derekcai-OT commited on
Commit
d77c501
·
verified ·
1 Parent(s): 91ca4e0

hub_archive: flex_to_biotek_v2/raw +22 files (2026-10-15)

Browse files
Files changed (23) hide show
  1. .gitattributes +11 -0
  2. flex_to_biotek_v2/raw/2026-10-14_16-35-11/session_manifest.json +102 -0
  3. flex_to_biotek_v2/raw/2026-10-14_16-35-44/episode_000000_20261014_164010.hdf5 +3 -0
  4. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.json +473 -0
  5. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.npz +3 -0
  6. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.json +485 -0
  7. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.npz +3 -0
  8. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.json +678 -0
  9. flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.npz +3 -0
  10. flex_to_biotek_v2/raw/2026-10-14_16-35-44/session_manifest.json +233 -0
  11. flex_to_biotek_v2/raw/2026-10-14_16-35-44/session_summary.json +112 -0
  12. flex_to_biotek_v2/raw/2026-10-14_16-41-37/session_manifest.json +102 -0
  13. flex_to_biotek_v2/raw/2026-10-14_16-41-59/session_manifest.json +102 -0
  14. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000000_20261014_164418.hdf5 +3 -0
  15. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000001_20261014_164550.hdf5 +3 -0
  16. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000002_20261014_164731.hdf5 +3 -0
  17. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000003_20261014_164926.hdf5 +3 -0
  18. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000004_20261014_165133.hdf5 +3 -0
  19. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000005_20261014_165422.hdf5 +3 -0
  20. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000006_20261014_165837.hdf5 +3 -0
  21. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000007_20261014_170021.hdf5 +3 -0
  22. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000008_20261014_170203.hdf5 +3 -0
  23. flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000009_20261014_170347.hdf5 +3 -0
.gitattributes CHANGED
@@ -1098,3 +1098,14 @@ flex_to_biotek_v2/raw/2026-10-13_16-05-49/episode_000008_20261013_163759.hdf5 fi
1098
  flex_to_biotek_v2/raw/2026-10-13_16-41-00/episode_000000_20261013_164330.hdf5 filter=lfs diff=lfs merge=lfs -text
1099
  flex_to_biotek_v2/raw/2026-10-13_16-50-11/episode_000000_20261013_165226.hdf5 filter=lfs diff=lfs merge=lfs -text
1100
  flex_to_biotek_v2/raw/2026-10-13_16-50-11/episode_000001_20261013_165414.hdf5 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
1098
  flex_to_biotek_v2/raw/2026-10-13_16-41-00/episode_000000_20261013_164330.hdf5 filter=lfs diff=lfs merge=lfs -text
1099
  flex_to_biotek_v2/raw/2026-10-13_16-50-11/episode_000000_20261013_165226.hdf5 filter=lfs diff=lfs merge=lfs -text
1100
  flex_to_biotek_v2/raw/2026-10-13_16-50-11/episode_000001_20261013_165414.hdf5 filter=lfs diff=lfs merge=lfs -text
1101
+ flex_to_biotek_v2/raw/2026-10-14_16-35-44/episode_000000_20261014_164010.hdf5 filter=lfs diff=lfs merge=lfs -text
1102
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000000_20261014_164418.hdf5 filter=lfs diff=lfs merge=lfs -text
1103
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000001_20261014_164550.hdf5 filter=lfs diff=lfs merge=lfs -text
1104
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000002_20261014_164731.hdf5 filter=lfs diff=lfs merge=lfs -text
1105
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000003_20261014_164926.hdf5 filter=lfs diff=lfs merge=lfs -text
1106
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000004_20261014_165133.hdf5 filter=lfs diff=lfs merge=lfs -text
1107
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000005_20261014_165422.hdf5 filter=lfs diff=lfs merge=lfs -text
1108
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000006_20261014_165837.hdf5 filter=lfs diff=lfs merge=lfs -text
1109
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000007_20261014_170021.hdf5 filter=lfs diff=lfs merge=lfs -text
1110
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000008_20261014_170203.hdf5 filter=lfs diff=lfs merge=lfs -text
1111
+ flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000009_20261014_170347.hdf5 filter=lfs diff=lfs merge=lfs -text
flex_to_biotek_v2/raw/2026-10-14_16-35-11/session_manifest.json ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_type": "state_copy",
3
+ "camera_status": {
4
+ "cam_scene": {
5
+ "backend": "realsense",
6
+ "connected": true,
7
+ "error": null,
8
+ "frame_count": 0,
9
+ "has_frame": false,
10
+ "model": "Intel(R) RealSense(TM) Depth Camera 455",
11
+ "name": "cam_scene",
12
+ "product_id": "0b5c",
13
+ "serial": "324422301529",
14
+ "started": false,
15
+ "usb_min_speed_mbps": 5000.0,
16
+ "usb_path": "2-4.3",
17
+ "usb_serial": "408243061090",
18
+ "usb_speed_label": "5000M",
19
