_s2": 2.392030921892023, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 707.3906860351562, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10257.923828125, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 598.6891257274038, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.642286777496338, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2032874004436688, + "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": 0.9909569112671869, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9934162756324745, + "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": 21.810000000000002, + "replay_smoothing_wrist_max_deviation_rad": 0.006374850869178772, + "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": 0.005523681640625, + "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": 0.048247456550598145, + "stage_planned_to_measured_rms_error_rad": 0.006387540463912453, + "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": 1036, + "stopped_early": false, + "strict_tracking_pass": true, + "strict_tracking_reason": "ok", + "target_wall_accel_p95_abs_rad_s2": 0.7829007506370544, + "target_wall_accel_peak_abs_rad_s2": 4.1798224449157715, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 2.3667248520068824, + "target_wall_accel_rms_rad_s2": 0.401871395570355, + "target_wall_jerk_p95_abs_rad_s3": 17.338260650634766, + "target_wall_jerk_peak_abs_rad_s3": 109.41473388671875, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 1.7672023359918967, + "target_wall_jerk_rms_rad_s3": 8.910537544836258, + "target_wall_smoothness_samples": 1036, + "target_wall_velocity_peak_abs_rad_s": 0.9603502750396729, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 1.7672023359918967, + "target_wall_velocity_rms_rad_s": 0.10895075994857782, + "tcp_pose_count": 1036, + "timestamp_count": 1036, + "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": 1.4900000000000029, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -1.0099999999999991, + "window_lag_best_lag_p95_abs_s": 1.0600000000000027, + "window_lag_count": 26, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 1.4900000000000029, + "window_lag_worst_end_s": 20.5, + "window_lag_worst_max_error_rad": 0.006838036701083183, + "window_lag_worst_rms_error_rad": 0.0030590317388211035, + "window_lag_worst_start_s": 19.5, + "zero_lag_max_error_rad": 0.005523681640625, + "zero_lag_p95_error_rad": 0.002017723396420479, + "zero_lag_rms_error_rad": 0.0008862822892512505, + "zero_lag_samples": 1036, + "zero_lag_worst_joint": 3, + "zero_lag_worst_time_s": 22.773 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.npz new file mode 100644 index 0000000000000000000000000000000000000000..6e02ef0295082b34bcfb6655492d6b8a9ca846ab --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162328.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b0527d4b16a47c4cee5eb16c37bdce10ce4c00242b743c9cfca36aa024ea963 +size 106392 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.json new file mode 100644 index 0000000000000000000000000000000000000000..69f08ea2332ac27de465ea3a0b383c678c8d302a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.json @@ -0,0 +1,668 @@ +{ + "attempt": 1, + "controller_state_codes": { + "running": 1, + "stopped": 0, + "unknown": -1 + }, + "created_at": "2026-09-02T16:25:50", + "event_log": [], + "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.npz", + "phase_labels": { + "0": "connect_to_path", + "1": "return_to_start", + "2": "settle", + "3": "replay" + }, + "reason": "rapid_planner_completed_candidate", + "summary": { + "action_frame_count": 1001, + "actual_playback_duration_s": 33.381437910022214, + "aligned_best_lag_s": 0.0, + "aligned_max_error_rad": 0.4322194755077362, + "aligned_p95_error_rad": 0.0016540400683879852, + "aligned_rms_error_rad": 0.009391283203089965, + "aligned_samples": 1001, + "aligned_worst_joint": 4, + "aligned_worst_time_s": 23.765, + "attempt": 1, + "capture_pipeline": "leadthrough_replay_measured_state_v1", + "completed": true, + "debug_sidecar_event_count": 0, + "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.json", + "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.npz", + "debug_sidecar_saved": true, + "diagnostic_connect_to_path_samples": 0, + "diagnostic_ramp_samples": 0, + "diagnostic_replay_samples": 1001, + "diagnostic_return_to_start_samples": 0, + "diagnostic_samples": 1001, + "diagnostic_settle_samples": 0, + "dropped_arm_samples": 0, + "dropped_camera_samples": 0, + "duration_ratio": 1.3561972011872194, + "image_frame_counts": { + "cam_scene": 1001, + "cam_wrist": 1001 + }, + "joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_lag_max_error_rad": [ + 0.16565662622451782, + 0.43056780099868774, + 0.030387043952941895, + 0.35546261072158813, + 0.4322194755077362, + 0.004780113697052002 + ], + "joint_lag_p95_error_rad": [ + 0.0018385648727416992, + 0.0018274486064910889, + 0.0012549478560686111, + 0.0012004375457763672, + 0.0018675923347473145, + 0.001735687255859375 + ], + "joint_lag_rms_error_rad": [ + 0.005290746939439039, + 0.013629858233847495, + 0.0011038876352606783, + 0.011248117417727809, + 0.013680488476364019, + 0.0007195027766955516 + ], + "joint_lag_samples": [ + 1001, + 1001, + 1001, + 1001, + 1001, + 1001 + ], + "joint_lag_worst_time_s": [ + 23.765, + 23.765, + 23.765, + 23.765, + 23.765, + 15.615000000000002 + ], + "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": 0.006016168976202607, + "leadthrough_capture_egm_poll_duration_median_s": 0.0039827810833230615, + "leadthrough_capture_egm_poll_duration_p95_s": 0.00431673793355003, + "leadthrough_capture_egm_poll_duration_p99_s": 0.004558671952690929, + "leadthrough_capture_egm_poll_duration_warn_count": 6510, + "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": 0.006061099935323, + "leadthrough_capture_host_loop_dt_median_s": 0.004008069459814578, + "leadthrough_capture_host_loop_dt_p95_s": 0.004345814714906737, + "leadthrough_capture_host_loop_dt_p99_s": 0.004602149568963796, + "leadthrough_capture_host_loop_gap_warn": false, + "leadthrough_capture_host_loop_gap_warn_count": 0, + "leadthrough_capture_host_receive_dt_max_s": 0.006166131934151053, + "leadthrough_capture_host_receive_dt_median_s": 0.0040121449856087565, + "leadthrough_capture_host_receive_dt_p95_s": 0.004334720765473321, + "leadthrough_capture_host_receive_dt_p99_s": 0.004550992730073631, + "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": 0.00669610605109483, + "leadthrough_capture_loop_late_median_s": 0.0026607061736285686, + "leadthrough_capture_loop_late_p95_s": 0.002952889713924378, + "leadthrough_capture_loop_late_p99_s": 0.0033214363828301435, + "leadthrough_capture_loop_late_warn_count": 12, + "leadthrough_capture_none_reads": 0, + "leadthrough_capture_read_duration_max_s": 0.0060442580142989755, + "leadthrough_capture_read_duration_median_s": 0.0039969299687072635, + "leadthrough_capture_read_duration_p95_s": 0.0043336515664123, + "leadthrough_capture_read_duration_p99_s": 0.004585414847824722, + "leadthrough_capture_read_duration_warn_count": 7200, + "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558, + "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0039999999999995595, + "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": 1, + "leadthrough_capture_timestamp_source": "egm_controller_tm_ms", + "leadthrough_delta_max_abs_by_joint_rad": [ + 0.002142786979675293, + 0.002170741558074951, + 0.002874210476875305, + 0.003340005874633789, + 0.001847386360168457, + 0.005916595458984375 + ], + "leadthrough_delta_max_abs_rad": 0.005916595458984375, + "leadthrough_delta_p95_abs_by_joint_rad": [ + 0.0017760642804205418, + 0.0014201279263943434, + 0.0017760993214324117, + 0.0008418877841904759, + 0.001001507043838501, + 0.0038006273098289967 + ], + "leadthrough_delta_rms_by_joint_rad": [ + 0.000646765052806586, + 0.0005592841189354658, + 0.0007119804504327476, + 0.00041946780402213335, + 0.00039052648935467005, + 0.0012243599630892277 + ], + "leadthrough_delta_samples": 6154, + "leadthrough_delta_warn": false, + "leadthrough_delta_warn_count": 0, + "leadthrough_delta_warn_threshold_rad": 0.2617993877991494, + "leadthrough_delta_worst_delta_rad": -0.005916595458984375, + "leadthrough_delta_worst_from_rad": -0.7922927141189575, + "leadthrough_delta_worst_joint": 5, + "leadthrough_delta_worst_time_s": 23.466, + "leadthrough_delta_worst_to_rad": -0.7982093095779419, + "leadthrough_duration_s": 24.613999999999997, + "leadthrough_expected_dt_s": 0.004, + "leadthrough_final_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_final_stillness_last_motion_index": 6118, + "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": 6119, + "leadthrough_final_stillness_trimmed": false, + "leadthrough_frame_count": 14683, + "leadthrough_initial_stillness_first_motion_index": 8529, + "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585, + "leadthrough_initial_stillness_min_trim_s": 0.25, + "leadthrough_initial_stillness_removed_s": 34.107, + "leadthrough_initial_stillness_removed_samples": 8528, + "leadthrough_initial_stillness_tool_tol": 0.005, + "leadthrough_initial_stillness_trim_enabled": true, + "leadthrough_initial_stillness_trim_start_index": 8528, + "leadthrough_initial_stillness_trimmed": true, + "leadthrough_reference_hz": 250.0, + "leadthrough_sample_dt_max_s": 0.005000000000002558, + "leadthrough_sample_dt_median_s": 0.003999999999997783, + "leadthrough_sample_gap_warn": false, + "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [ + 0.002142786979675293, + 0.002170741558074951, + 0.002874210476875305, + 0.003340005874633789, + 0.001847386360168457, + 0.005916595458984375 + ], + "leadthrough_unwrapped_delta_max_abs_rad": 0.005916595458984375, + "leadthrough_velocity_max_abs_by_joint_rad_s": [ + 0.5356967449191201, + 0.5426853895190386, + 0.7185526192192245, + 1.1063416798909087, + 0.4618465900423702, + 1.958032449086433 + ], + "leadthrough_velocity_peak_abs_rad_s": 1.655245065689087, + "leadthrough_velocity_rms_rad_s": 0.1788346022335024, + "leadthrough_wrap_suspect": false, + "leadthrough_wrap_suspect_count": 0, + "leadthrough_wrap_threshold_rad": 3.0, + "max_tracking_error_rad": 0.4322194755077362, + "measured_wall_accel_p95_abs_rad_s2": 0.5747348070144653, + "measured_wall_accel_peak_abs_rad_s2": 499.26568603515625, + "measured_wall_accel_peak_joint": 5, + "measured_wall_accel_peak_time_s": 12.731807544943877, + "measured_wall_accel_rms_rad_s2": 12.544902522783739, + "measured_wall_jerk_p95_abs_rad_s3": 8.933198928833008, + "measured_wall_jerk_peak_abs_rad_s3": 7664.28076171875, + "measured_wall_jerk_peak_joint": 5, + "measured_wall_jerk_peak_time_s": 12.7645948670106, + "measured_wall_jerk_rms_rad_s3": 158.02061514200363, + "measured_wall_smoothness_samples": 1001, + "measured_wall_velocity_peak_abs_rad_s": 32.39344024658203, + "measured_wall_velocity_peak_joint": 5, + "measured_wall_velocity_peak_time_s": 12.699710658052936, + "measured_wall_velocity_rms_rad_s": 0.6175695428314806, + "moving_aligned_best_lag_s": 0.0, + "moving_aligned_max_error_rad": 0.4322194755077362, + "moving_aligned_p95_error_rad": 0.0019227962475270033, + "moving_aligned_rms_error_rad": 0.011286401061786312, + "moving_aligned_samples": 693, + "moving_aligned_worst_joint": 4, + "moving_aligned_worst_time_s": 23.765, + "moving_joint_lag_best_lag_s": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "moving_joint_lag_max_error_rad": [ + 0.16565662622451782, + 0.004459485411643982, + 0.0022237002849578857, + 0.0036315321922302246, + 0.0037035346031188965, + 0.004780113697052002 + ], + "moving_joint_lag_p95_error_rad": [ + 0.002050330163910985, + 0.0022339513525366783, + 0.0014206066261976957, + 0.002917696489021182, + 0.0026067851576954126, + 0.0023019250947982073 + ], + "moving_joint_lag_rms_error_rad": [ + 0.006854783899358093, + 0.0009447152774453447, + 0.0007433244651073464, + 0.0013477288404032868, + 0.0011502912781275237, + 0.0012731274771022741 + ], + "moving_joint_lag_samples": [ + 594, + 580, + 479, + 124, + 345, + 259 + ], + "moving_joint_lag_worst_time_s": [ + 23.765, + 15.499000000000002, + 2.1439999999999984, + 23.685000000000002, + 15.378999999999998, + 15.615000000000002 + ], + "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": 39.019222259521484, + "playback_velocity_rms_rad_s": 1.320772336976561, + "rapid_planner_done_timeout_margin_s": 30.0, + "rapid_planner_done_timeout_s": 79.228, + "rapid_planner_done_timeout_scale": 2.0, + "rapid_planner_duration_s": 24.613999999999997, + "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath", + "rapid_planner_event_points_uploaded": 2, + "rapid_planner_event_selected_source_indices": [ + 2138, + 4953 + ], + "rapid_planner_event_upload_enabled": true, + "rapid_planner_event_wait_s": 0.2, + "rapid_planner_keypoint_error_deg": 0.4444404092927297, + "rapid_planner_last_state": 6.0, + "rapid_planner_max_delta_rad": 0.08714032173156738, + "rapid_planner_max_dt_s": 2.5559999999999974, + "rapid_planner_max_joint_step_deg": 5.0, + "rapid_planner_max_keypoint_error_rad": 0.007756948471069336, + "rapid_planner_median_dt_s": 0.1039999999999992, + "rapid_planner_path_max_error_rad": 0.4322194755077362, + "rapid_planner_path_p95_error_rad": 0.00260239839553833, + "rapid_planner_path_rms_error_rad": 0.013710872851271877, + "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath", + "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount", + "rapid_planner_selected_indices": [ + 0, + 89, + 113, + 131, + 149, + 160, + 170, + 180, + 191, + 202, + 212, + 222, + 233, + 244, + 256, + 267, + 278, + 289, + 300, + 311, + 322, + 334, + 346, + 358, + 370, + 382, + 394, + 417, + 428, + 438, + 458, + 472, + 488, + 515, + 572, + 633, + 676, + 718, + 774, + 848, + 875, + 903, + 924, + 991, + 1100, + 1343, + 1571, + 2138, + 2777, + 2813, + 2874, + 2914, + 2959, + 2988, + 3016, + 3038, + 3060, + 3082, + 3103, + 3128, + 3153, + 3185, + 3217, + 3248, + 3280, + 3311, + 3342, + 3368, + 3395, + 3421, + 3447, + 3469, + 3489, + 3504, + 3518, + 3532, + 3546, + 3562, + 3578, + 3600, + 3643, + 3686, + 3705, + 3753, + 3823, + 3954, + 4076, + 4640, + 4953, + 5166, + 5255, + 5301, + 5339, + 5388, + 5436, + 5482, + 5535, + 5583, + 5620, + 5662, + 5704, + 5777, + 5809, + 5823, + 5835, + 5848, + 5862, + 5877, + 5888, + 5900, + 5942, + 5985, + 6154 + ], + "rapid_planner_selected_max_joint_step_deg": 4.992772660630941, + "rapid_planner_selected_samples": 113, + "rapid_planner_service_configured": true, + "rapid_planner_source_samples": 6155, + "rapid_planner_state_done": 6.0, + "rapid_planner_state_error": 7.0, + "rapid_planner_tool_command_hz": 