+ "usb_speed_mbps": 5000.0,
20
+ "usb_speed_ok": true
21
+ },
22
+ "cam_wrist": {
23
+ "backend": "realsense",
24
+ "connected": false,
25
+ "error": null,
26
+ "frame_count": 0,
27
+ "has_frame": false,
28
+ "model": null,
29
+ "name": "cam_wrist",
30
+ "product_id": null,
31
+ "serial": "218722271296",
32
+ "started": false,
33
+ "usb_min_speed_mbps": 5000.0,
34
+ "usb_path": null,
35
+ "usb_serial": "235123075560",
36
+ "usb_speed_label": "unknown",
37
+ "usb_speed_mbps": null,
38
+ "usb_speed_ok": false
39
+ }
40
+ },
41
+ "cameras": [
42
+ "cam_wrist",
43
+ "cam_scene"
44
+ ],
45
+ "collection_mode": "leadthrough_record",
46
+ "counts": {
47
+ "attempted": 0,
48
+ "discard": 0,
49
+ "failure": 0,
50
+ "success": 0
51
+ },
52
+ "dataset_schema_version": "abb_gofa_dataset_v1",
53
+ "episodes": [],
54
+ "operator": "Jesse",
55
+ "rapid_service_status": {
56
+ "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
57
+ "configured": true,
58
+ "message": "configured",
59
+ "ok": true,
60
+ "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
61
+ },
62
+ "robot_type": "abb_gofa",
63
+ "session_ended": "2026-10-14T16:35:11",
64
+ "session_id": "flex_to_biotek_v2_2026-10-14_16-35-11",
65
+ "session_started": "2026-10-14T16:35:11",
66
+ "settings": {
67
+ "arm_mode": "egm",
68
+ "fps": 30,
69
+ "leadthrough_reference_hz": 250.0,
70
+ "max_duration": 180.0,
71
+ "num_episodes": 12,
72
+ "playback_backend": "rapid_planner",
73
+ "playback_keepalive_hz": 250.0,
74
+ "playback_settle_s": 0.25,
75
+ "playback_speed_scale": 1.0,
76
+ "playback_speedref_scale": 0.25,
77
+ "start_index": 0
78
+ },
79
+ "start_pose": {},
80
+ "task_id": "flex_to_biotek_v2",
81
+ "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
82
+ "tool_signal": "read-only configured",
83
+ "tool_status": {
84
+ "backend": "rws_rapid_feedback",
85
+ "can_command": false,
86
+ "can_read": true,
87
+ "command_failures": 0,
88
+ "command_hysteresis": 0.05,
89
+ "command_mode": "binary",
90
+ "command_signal": "read-only configured",
91
+ "command_threshold": 0.5,
92
+ "configured": true,
93
+ "last_state": null,
94
+ "last_state_age_s": null,
95
+ "message": "read RAPID gripper feedback array configured",
96
+ "ok": true,
97
+ "read_failures": 0,
98
+ "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
99
+ "state_valid": false
100
+ },
101
+ "updated_at": "2026-10-14T16:35:11"
102
+ }
flex_to_biotek_v2/raw/2026-10-14_16-35-44/episode_000000_20261014_164010.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75000673e3701543caadc7c7bf989c542b74aabf075a618504661c54cbfa2e56
3
+ size 1377537741
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.json ADDED
@@ -0,0 +1,473 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-14T16:36:55",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.npz",
11
+ "phase_labels": {
12
+ "0": "connect_to_path",
13
+ "1": "return_to_start",
14
+ "2": "settle",
15
+ "3": "replay"
16
+ },
17
+ "reason": "operator_stop",
18
+ "summary": {
19
+ "action_frame_count": 167,
20
+ "actual_playback_duration_s": 5.591129008680582,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 167,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 167,
39
+ "diagnostic_settle_samples": 0,
40
+ "diagnostics_skip_reason": "operator_stop",
41
+ "diagnostics_skipped": true,
42
+ "dropped_arm_samples": 0,
43
+ "dropped_camera_samples": 0,
44
+ "duration_ratio": 0.26704537463249667,
45
+ "image_frame_counts": {
46
+ "cam_scene": 167,
47
+ "cam_wrist": 167
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000004656613,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.005000000004656613,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000004656613,
54
+ "leadthrough_capture_controller_tm_gap_warn": false,
55
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
56
+ "leadthrough_capture_dropped_ticks": 0,
57
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
58
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
59
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
60
+ "leadthrough_capture_egm_drained_packet_events": 1,
61
+ "leadthrough_capture_egm_drained_packet_max": 35,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006937604397535324,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.00398090947419405,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043231029063463215,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.00550307147204875,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2770,
68
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
69
+ "leadthrough_capture_egm_recorded_seqno_step_max": 1,
70
+ "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
71
+ "leadthrough_capture_expected_dt_s": 0.004,
72
+ "leadthrough_capture_host_loop_dt_max_s": 0.006992019712924957,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.0040077813901007175,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004351697629317641,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005576245533302425,
76
+ "leadthrough_capture_host_loop_gap_warn": false,
77
+ "leadthrough_capture_host_loop_gap_warn_count": 0,
78
+ "leadthrough_capture_host_receive_dt_max_s": 0.006936867721378803,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.004008023533970118,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004341796971857548,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005511789815500378,
82
+ "leadthrough_capture_host_receive_gap_warn": false,
83
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
84
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
85
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
86
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
87
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
88
+ "leadthrough_capture_leadthrough_start_joints_deg": [
89
+ 16.926,
90
+ -0.49,
91
+ 52.285,
92
+ 4.341,
93
+ 41.395,
94
+ 7.983
95
+ ],
96
+ "leadthrough_capture_leadthrough_start_joints_rad": [
97
+ 0.295419,
98
+ -0.008551,
99
+ 0.912542,
100
+ 0.075773,
101
+ 0.722472,
102
+ 0.139336
103
+ ],
104
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
105
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
106
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
107
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
108
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
109
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
110
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
111
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
112
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
113
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
114
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
115
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
116
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
117
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
118
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
119
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
120
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
121
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
122
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
123
+ "leadthrough_capture_loop_late_max_s": 0.033891163766384125,
124
+ "leadthrough_capture_loop_late_median_s": 0.03072234522551298,
125
+ "leadthrough_capture_loop_late_p95_s": 0.031102236546576022,
126
+ "leadthrough_capture_loop_late_p99_s": 0.03238060943782328,
127
+ "leadthrough_capture_loop_late_warn_count": 6057,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.006970264948904514,
130
+ "leadthrough_capture_read_duration_median_s": 0.003995062783360481,
131
+ "leadthrough_capture_read_duration_p95_s": 0.0043376808986067775,
132
+ "leadthrough_capture_read_duration_p99_s": 0.0055614786595106075,
133
+ "leadthrough_capture_read_duration_warn_count": 2960,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 21,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.0030292123556137085,
144
+ 0.0028774142265319824,
145
+ 0.003262903541326523,
146
+ 0.0023578964173793793,
147
+ 0.002885162830352783,
148
+ 0.005579855293035507
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.005579855293035507,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.002457926282659173,
153
+ 0.0017680374439805746,
154
+ 0.0022076391614973545,
155
+ 0.00011564791202545166,
156
+ 0.0016405161004513502,
157
+ 0.0038656890392303467
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0008690024842508137,
161
+ 0.0007469448028132319,
162
+ 0.000842635054141283,
163
+ 0.00021761962852906436,
164
+ 0.0006171370623633265,
165
+ 0.001357169123366475
166
+ ],
167
+ "leadthrough_delta_samples": 5235,
168
+ "leadthrough_delta_warn": false,
169
+ "leadthrough_delta_warn_count": 0,
170
+ "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
171
+ "leadthrough_delta_worst_delta_rad": -0.005579855293035507,
172
+ "leadthrough_delta_worst_from_rad": 0.004664859734475613,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.38400000000000034,
175
+ "leadthrough_delta_worst_to_rad": -0.0009149956167675555,
176
+ "leadthrough_duration_s": 20.936999999999998,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 5234,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.6479999999999997,
182
+ "leadthrough_final_stillness_removed_samples": 162,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 5235,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 6057,
188
+ "leadthrough_initial_stillness_first_motion_index": 660,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.635,
192
+ "leadthrough_initial_stillness_removed_samples": 659,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 659,
196