30.0, + "rapid_planner_tool_command_supported": true, + "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled", + "rapid_planner_tool_io_configured": true, + "rapid_planner_tool_io_supported": true, + "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath", + "rapid_planner_tool_state_supported": true, + "rapid_planner_tool_transition_source_count": 2, + "rapid_planner_tool_transitions_uploaded": 2, + "rapid_planner_tool_upload_enabled": true, + "rapid_planner_uploaded": true, + "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath", + "rapid_planner_waypoints_uploaded": 113, + "raw_ramp_max_error_rad": null, + "raw_replay_max_error_rad": 0.4322194755077362, + "raw_replay_rms_error_rad": 0.009391283203089965, + "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8847826600669226, + "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9891245161125622, + "replay_smoothing_accel_rms_rad_s2_ratio": 0.9377618814012187, + "replay_smoothing_applied": true, + "replay_smoothing_blend": 0.7196587920188904, + "replay_smoothing_blend_by_joint": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7196587920188904 + ], + "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": 0.8826858068810377, + "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9364920623828512, + "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9737201654726311, + "replay_smoothing_max_deviation_by_joint_rad": [ + 0.0005186200141906738, + 0.0003616213798522949, + 0.0006797090172767639, + 0.006081759929656982, + 0.0023674964904785156, + 0.008726656436920166 + ], + "replay_smoothing_max_deviation_normalized": 1.0000011739387726, + "replay_smoothing_max_deviation_rad": 0.008726656436920166, + "replay_smoothing_method": "scipy_savgol", + "replay_smoothing_p95_deviation_rad": 0.0016256331000477076, + "replay_smoothing_passes": 8, + "replay_smoothing_raw_accel_p95_abs_rad_s2": 1.6294254064559937, + "replay_smoothing_raw_accel_peak_abs_rad_s2": 56.185272216796875, + "replay_smoothing_raw_accel_rms_rad_s2": 1.6730850655984113, + "replay_smoothing_raw_jerk_p95_abs_rad_s3": 219.06719970703125, + "replay_smoothing_raw_jerk_peak_abs_rad_s3": 15763.546875, + "replay_smoothing_raw_jerk_rms_rad_s3": 403.2284994997275, + "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7513853311538696, + "replay_smoothing_raw_velocity_rms_rad_s": 0.17999315258962426, + "replay_smoothing_rms_deviation_rad": 0.000792898652854775, + "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.4416873455047607, + "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 55.5742301940918, + "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5689553988598477, + "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 193.3675079345703, + "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14762.4365234375, + "replay_smoothing_smoothed_jerk_rms_rad_s3": 392.6317212561554, + "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.655245065689087, + "replay_smoothing_smoothed_velocity_rms_rad_s": 0.1788346022335024, + "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": 0.9451061603893631, + "replay_smoothing_velocity_rms_rad_s_ratio": 0.9935633642755105, + "replay_smoothing_window_s": 0.2, + "replay_smoothing_window_samples": 51, + "replay_smoothing_within_tolerance": false, + "replay_smoothing_worst_joint": 5, + "replay_smoothing_worst_time_s": 23.542, + "replay_smoothing_wrist_max_deviation_rad": 0.008726656436920166, + "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": 0.4322194755077362, + "saved_data_source": "measured_rapid_planner_playback", + "send_failures": 0, + "sent_wall_accel_p95_abs_rad_s2": null, + "sent_wall_accel_peak_abs_rad_s2": null, + "sent_wall_accel_peak_joint": -1, + "sent_wall_accel_peak_time_s": null, + "sent_wall_accel_rms_rad_s2": null, + "sent_wall_jerk_p95_abs_rad_s3": null, + "sent_wall_jerk_peak_abs_rad_s3": null, + "sent_wall_jerk_peak_joint": -1, + "sent_wall_jerk_peak_time_s": null, + "sent_wall_jerk_rms_rad_s3": null, + "sent_wall_smoothness_samples": 0, + "sent_wall_velocity_peak_abs_rad_s": null, + "sent_wall_velocity_peak_joint": -1, + "sent_wall_velocity_peak_time_s": null, + "sent_wall_velocity_rms_rad_s": null, + "stage_planned_to_measured_max_error_rad": 1.0397096872329712, + "stage_planned_to_measured_rms_error_rad": 0.018552205569024843, + "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": 1001, + "stopped_early": false, + "strict_tracking_pass": false, + "strict_tracking_reason": "max_error_rad=0.4322", + "target_wall_accel_p95_abs_rad_s2": 0.761942982673645, + "target_wall_accel_peak_abs_rad_s2": 467.1038818359375, + "target_wall_accel_peak_joint": 5, + "target_wall_accel_peak_time_s": 0.03338797693140805, + "target_wall_accel_rms_rad_s2": 10.352664435511283, + "target_wall_jerk_p95_abs_rad_s3": 15.985383033752441, + "target_wall_jerk_peak_abs_rad_s3": 7006.11376953125, + "target_wall_jerk_peak_joint": 5, + "target_wall_jerk_peak_time_s": 0.0667220689356327, + "target_wall_jerk_rms_rad_s3": 126.94991933486824, + "target_wall_smoothness_samples": 1001, + "target_wall_velocity_peak_abs_rad_s": 31.163496017456055, + "target_wall_velocity_peak_joint": 5, + "target_wall_velocity_peak_time_s": 5.634967237710953e-06, + "target_wall_velocity_rms_rad_s": 0.5255379354795705, + "tcp_pose_count": 1001, + "timestamp_count": 1001, + "tool_failures": 0, + "tracking_geometry_pass": false, + "tracking_geometry_reason": "max_error_rad=0.4322", + "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": 1.8100000000000032, + "window_lag_best_lag_median_s": 0.0, + "window_lag_best_lag_min_s": -0.9699999999999991, + "window_lag_best_lag_p95_abs_s": 0.7859999999999979, + "window_lag_count": 29, + "window_lag_window_s": 1.0, + "window_lag_worst_best_lag_s": 0.010000000000001563, + "window_lag_worst_end_s": 24.0, + "window_lag_worst_max_error_rad": 0.432219535112381, + "window_lag_worst_rms_error_rad": 0.04384855926439905, + "window_lag_worst_start_s": 23.0, + "zero_lag_max_error_rad": 0.4322194755077362, + "zero_lag_p95_error_rad": 0.0016540400683879852, + "zero_lag_rms_error_rad": 0.009391283203089965, + "zero_lag_samples": 1001, + "zero_lag_worst_joint": 4, + "zero_lag_worst_time_s": 23.765 + } +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.npz b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.npz new file mode 100644 index 0000000000000000000000000000000000000000..30e9ebfd33732009974e71453d19d0f0df1d2bc6 --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260902_162549.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce6a64b1e30304c473aedae4e9e0f7153bbff3cc7a94e10e1107a2def037eb62 +size 99192 diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_manifest.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d8685b6fe7b7bb76fe7dbfa92082bec06ed6c7fe --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_manifest.json @@ -0,0 +1,829 @@ +{ + "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": 31, + "discard": 6, + "failure": 0, + "success": 25 + }, + "dataset_schema_version": "abb_gofa_dataset_v1", + "episodes": [ + { + "dropped_ticks": 0, + "duration_s": 25.637, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000001", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 6411, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 2, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 32.7, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000000", + "episode_idx": 0, + "file": "episode_000000_20260902_153525.hdf5", + "file_size_mb": 1164.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 982, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 104, + "duration_s": 23.533, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000002", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 194.24, + "num_frames": 4572, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 5, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 0, + "warnings": [ + "Measured fps 194.2 deviates 22% from target 250.0" + ] + }, + { + "dropped_ticks": 0, + "duration_s": 33.733, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000001", + "episode_idx": 1, + "file": "episode_000001_20260902_153739.hdf5", + "file_size_mb": 1201.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1013, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 14, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000002", + "episode_idx": 2, + "file": "episode_000002_20260902_153934.hdf5", + "file_size_mb": 1192.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1000, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 1, + "duration_s": 33.2, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000003", + "episode_idx": 3, + "file": "episode_000003_20260902_154116.hdf5", + "file_size_mb": 1182.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 997, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000004", + "episode_idx": 4, + "file": "episode_000004_20260902_154250.hdf5", + "file_size_mb": 1197.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1001, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 27.548, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000003", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.04, + "num_frames": 6889, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 2, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000005", + "episode_idx": 5, + "file": "episode_000005_20260902_154556.hdf5", + "file_size_mb": 1231.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 1031, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.0, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000006", + "episode_idx": 6, + "file": "episode_000006_20260902_154735.hdf5", + "file_size_mb": 1222.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1021, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.567, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000007", + "episode_idx": 7, + "file": "episode_000007_20260902_154924.hdf5", + "file_size_mb": 1209.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1008, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.5, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000008", + "episode_idx": 8, + "file": "episode_000008_20260902_155116.hdf5", + "file_size_mb": 1243.4, + "included": true, + "measured_fps": 30.0, + "num_frames": 1036, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 32.767, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000009", + "episode_idx": 9, + "file": "episode_000009_20260902_155312.hdf5", + "file_size_mb": 1179.3, + "included": true, + "measured_fps": 30.0, + "num_frames": 984, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.767, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000010", + "episode_idx": 10, + "file": "episode_000010_20260902_155512.hdf5", + "file_size_mb": 1218.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1014, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000011", + "episode_idx": 11, + "file": "episode_000011_20260902_155717.hdf5", + "file_size_mb": 1237.5, + "included": true, + "measured_fps": 30.0, + "num_frames": 1031, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.067, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000012", + "episode_idx": 12, + "file": "episode_000012_20260902_155926.hdf5", + "file_size_mb": 1223.7, + "included": true, + "measured_fps": 30.0, + "num_frames": 1023, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 35.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000013", + "episode_idx": 13, + "file": "episode_000013_20260902_160106.hdf5", + "file_size_mb": 1269.2, + "included": true, + "measured_fps": 30.0, + "num_frames": 1060, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.133, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000014", + "episode_idx": 14, + "file": "episode_000014_20260902_160325.hdf5", + "file_size_mb": 1234.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1025, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 10, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 35.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000015", + "episode_idx": 15, + "file": "episode_000015_20260902_160515.hdf5", + "file_size_mb": 1269.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1060, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000016", + "episode_idx": 16, + "file": "episode_000016_20260902_160703.hdf5", + "file_size_mb": 1236.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1031, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 14, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 35.1, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000017", + "episode_idx": 17, + "file": "episode_000017_20260902_160845.hdf5", + "file_size_mb": 1267.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1054, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.467, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000018", + "episode_idx": 18, + "file": "episode_000018_20260902_161032.hdf5", + "file_size_mb": 1243.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1035, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 26.964, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000004", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.04, + "num_frames": 6743, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 3, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.433, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000019", + "episode_idx": 19, + "file": "episode_000019_20260902_161306.hdf5", + "file_size_mb": 1205.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1004, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 12, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.5, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000020", + "episode_idx": 20, + "file": "episode_000020_20260902_161452.hdf5", + "file_size_mb": 1242.