+ "leadthrough_initial_stillness_trimmed": true,
197
+ "leadthrough_reference_hz": 250.0,
198
+ "leadthrough_sample_dt_max_s": 0.005000000000002558,
199
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
200
+ "leadthrough_sample_gap_warn": false,
201
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
202
+ 0.0030292123556137085,
203
+ 0.0028774142265319824,
204
+ 0.003262903541326523,
205
+ 0.0023578964173793793,
206
+ 0.002885162830352783,
207
+ 0.005579855351243168
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.005579855351243168,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 0.7573030889025016,
212
+ 0.7193535566330749,
213
+ 0.8157258853317205,
214
+ 0.5894741043447789,
215
+ 0.7212907075885956,
216
+ 1.3949638232588755
217
+ ],
218
+ "leadthrough_wrap_suspect": false,
219
+ "leadthrough_wrap_suspect_count": 0,
220
+ "leadthrough_wrap_threshold_rad": 3.0,
221
+ "max_tracking_error_rad": 0.0,
222
+ "moving_aligned_best_lag_s": null,
223
+ "playback_backend": "rapid_planner",
224
+ "playback_keepalive_hz": null,
225
+ "playback_sample_rate_hz": 30.0,
226
+ "playback_settle_s": 0.0,
227
+ "playback_speed_scale": 1.0,
228
+ "playback_speedref_scale": 0.0,
229
+ "rapid_planner_done_timeout_margin_s": 30.0,
230
+ "rapid_planner_done_timeout_s": 71.874,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 20.936999999999998,
233
+ "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
234
+ "rapid_planner_event_points_uploaded": 2,
235
+ "rapid_planner_event_selected_source_indices": [
236
+ 1951,
237
+ 4291
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.4125246428485526,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08524394035339355,
244
+ "rapid_planner_max_dt_s": 2.0679999999999996,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007199913263320923,
247
+ "rapid_planner_median_dt_s": 0.11599999999999966,
248
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
249
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
250
+ "rapid_planner_selected_indices": [
251
+ 0,
252
+ 53,
253
+ 65,
254
+ 77,
255
+ 88,
256
+ 99,
257
+ 110,
258
+ 121,
259
+ 132,
260
+ 144,
261
+ 156,
262
+ 167,
263
+ 181,
264
+ 195,
265
+ 206,
266
+ 216,
267
+ 234,
268
+ 253,
269
+ 266,
270
+ 279,
271
+ 296,
272
+ 312,
273
+ 326,
274
+ 341,
275
+ 357,
276
+ 375,
277
+ 468,
278
+ 511,
279
+ 535,
280
+ 559,
281
+ 576,
282
+ 607,
283
+ 638,
284
+ 671,
285
+ 718,
286
+ 795,
287
+ 867,
288
+ 957,
289
+ 1040,
290
+ 1102,
291
+ 1205,
292
+ 1246,
293
+ 1325,
294
+ 1376,
295
+ 1478,
296
+ 1877,
297
+ 1951,
298
+ 2468,
299
+ 2515,
300
+ 2581,
301
+ 2619,
302
+ 2644,
303
+ 2668,
304
+ 2690,
305
+ 2715,
306
+ 2734,
307
+ 2754,
308
+ 2774,
309
+ 2793,
310
+ 2812,
311
+ 2832,
312
+ 2861,
313
+ 2890,
314
+ 2922,
315
+ 2952,
316
+ 2981,
317
+ 3014,
318
+ 3044,
319
+ 3066,
320
+ 3089,
321
+ 3141,
322
+ 3185,
323
+ 3224,
324
+ 3278,
325
+ 3385,
326
+ 3458,
327
+ 3790,
328
+ 3922,
329
+ 4291,
330
+ 4548,
331
+ 4588,
332
+ 4623,
333
+ 4685,
334
+ 4741,
335
+ 4775,
336
+ 4804,
337
+ 4834,
338
+ 4863,
339
+ 4880,
340
+ 4898,
341
+ 4912,
342
+ 4925,
343
+ 4938,
344
+ 4952,
345
+ 4972,
346
+ 4991,
347
+ 5012,
348
+ 5029,
349
+ 5059,
350
+ 5088,
351
+ 5133,
352
+ 5235
353
+ ],
354
+ "rapid_planner_selected_max_joint_step_deg": 4.884118011314378,
355
+ "rapid_planner_selected_samples": 102,
356
+ "rapid_planner_service_configured": true,
357
+ "rapid_planner_source_samples": 5236,
358
+ "rapid_planner_state_done": 6.0,
359
+ "rapid_planner_state_error": 7.0,
360
+ "rapid_planner_tool_command_hz": 30.0,
361
+ "rapid_planner_tool_command_supported": true,
362
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
363
+ "rapid_planner_tool_io_configured": true,
364
+ "rapid_planner_tool_io_supported": true,
365
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
366
+ "rapid_planner_tool_state_supported": true,
367
+ "rapid_planner_tool_transition_source_count": 2,
368
+ "rapid_planner_tool_transitions_uploaded": 2,
369
+ "rapid_planner_tool_upload_enabled": true,
370
+ "rapid_planner_uploaded": true,
371
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
372
+ "rapid_planner_waypoints_uploaded": 102,
373
+ "raw_ramp_max_error_rad": null,
374
+ "raw_replay_max_error_rad": 0.08653993904590607,
375
+ "raw_replay_rms_error_rad": 0.005219407502400358,
376
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8897515451505017,
377
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8395832579476209,
378
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.8801291085665903,
379
+ "replay_smoothing_applied": true,
380
+ "replay_smoothing_blend": 1.0,
381
+ "replay_smoothing_blend_by_joint": [
382
+ 1.0,
383
+ 1.0,
384
+ 1.0,
385
+ 1.0,
386
+ 1.0,
387
+ 1.0
388
+ ],
389
+ "replay_smoothing_edge_taper_s": 0.2,
390
+ "replay_smoothing_edge_taper_samples": 50,
391
+ "replay_smoothing_enabled": true,
392
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8497838336437156,
393
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8965636558860903,
394
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9493712543905645,
395
+ "replay_smoothing_max_deviation_by_joint_rad": [
396
+ 0.000718727707862854,
397
+ 0.0005166232585906982,
398
+ 0.0010331571102142334,
399
+ 0.003477867692708969,
400
+ 0.0019009709358215332,
401
+ 0.007916770875453949
402
+ ],
403
+ "replay_smoothing_max_deviation_normalized": 0.9071951240986685,
404
+ "replay_smoothing_max_deviation_rad": 0.007916770875453949,
405
+ "replay_smoothing_method": "scipy_savgol",
406
+ "replay_smoothing_p95_deviation_rad": 0.0019752532243728638,
407
+ "replay_smoothing_passes": 8,
408
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.2277235984802246,
409
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 15.83960247039795,
410
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.1493068983074421,
411
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 254.95037841796875,
412
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 3921.538818359375,
413
+ "replay_smoothing_raw_jerk_rms_rad_s3": 213.22031096226434,
414
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.3946641683578491,
415
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2116851528903716,
416
+ "replay_smoothing_rms_deviation_rad": 0.0009682068820495972,
417
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.9821205139160156,
418
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 13.298665046691895,
419
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.011538455876762,
420
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 216.6527099609375,
421
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 3515.9091796875,
422
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 202.42523407979112,
423
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.3524367809295654,
424
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2106782836300155,
425
+ "replay_smoothing_tolerance_by_joint_rad": [
426
+ 0.03490658476948738,
427
+ 0.03490658476948738,
428
+ 0.02617993950843811,
429
+ 0.008726646192371845,
430
+ 0.008726646192371845,
431
+ 0.008726646192371845
432
+ ],
433
+ "replay_smoothing_tolerance_rad": 0.034906585,
434
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.969722182310022,
435
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9952435527640546,
436
+ "replay_smoothing_window_s": 0.2,
437
+ "replay_smoothing_window_samples": 51,
438
+ "replay_smoothing_within_tolerance": true,
439
+ "replay_smoothing_worst_joint": 5,
440
+ "replay_smoothing_worst_time_s": 0.28800000000000026,
441
+ "replay_smoothing_wrist_max_deviation_rad": 0.007916770875453949,
442
+ "safety_abort": false,
443
+ "safety_path_error_rad": 0.08653993904590607,
444
+ "saved_data_source": "measured_rapid_planner_playback",
445
+ "send_failures": 0,
446
+ "stage_planned_to_measured_max_error_rad": 0.2631450295448303,
447
+ "stage_planned_to_measured_rms_error_rad": 0.01411503980690575,
448
+ "stage_sent_to_measured_max_error_rad": null,
449
+ "stage_sent_to_measured_rms_error_rad": null,
450
+ "stage_sent_to_planned_max_error_rad": null,
451
+ "stage_sent_to_planned_rms_error_rad": null,
452
+ "stage_target_to_sent_max_error_rad": null,
453
+ "stage_target_to_sent_rms_error_rad": null,
454
+ "state_frame_count": 167,
455
+ "stopped_early": true,
456
+ "strict_tracking_pass": false,
457
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
458
+ "tcp_pose_count": 167,
459
+ "timestamp_count": 167,
460
+ "tool_failures": 0,
461
+ "tracking_geometry_pass": false,
462
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
463
+ "tracking_pass": false,
464
+ "tracking_reason": "diagnostics_skipped_operator_stop",
465
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
466
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
467
+ "tracking_threshold_max_lag_s": 0.1,
468
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
469
+ "tracking_timing_pass": false,
470
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
471
+ "window_lag_count": 0
472
+ }
473
+ }
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163654.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:02c922a1274cb443ff0fba3cc54e3f37a382e24a66955c6245f482a7df8e9089
3
+ size 25476
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-14T16:38:19",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.npz",
11
+ "phase_labels": {
12
+ "0": "connect_to_path",
13
+ "1": "return_to_start",
14
+ "2": "settle",
15
+ "3": "replay"
16
+ },
17
+ "reason": "operator_stop",
18
+ "summary": {
19
+ "action_frame_count": 989,
20
+ "actual_playback_duration_s": 33.10173375625163,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 989,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 989,