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1036, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 6, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.433, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000021", + "episode_idx": 21, + "file": "episode_000021_20260902_161648.hdf5", + "file_size_mb": 1204.0, + "included": true, + "measured_fps": 30.0, + "num_frames": 1004, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 28.037, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000005", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7011, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 2, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 31.464, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:discard_000006", + "episode_idx": -1, + "file": null, + "file_size_mb": 0.0, + "included": false, + "measured_fps": 250.03, + "num_frames": 7868, + "outcome": "discard", + "playback_attempts": 0, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": false, + "slow_ticks": 1, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": false, + "tool_state_valid": true, + "tool_transitions": 2, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 36.3, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000022", + "episode_idx": 22, + "file": "episode_000022_20260902_162141.hdf5", + "file_size_mb": 1312.1, + "included": true, + "measured_fps": 30.0, + "num_frames": 1090, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 4, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 34.5, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000023", + "episode_idx": 23, + "file": "episode_000023_20260902_162332.hdf5", + "file_size_mb": 1243.8, + "included": true, + "measured_fps": 30.0, + "num_frames": 1036, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": true, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "tool_command_valid": true, + "tool_state_valid": true, + "tool_transitions": 8, + "warnings": [] + }, + { + "dropped_ticks": 0, + "duration_s": 33.333, + "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-09-02_15-33-13:episode_000024", + "episode_idx": 24, + "file": "episode_000024_20260902_162555.hdf5", + "file_size_mb": 1196.9, + "included": true, + "measured_fps": 30.0, + "num_frames": 1001, + "outcome": "success", + "playback_attempts": 1, + "playback_tracking_geometry_pass": false, + "playback_tracking_pass": true, + "slow_ticks": 0, + "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "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": "2026-09-02T16:26:04", + "session_id": "flex_to_biotek_v2_2026-09-02_15-33-13", + "session_started": "2026-09-02T15:33:13", + "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": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2", + "start_pose_id": "start_pose_v017", + "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json" + }, + "task_id": "flex_to_biotek_v2", + "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader", + "tool_signal": "read-only configured", + "tool_status": { + "backend": "rws_rapid_feedback", + "can_command": false, + "can_read": true, + "command_failures": 0, + "command_hysteresis": 0.05, + "command_mode": "binary", + "command_signal": "read-only configured", + "command_threshold": 0.5, + "configured": true, + "last_state": null, + "last_state_age_s": null, + "message": "read RAPID gripper feedback array configured", + "ok": true, + "read_failures": 0, + "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback", + "state_valid": false + }, + "updated_at": "2026-09-02T16:26:04" +} diff --git a/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_summary.json b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1e18acbd6090101770f6103e9869afe8fc8eb71a --- /dev/null +++ b/flex_to_biotek_v2/raw/2026-09-02_15-33-13/session_summary.json @@ -0,0 +1,1471 @@ +{ + "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": "2026-09-02T15:33:14", + "session_ended": "2026-09-02T16:26:04", + "counts": { + "attempted": 31, + "success": 25, + "failure": 0, + "discard": 6 + }, + "episodes": [ + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6411, + "duration_s": 25.637, + "measured_fps": 250.03, + "slow_ticks": 2, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 0, + "outcome": "success", + "file": "episode_000000_20260902_153525.hdf5", + "num_frames": 982, + "duration_s": 32.7, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 1, + "save_time_s": 7.815, + "file_size_mb": 1164.9, + "save_metrics": { + "validate_s": 0.001226442982442677, + "prepare_arrays_s": 0.0013776019914075732, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.23948249605018646, + "image_write_s": 7.52077553095296, + "image_chunking": "frame", + "image_input_mb": 1810.0224, + "image_storage_mb": 1162.973907, + "image_frame_count": 1964, + "image_camera_frame_counts": { + "cam_scene": 982, + "cam_wrist": 982 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 905.0112, + "cam_wrist": 905.0112 + }, + "image_camera_storage_mb": { + "cam_scene": 605.225382, + "cam_wrist": 557.748525 + }, + "file_size_mb": 1164.936383, + "hdf5_write_s": 7.812149725970812, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.723206464201212e-05, + "total_s": 7.814865603926592 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 4572, + "duration_s": 23.533, + "measured_fps": 194.24, + "slow_ticks": 5, + "dropped_ticks": 104, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 1, + "outcome": "success", + "file": "episode_000001_20260902_153739.hdf5", + "num_frames": 1013, + "duration_s": 33.733, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.127, + "file_size_mb": 1201.5, + "save_metrics": { + "validate_s": 0.0009089740924537182, + "prepare_arrays_s": 0.0010915420716628432, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.25006310793105513, + "image_write_s": 7.837503896094859, + "image_chunking": "frame", + "image_input_mb": 1867.1616, + "image_storage_mb": 1199.247112, + "image_frame_count": 2026, + "image_camera_frame_counts": { + "cam_scene": 1013, + "cam_wrist": 1013 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 933.5808, + "cam_wrist": 933.5808 + }, + "image_camera_storage_mb": { + "cam_scene": 624.253222, + "cam_wrist": 574.99389 + }, + "file_size_mb": 1201.512506, + "hdf5_write_s": 8.124905474018306, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.6026078052818775e-05, + "total_s": 8.127005288028158 + } + }, + { + "episode_idx": 2, + "outcome": "success", + "file": "episode_000002_20260902_153934.hdf5", + "num_frames": 1000, + "duration_s": 33.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.013, + "file_size_mb": 1192.5, + "save_metrics": { + "validate_s": 0.0012624100781977177, + "prepare_arrays_s": 0.0013859770260751247, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.24453973094932735, + "image_write_s": 7.728213552036323, + "image_chunking": "frame", + "image_input_mb": 1843.2, + "image_storage_mb": 1190.466745, + "image_frame_count": 2000, + "image_camera_frame_counts": { + "cam_scene": 1000, + "cam_wrist": 1000 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 921.6, + "cam_wrist": 921.6 + }, + "image_camera_storage_mb": { + "cam_scene": 616.244469, + "cam_wrist": 574.222276 + }, + "file_size_mb": 1192.499373, + "hdf5_write_s": 8.01043597201351, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.7075020372867584e-05, + "total_s": 8.013172090984881 + } + }, + { + "episode_idx": 3, + "outcome": "success", + "file": "episode_000003_20260902_154116.hdf5", + "num_frames": 997, + "duration_s": 33.2, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 1, + "save_time_s": 9.081, + "file_size_mb": 1182.7, + "save_metrics": { + "validate_s": 0.0012002959847450256, + "prepare_arrays_s": 0.0014275630237534642, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.25807318405713886, + "image_write_s": 8.775504418998025, + "image_chunking": "frame", + "image_input_mb": 1837.6704, + "image_storage_mb": 1180.693041, + "image_frame_count": 1994, + "image_camera_frame_counts": { + "cam_scene": 997, + "cam_wrist": 997 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 918.8352, + "cam_wrist": 918.8352 + }, + "image_camera_storage_mb": { + "cam_scene": 614.134842, + "cam_wrist": 566.558199 + }, + "file_size_mb": 1182.746611, + "hdf5_write_s": 9.077964053023607, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.659604746848345e-05, + "total_s": 9.080702226958238 + } + }, + { + "episode_idx": 4, + "outcome": "success", + "file": "episode_000004_20260902_154250.hdf5", + "num_frames": 1001, + "duration_s": 33.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.437, + "file_size_mb": 1197.9, + "save_metrics": { + "validate_s": 0.0011659779120236635, + "prepare_arrays_s": 0.001449104049243033, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.2587532690959051, + "image_write_s": 9.131132083013654, + "image_chunking": "frame", + "image_input_mb": 1845.0432, + "image_storage_mb": 1195.833116, + "image_frame_count": 2002, + "image_camera_frame_counts": { + "cam_scene": 1001, + "cam_wrist": 1001 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 922.5216, + "cam_wrist": 922.5216 + }, + "image_camera_storage_mb": { + "cam_scene": 617.467888, + "cam_wrist": 578.365228 + }, + "file_size_mb": 1197.89455, + "hdf5_write_s": 9.43435767502524, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.111998714506626e-05, + "total_s": 9.437083068070933 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6889, + "duration_s": 27.548, + "measured_fps": 250.04, + "slow_ticks": 2, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 5, + "outcome": "success", + "file": "episode_000005_20260902_154556.hdf5", + "num_frames": 1031, + "duration_s": 34.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 11.177, + "file_size_mb": 1231.3, + "save_metrics": { + "validate_s": 0.001202089013531804, + "prepare_arrays_s": 0.0014201549347490072, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 1.450453788973391, + "image_write_s": 9.67654964607209, + "image_chunking": "frame", + "image_input_mb": 1900.3392, + "image_storage_mb": 1229.106059, + "image_frame_count": 2062, + "image_camera_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 950.1696, + "cam_wrist": 950.1696 + }, + "image_camera_storage_mb": { + "cam_scene": 635.539147, + "cam_wrist": 593.566912 + }, + "file_size_mb": 1231.301687, + "hdf5_write_s": 11.174036187003367, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.5545981265604496e-05, + "total_s": 11.176802780944854 + } + }, + { + "episode_idx": 6, + "outcome": "success", + "file": "episode_000006_20260902_154735.hdf5", + "num_frames": 1021, + "duration_s": 34.0, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.674, + "file_size_mb": 1222.7, + "save_metrics": { + "validate_s": 0.0014319620095193386, + "prepare_arrays_s": 0.00162738305516541, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.355242514051497, + "image_write_s": 9.268247870961204, + "image_chunking": "frame", + "image_input_mb": 1881.9072, + "image_storage_mb": 1220.405055, + "image_frame_count": 2042, + "image_camera_frame_counts": { + "cam_scene": 1021, + "cam_wrist": 1021 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 940.9536, + "cam_wrist": 940.9536 + }, + "image_camera_storage_mb": { + "cam_scene": 628.818104, + "cam_wrist": 591.586951 + }, + "file_size_mb": 1222.674733, + "hdf5_write_s": 9.671023149974644, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.5084976591169834e-05, + "total_s": 9.67418563796673 + } + }, + { + "episode_idx": 7, + "outcome": "success", + "file": "episode_000007_20260902_154924.hdf5", + "num_frames": 1008, + "duration_s": 33.567, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 10.047, + "file_size_mb": 1209.0, + "save_metrics": { + "validate_s": 0.0011984279844909906, + "prepare_arrays_s": 0.001410052995197475, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6270333760185167, + "image_write_s": 9.365529699018225, + "image_chunking": "frame", + "image_input_mb": 1857.9456, + "image_storage_mb": 1206.5391650000001, + "image_frame_count": 2016, + "image_camera_frame_counts": { + "cam_scene": 1008, + "cam_wrist": 1008 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 928.9728, + "cam_wrist": 928.9728 + }, + "image_camera_storage_mb": { + "cam_scene": 620.960724, + "cam_wrist": 585.578441 + }, + "file_size_mb": 1209.028637, + "hdf5_write_s": 10.044261059025303, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.2674015276134014e-05, + "total_s": 10.046983833075501 + } + }, + { + "episode_idx": 8, + "outcome": "success", + "file": "episode_000008_20260902_155116.hdf5", + "num_frames": 1036, + "duration_s": 34.5, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.895, + "file_size_mb": 1243.4, + "save_metrics": { + "validate_s": 0.0013992269523441792, + "prepare_arrays_s": 0.00142788200173527, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5597538280999288, + "image_write_s": 9.284053231938742, + "image_chunking": "frame", + "image_input_mb": 1909.5552, + "image_storage_mb": 1240.9487450000001, + "image_frame_count": 2072, + "image_camera_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 954.7776, + "cam_wrist": 954.7776 + }, + "image_camera_storage_mb": { + "cam_scene": 638.287492, + "cam_wrist": 602.661253 + }, + "file_size_mb": 1243.429793, + "hdf5_write_s": 9.892216613981873, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.227505996823311e-05, + "total_s": 9.895146635943092 + } + }, + { + "episode_idx": 9, + "outcome": "success", + "file": "episode_000009_20260902_155312.hdf5", + "num_frames": 984, + "duration_s": 32.767, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.13, + "file_size_mb": 1179.3, + "save_metrics": { + "validate_s": 0.002140218042768538, + "prepare_arrays_s": 0.001969296019524336, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.4176381940487772, + "image_write_s": 7.665052143041976, + "image_chunking": "frame", + "image_input_mb": 1813.7088, + "image_storage_mb": 1176.8505169999999, + "image_frame_count": 1968, + "image_camera_frame_counts": { + "cam_scene": 984, + "cam_wrist": 984 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 906.8544, + "cam_wrist": 906.8544 + }, + "image_camera_storage_mb": { + "cam_scene": 606.258713, + "cam_wrist": 570.591804 + }, + "file_size_mb": 1179.330169, + "hdf5_write_s": 8.124596773064695, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.013406578451395e-05, + "total_s": 8.130037852097303 + } + }, + { + "episode_idx": 10, + "outcome": "success", + "file": "episode_000010_20260902_155512.hdf5", + "num_frames": 1014, + "duration_s": 33.767, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.093, + "file_size_mb": 1218.0, + "save_metrics": { + "validate_s": 0.0012564189964905381, + "prepare_arrays_s": 0.001353357918560505, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9571083809714764, + "image_write_s": 8.087178820045665, + "image_chunking": "frame", + "image_input_mb": 1869.0048, + "image_storage_mb": 1215.260004, + "image_frame_count": 2028, + "image_camera_frame_counts": { + "cam_scene": 1014, + "cam_wrist": 1014 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 934.5024, + "cam_wrist": 934.5024 + }, + "image_camera_storage_mb": { + "cam_scene": 625.000171, + "cam_wrist": 590.259833 + }, + "file_size_mb": 1218.00776, + "hdf5_write_s": 9.089855710044503, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.1286926716566086e-05, + "total_s": 9.092576894909143 + } + }, + { + "episode_idx": 11, + "outcome": "success", + "file": "episode_000011_20260902_155717.hdf5", + "num_frames": 1031, + "duration_s": 34.