39
+ "diagnostic_settle_samples": 0,
40
+ "diagnostics_skip_reason": "operator_stop",
41
+ "diagnostics_skipped": true,
42
+ "dropped_arm_samples": 0,
43
+ "dropped_camera_samples": 0,
44
+ "duration_ratio": 1.6669218328256437,
45
+ "image_frame_counts": {
46
+ "cam_scene": 989,
47
+ "cam_wrist": 989
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000004656613,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.005000000004656613,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000004656613,
54
+ "leadthrough_capture_controller_tm_gap_warn": false,
55
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
56
+ "leadthrough_capture_dropped_ticks": 0,
57
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
58
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
59
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
60
+ "leadthrough_capture_egm_drained_packet_events": 1,
61
+ "leadthrough_capture_egm_drained_packet_max": 36,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006812910549342632,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003949591889977455,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.00443728850223124,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005325976805761459,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2397,
68
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
69
+ "leadthrough_capture_egm_recorded_seqno_step_max": 1,
70
+ "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
71
+ "leadthrough_capture_expected_dt_s": 0.004,
72
+ "leadthrough_capture_host_loop_dt_max_s": 0.006851448677480221,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003973630256950855,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.00446160277351737,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005370682403445235,
76
+ "leadthrough_capture_host_loop_gap_warn": false,
77
+ "leadthrough_capture_host_loop_gap_warn_count": 0,
78
+ "leadthrough_capture_host_receive_dt_max_s": 0.006846580654382706,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.003975985571742058,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004452618584036827,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005340173151344058,
82
+ "leadthrough_capture_host_receive_gap_warn": false,
83
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
84
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
85
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
86
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
87
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
88
+ "leadthrough_capture_leadthrough_start_joints_deg": [
89
+ 16.926,
90
+ -0.49,
91
+ 52.285,
92
+ 4.341,
93
+ 41.395,
94
+ 7.983
95
+ ],
96
+ "leadthrough_capture_leadthrough_start_joints_rad": [
97
+ 0.295419,
98
+ -0.008551,
99
+ 0.912542,
100
+ 0.075773,
101
+ 0.722472,
102
+ 0.139336
103
+ ],
104
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
105
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
106
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
107
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
108
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
109
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
110
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
111
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
112
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
113
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
114
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
115
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
116
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
117
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
118
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
119
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
120
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
121
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
122
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
123
+ "leadthrough_capture_loop_late_max_s": 0.05168003961443901,
124
+ "leadthrough_capture_loop_late_median_s": 0.045017839409410954,
125
+ "leadthrough_capture_loop_late_p95_s": 0.0454638940282166,
126
+ "leadthrough_capture_loop_late_p99_s": 0.04648304795846343,
127
+ "leadthrough_capture_loop_late_warn_count": 5916,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.0068345703184604645,
130
+ "leadthrough_capture_read_duration_median_s": 0.003962826449424028,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004449852742254734,
132
+ "leadthrough_capture_read_duration_p99_s": 0.005351809831336149,
133
+ "leadthrough_capture_read_duration_warn_count": 2505,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999893,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 11,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.003976359963417053,