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.882, + "file_size_mb": 1237.5, + "save_metrics": { + "validate_s": 0.001053964952006936, + "prepare_arrays_s": 0.0013202900299802423, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7449080569203943, + "image_write_s": 8.094510970986448, + "image_chunking": "frame", + "image_input_mb": 1900.3392, + "image_storage_mb": 1234.873233, + "image_frame_count": 2062, + "image_camera_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 950.1696, + "cam_wrist": 950.1696 + }, + "image_camera_storage_mb": { + "cam_scene": 635.517661, + "cam_wrist": 599.355572 + }, + "file_size_mb": 1237.492801, + "hdf5_write_s": 8.879576517967507, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.7807971239089966e-05, + "total_s": 8.882059379015118 + } + }, + { + "episode_idx": 12, + "outcome": "success", + "file": "episode_000012_20260902_155926.hdf5", + "num_frames": 1023, + "duration_s": 34.067, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.798, + "file_size_mb": 1223.7, + "save_metrics": { + "validate_s": 0.0012785360449925065, + "prepare_arrays_s": 0.0015301089733839035, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7779220941010863, + "image_write_s": 7.976130884024315, + "image_chunking": "frame", + "image_input_mb": 1885.5936, + "image_storage_mb": 1221.367408, + "image_frame_count": 2046, + "image_camera_frame_counts": { + "cam_scene": 1023, + "cam_wrist": 1023 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 942.7968, + "cam_wrist": 942.7968 + }, + "image_camera_storage_mb": { + "cam_scene": 629.798966, + "cam_wrist": 591.568442 + }, + "file_size_mb": 1223.697422, + "hdf5_write_s": 8.795409892918542, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.690191078931093e-05, + "total_s": 8.798398026963696 + } + }, + { + "episode_idx": 13, + "outcome": "success", + "file": "episode_000013_20260902_160106.hdf5", + "num_frames": 1060, + "duration_s": 35.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.775, + "file_size_mb": 1269.2, + "save_metrics": { + "validate_s": 0.0012830030173063278, + "prepare_arrays_s": 0.0013989850413054228, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.4711266059894115, + "image_write_s": 8.263874300057068, + "image_chunking": "frame", + "image_input_mb": 1953.792, + "image_storage_mb": 1266.9059379999999, + "image_frame_count": 2120, + "image_camera_frame_counts": { + "cam_scene": 1060, + "cam_wrist": 1060 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 976.896, + "cam_wrist": 976.896 + }, + "image_camera_storage_mb": { + "cam_scene": 653.26582, + "cam_wrist": 613.640118 + }, + "file_size_mb": 1269.212846, + "hdf5_write_s": 8.772457818035036, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.5815988667309284e-05, + "total_s": 8.7752783090109 + } + }, + { + "episode_idx": 14, + "outcome": "success", + "file": "episode_000014_20260902_160325.hdf5", + "num_frames": 1025, + "duration_s": 34.133, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.904, + "file_size_mb": 1234.0, + "save_metrics": { + "validate_s": 0.0014556159731000662, + "prepare_arrays_s": 0.0013417090522125363, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.8427605339093134, + "image_write_s": 7.993649823940359, + "image_chunking": "frame", + "image_input_mb": 1889.28, + "image_storage_mb": 1230.7765, + "image_frame_count": 2050, + "image_camera_frame_counts": { + "cam_scene": 1025, + "cam_wrist": 1025 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 944.64, + "cam_wrist": 944.64 + }, + "image_camera_storage_mb": { + "cam_scene": 631.397751, + "cam_wrist": 599.378749 + }, + "file_size_mb": 1234.01746, + "hdf5_write_s": 8.900748713989742, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.821507561951876e-05, + "total_s": 8.90364786493592 + } + }, + { + "episode_idx": 15, + "outcome": "success", + "file": "episode_000015_20260902_160515.hdf5", + "num_frames": 1060, + "duration_s": 35.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.998, + "file_size_mb": 1269.1, + "save_metrics": { + "validate_s": 0.001083511975593865, + "prepare_arrays_s": 0.0014925090363249183, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6782649538945407, + "image_write_s": 8.269820624031126, + "image_chunking": "frame", + "image_input_mb": 1953.792, + "image_storage_mb": 1266.5368819999999, + "image_frame_count": 2120, + "image_camera_frame_counts": { + "cam_scene": 1060, + "cam_wrist": 1060 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 976.896, + "cam_wrist": 976.896 + }, + "image_camera_storage_mb": { + "cam_scene": 653.17254, + "cam_wrist": 613.364342 + }, + "file_size_mb": 1269.110898, + "hdf5_write_s": 8.995341112022288, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.862101584672928e-05, + "total_s": 8.998010326060466 + } + }, + { + "episode_idx": 16, + "outcome": "success", + "file": "episode_000016_20260902_160703.hdf5", + "num_frames": 1031, + "duration_s": 34.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.743, + "file_size_mb": 1236.8, + "save_metrics": { + "validate_s": 0.0013294359669089317, + "prepare_arrays_s": 0.0012523089535534382, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.6617415940854698, + "image_write_s": 8.040789013030007, + "image_chunking": "frame", + "image_input_mb": 1900.3392, + "image_storage_mb": 1234.4592189999998, + "image_frame_count": 2062, + "image_camera_frame_counts": { + "cam_scene": 1031, + "cam_wrist": 1031 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 950.1696, + "cam_wrist": 950.1696 + }, + "image_camera_storage_mb": { + "cam_scene": 635.102759, + "cam_wrist": 599.35646 + }, + "file_size_mb": 1236.818855, + "hdf5_write_s": 8.740032942965627, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.901298623532057e-05, + "total_s": 8.742874987074174 + } + }, + { + "episode_idx": 17, + "outcome": "success", + "file": "episode_000017_20260902_160845.hdf5", + "num_frames": 1054, + "duration_s": 35.1, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.847, + "file_size_mb": 1267.0, + "save_metrics": { + "validate_s": 0.001386997988447547, + "prepare_arrays_s": 0.0015097400173544884, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5290325491223484, + "image_write_s": 8.268725999980234, + "image_chunking": "frame", + "image_input_mb": 1942.7328, + "image_storage_mb": 1264.682568, + "image_frame_count": 2108, + "image_camera_frame_counts": { + "cam_scene": 1054, + "cam_wrist": 1054 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 971.3664, + "cam_wrist": 971.3664 + }, + "image_camera_storage_mb": { + "cam_scene": 649.34787, + "cam_wrist": 615.334698 + }, + "file_size_mb": 1266.969732, + "hdf5_write_s": 8.844192735035904, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 2.8120935894548893e-05, + "total_s": 8.847234659944661 + } + }, + { + "episode_idx": 18, + "outcome": "success", + "file": "episode_000018_20260902_161032.hdf5", + "num_frames": 1035, + "duration_s": 34.467, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.25, + "file_size_mb": 1243.8, + "save_metrics": { + "validate_s": 0.0012091310927644372, + "prepare_arrays_s": 0.0013191909529268742, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.9382848400855437, + "image_write_s": 