144
+ 0.00264132022857666,
145
+ 0.003273695707321167,
146
+ 0.0020217387937009335,
147
+ 0.002124190330505371,
148
+ 0.007346928119659424
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.007346928119659424,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0026581939309835434,
153
+ 0.0017671143868938088,
154
+ 0.002011680044233799,
155
+ 0.0003366323944646865,
156
+ 0.0010562657844275236,
157
+ 0.0043947529047727585
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0009895513067021966,
161
+ 0.0007504402892664075,
162
+ 0.0009240341605618596,
163
+ 0.00025075575103983283,
164
+ 0.00046025888877920806,
165
+ 0.0016949326964095235
166
+ ],
167
+ "leadthrough_delta_samples": 4965,
168
+ "leadthrough_delta_warn": false,
169
+ "leadthrough_delta_warn_count": 0,
170
+ "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
171
+ "leadthrough_delta_worst_delta_rad": -0.007346928119659424,
172
+ "leadthrough_delta_worst_from_rad": -0.3232864737510681,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.4079999999999999,
175
+ "leadthrough_delta_worst_to_rad": -0.33063340187072754,
176
+ "leadthrough_duration_s": 19.858,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 4923,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.0,
182
+ "leadthrough_final_stillness_removed_samples": 0,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 4924,
186
+ "leadthrough_final_stillness_trimmed": false,
187
+ "leadthrough_frame_count": 5916,
188
+ "leadthrough_initial_stillness_first_motion_index": 951,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 3.799,
192
+ "leadthrough_initial_stillness_removed_samples": 950,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 950,
196
+ "leadthrough_initial_stillness_trimmed": true,
197
+ "leadthrough_reference_hz": 250.0,
198
+ "leadthrough_sample_dt_max_s": 0.005000000000002558,
199
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
200
+ "leadthrough_sample_gap_warn": false,
201
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
202
+ 0.003976359963417053,
203
+ 0.00264132022857666,
204
+ 0.003273695707321167,
205
+ 0.0020217387937009335,
206
+ 0.002124190330505371,
207
+ 0.007346928119659424
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007346928119659424,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.3008217016855383,
212
+ 0.8724530537922847,
213
+ 1.081109046935994,
214
+ 0.673912931233619,
215
+ 0.7080634435017635,
216
+ 2.427607774734405
217
+ ],
218
+ "leadthrough_wrap_suspect": false,
219
+ "leadthrough_wrap_suspect_count": 0,
220
+ "leadthrough_wrap_threshold_rad": 3.0,
221
+ "max_tracking_error_rad": 0.0,
222
+ "moving_aligned_best_lag_s": null,
223
+ "playback_backend": "rapid_planner",
224
+ "playback_keepalive_hz": null,
225
+ "playback_sample_rate_hz": 30.0,
226
+ "playback_settle_s": 0.0,
227
+ "playback_speed_scale": 1.0,
228
+ "playback_speedref_scale": 0.0,
229
+ "rapid_planner_done_timeout_margin_s": 30.0,
230
+ "rapid_planner_done_timeout_s": 69.71600000000001,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 19.858,
233
+ "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
234
+ "rapid_planner_event_points_uploaded": 2,
235
+ "rapid_planner_event_selected_source_indices": [
236
+ 1618,
237
+ 3659
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.4326139367448526,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.0856756865978241,
244
+ "rapid_planner_max_dt_s": 1.9050000000000011,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007550537586212158,
247
+ "rapid_planner_median_dt_s": 0.09199999999999875,
248
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
249
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
250
+ "rapid_planner_selected_indices": [
251
+ 0,
252
+ 14,
253
+ 26,
254
+ 43,
255
+ 56,
256
+ 68,
257
+ 79,
258
+ 90,
259
+ 100,
260
+ 110,
261
+ 121,
262
+ 134,
263
+ 141,
264
+ 148,
265
+ 155,
266
+ 162,
267
+ 175,
268
+ 182,
269
+ 188,
270
+ 201,
271
+ 210,
272
+ 218,
273
+ 237,
274
+ 270,
275
+ 295,
276
+ 308,
277
+ 321,
278
+ 347,
279
+ 369,
280
+ 392,
281
+ 427,
282
+ 469,
283
+ 511,
284
+ 552,
285
+ 578,
286
+ 604,
287
+ 636,
288
+ 659,
289
+ 701,
290
+ 726,
291
+ 775,
292
+ 818,
293
+ 877,
294
+ 956,
295
+ 1023,
296
+ 1192,
297
+ 1254,
298
+ 1343,
299
+ 1543,
300
+ 1618,
301
+ 1679,
302
+ 2155,
303
+ 2221,
304
+ 2283,
305
+ 2331,
306
+ 2358,
307
+ 2384,
308
+ 2414,
309
+ 2443,
310
+ 2458,
311
+ 2474,
312
+ 2490,
313
+ 2505,
314
+ 2526,
315
+ 2548,
316
+ 2568,
317
+ 2589,
318
+ 2611,
319
+ 2627,
320
+ 2643,
321
+ 2660,
322
+ 2676,
323
+ 2696,
324
+ 2717,
325
+ 2738,
326
+ 2760,
327
+ 2785,
328
+ 2810,
329
+ 2837,
330
+ 2860,
331
+ 2892,
332
+ 3010,
333
+ 3127,
334
+ 3439,
335
+ 3542,
336
+ 3620,
337
+ 3659,
338
+ 3884,
339
+ 3925,
340
+ 4024,
341
+ 4078,
342
+ 4310,
343
+ 4340,
344