8.267873227945529, + "image_chunking": "frame", + "image_input_mb": 1907.712, + "image_storage_mb": 1241.283848, + "image_frame_count": 2070, + "image_camera_frame_counts": { + "cam_scene": 1035, + "cam_wrist": 1035 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 953.856, + "cam_wrist": 953.856 + }, + "image_camera_storage_mb": { + "cam_scene": 637.493454, + "cam_wrist": 603.790394 + }, + "file_size_mb": 1243.843392, + "hdf5_write_s": 9.247669463977218, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.78880649805069e-05, + "total_s": 9.250323031912558 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 6743, + "duration_s": 26.964, + "measured_fps": 250.04, + "slow_ticks": 3, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 19, + "outcome": "success", + "file": "episode_000019_20260902_161306.hdf5", + "num_frames": 1004, + "duration_s": 33.433, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.451, + "file_size_mb": 1205.9, + "save_metrics": { + "validate_s": 0.0009621289791539311, + "prepare_arrays_s": 0.0012251659063622355, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5495296720182523, + "image_write_s": 7.854139312985353, + "image_chunking": "frame", + "image_input_mb": 1850.5728, + "image_storage_mb": 1202.90501, + "image_frame_count": 2008, + "image_camera_frame_counts": { + "cam_scene": 1004, + "cam_wrist": 1004 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 925.2864, + "cam_wrist": 925.2864 + }, + "image_camera_storage_mb": { + "cam_scene": 617.973733, + "cam_wrist": 584.931277 + }, + "file_size_mb": 1205.893506, + "hdf5_write_s": 8.448731685988605, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.3495016396045685e-05, + "total_s": 8.451015025028028 + } + }, + { + "episode_idx": 20, + "outcome": "success", + "file": "episode_000020_20260902_161452.hdf5", + "num_frames": 1036, + "duration_s": 34.5, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.709, + "file_size_mb": 1242.8, + "save_metrics": { + "validate_s": 0.0011545040179044008, + "prepare_arrays_s": 0.0014635780826210976, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5818418429698795, + "image_write_s": 8.083731857012026, + "image_chunking": "frame", + "image_input_mb": 1909.5552, + "image_storage_mb": 1240.509106, + "image_frame_count": 2072, + "image_camera_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 954.7776, + "cam_wrist": 954.7776 + }, + "image_camera_storage_mb": { + "cam_scene": 637.26604, + "cam_wrist": 603.243066 + }, + "file_size_mb": 1242.777834, + "hdf5_write_s": 8.706579686957411, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.5992939956486225e-05, + "total_s": 8.709302086965181 + } + }, + { + "episode_idx": 21, + "outcome": "success", + "file": "episode_000021_20260902_161648.hdf5", + "num_frames": 1004, + "duration_s": 33.433, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.362, + "file_size_mb": 1204.0, + "save_metrics": { + "validate_s": 0.0009514109697192907, + "prepare_arrays_s": 0.0011851040180772543, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7374019789276645, + "image_write_s": 8.572281035012566, + "image_chunking": "frame", + "image_input_mb": 1850.5728, + "image_storage_mb": 1201.461709, + "image_frame_count": 2008, + "image_camera_frame_counts": { + "cam_scene": 1004, + "cam_wrist": 1004 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 925.2864, + "cam_wrist": 925.2864 + }, + "image_camera_storage_mb": { + "cam_scene": 617.224301, + "cam_wrist": 584.237408 + }, + "file_size_mb": 1203.966393, + "hdf5_write_s": 9.359593756031245, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 3.676500637084246e-05, + "total_s": 9.361886017024517 + } + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7011, + "duration_s": 28.037, + "measured_fps": 250.03, + "slow_ticks": 2, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": -1, + "outcome": "discard", + "file": null, + "num_frames": 7868, + "duration_s": 31.464, + "measured_fps": 250.03, + "slow_ticks": 1, + "dropped_ticks": 0, + "save_time_s": 0.0, + "file_size_mb": 0.0, + "save_metrics": {} + }, + { + "episode_idx": 22, + "outcome": "success", + "file": "episode_000022_20260902_162141.hdf5", + "num_frames": 1090, + "duration_s": 36.3, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 9.349, + "file_size_mb": 1312.1, + "save_metrics": { + "validate_s": 0.0011714859865605831, + "prepare_arrays_s": 0.0013958110939711332, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.7484496941324323, + "image_write_s": 8.557529122917913, + "image_chunking": "frame", + "image_input_mb": 2009.088, + "image_storage_mb": 1309.322925, + "image_frame_count": 2180, + "image_camera_frame_counts": { + "cam_scene": 1090, + "cam_wrist": 1090 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 1004.544, + "cam_wrist": 1004.544 + }, + "image_camera_storage_mb": { + "cam_scene": 670.112263, + "cam_wrist": 639.210662 + }, + "file_size_mb": 1312.099273, + "hdf5_write_s": 9.346100411028601, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.3225008994340897e-05, + "total_s": 9.348935730056837 + } + }, + { + "episode_idx": 23, + "outcome": "success", + "file": "episode_000023_20260902_162332.hdf5", + "num_frames": 1036, + "duration_s": 34.5, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.716, + "file_size_mb": 1243.8, + "save_metrics": { + "validate_s": 0.0010778290452435613, + "prepare_arrays_s": 0.0015185519587248564, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.5960349070373923, + "image_write_s": 8.07609125005547, + "image_chunking": "frame", + "image_input_mb": 1909.5552, + "image_storage_mb": 1241.106829, + "image_frame_count": 2072, + "image_camera_frame_counts": { + "cam_scene": 1036, + "cam_wrist": 1036 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 954.7776, + "cam_wrist": 954.7776 + }, + "image_camera_storage_mb": { + "cam_scene": 636.562318, + "cam_wrist": 604.544511 + }, + "file_size_mb": 1243.783809, + "hdf5_write_s": 8.713789594941773, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.019902553409338e-05, + "total_s": 8.71649173507467 + } + }, + { + "episode_idx": 24, + "outcome": "success", + "file": "episode_000024_20260902_162555.hdf5", + "num_frames": 1001, + "duration_s": 33.333, + "measured_fps": 30.0, + "slow_ticks": 0, + "dropped_ticks": 0, + "save_time_s": 8.584, + "file_size_mb": 1196.9, + "save_metrics": { + "validate_s": 0.0009627050021663308, + "prepare_arrays_s": 0.0010297189000993967, + "image_compression": "lzf", + "image_gzip_level": 0, + "image_stack_s": 0.38100687391124666, + "image_write_s": 8.146811483078636, + "image_chunking": "frame", + "image_input_mb": 1845.0432, + "image_storage_mb": 1192.517887, + "image_frame_count": 2002, + "image_camera_frame_counts": { + "cam_scene": 1001, + "cam_wrist": 1001 + }, + "image_camera_chunks": { + "cam_scene": [ + 1, + 480, + 640, + 3 + ], + "cam_wrist": [ + 1, + 480, + 640, + 3 + ] + }, + "image_camera_input_mb": { + "cam_scene": 922.5216, + "cam_wrist": 922.5216 + }, + "image_camera_storage_mb": { + "cam_scene": 615.256593, + "cam_wrist": 577.261294 + }, + "file_size_mb": 1196.850585, + "hdf5_write_s": 8.581485238973983, + "hdf5_attr_timing_scope": "pre_close_pre_replace", + "replace_s": 4.304992035031319e-05, + "total_s": 8.583570253918879 + } + } + ] +} \ No newline at end of file