+ 4369,
345
+ 4412,
346
+ 4436,
347
+ 4454,
348
+ 4471,
349
+ 4482,
350
+ 4493,
351
+ 4502,
352
+ 4510,
353
+ 4527,
354
+ 4538,
355
+ 4550,
356
+ 4560,
357
+ 4571,
358
+ 4582,
359
+ 4594,
360
+ 4612,
361
+ 4647,
362
+ 4680,
363
+ 4710,
364
+ 4965
365
+ ],
366
+ "rapid_planner_selected_max_joint_step_deg": 4.908855248940871,
367
+ "rapid_planner_selected_samples": 114,
368
+ "rapid_planner_service_configured": true,
369
+ "rapid_planner_source_samples": 4966,
370
+ "rapid_planner_state_done": 6.0,
371
+ "rapid_planner_state_error": 7.0,
372
+ "rapid_planner_tool_command_hz": 30.0,
373
+ "rapid_planner_tool_command_supported": true,
374
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
375
+ "rapid_planner_tool_io_configured": true,
376
+ "rapid_planner_tool_io_supported": true,
377
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
378
+ "rapid_planner_tool_state_supported": true,
379
+ "rapid_planner_tool_transition_source_count": 2,
380
+ "rapid_planner_tool_transitions_uploaded": 2,
381
+ "rapid_planner_tool_upload_enabled": true,
382
+ "rapid_planner_uploaded": true,
383
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
384
+ "rapid_planner_waypoints_uploaded": 114,
385
+ "raw_ramp_max_error_rad": null,
386
+ "raw_replay_max_error_rad": 0.0059497058391571045,
387
+ "raw_replay_rms_error_rad": 0.0007556404989343448,
388
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9810626875967309,
389
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9690809793609771,
390
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9874719065361863,
391
+ "replay_smoothing_applied": true,
392
+ "replay_smoothing_blend": 1.0,
393
+ "replay_smoothing_blend_by_joint": [
394
+ 1.0,
395
+ 1.0,
396
+ 1.0,
397
+ 1.0,
398
+ 1.0,
399
+ 1.0
400
+ ],
401
+ "replay_smoothing_edge_taper_s": 0.2,
402
+ "replay_smoothing_edge_taper_samples": 50,
403
+ "replay_smoothing_enabled": true,
404
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0002513576627634,
405
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9733903234407864,
406
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9938337591532076,
407
+ "replay_smoothing_max_deviation_by_joint_rad": [
408
+ 0.0006109029054641724,
409
+ 0.0005415081977844238,
410
+ 0.0008577257394790649,
411
+ 0.0028077811002731323,
412
+ 0.0016007423400878906,
413
+ 0.004894748330116272
414
+ ],
415
+ "replay_smoothing_max_deviation_normalized": 0.5608968465336522,
416
+ "replay_smoothing_max_deviation_rad": 0.004894748330116272,
417
+ "replay_smoothing_method": "scipy_savgol",
418
+ "replay_smoothing_p95_deviation_rad": 0.002195596694946289,
419
+ "replay_smoothing_passes": 8,
420
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.010245323181152,
421
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 72.01986694335938,
422
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.926434779145478,
423
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1234.0211181640625,
424
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19388.873046875,
425
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1053.9995926049585,
426
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.171680212020874,
427
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.24645236951280985,
428
+ "replay_smoothing_rms_deviation_rad": 0.000940547146628012,
429
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.915364742279053,
430
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 69.79308319091797,
431
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.8772440372527748,
432
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1234.331298828125,
433
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18872.94140625,
434
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1047.5003772645352,
435
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.128668785095215,
436
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24557323653738217,
437
+ "replay_smoothing_tolerance_by_joint_rad": [
438
+ 0.03490658476948738,
439
+ 0.03490658476948738,
440
+ 0.02617993950843811,
441
+ 0.008726646192371845,
442
+ 0.008726646192371845,
443
+ 0.008726646192371845
444
+ ],
445
+ "replay_smoothing_tolerance_rad": 0.034906585,
446
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9801944012347773,
447
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964328483545702,
448
+ "replay_smoothing_window_s": 0.2,
449
+ "replay_smoothing_window_samples": 51,
450
+ "replay_smoothing_within_tolerance": true,
451
+ "replay_smoothing_worst_joint": 5,
452
+ "replay_smoothing_worst_time_s": 18.438,
453
+ "replay_smoothing_wrist_max_deviation_rad": 0.004894748330116272,
454
+ "safety_abort": false,
455
+ "safety_path_error_rad": 0.0059497058391571045,
456
+ "saved_data_source": "measured_rapid_planner_playback",
457
+ "send_failures": 0,
458
+ "stage_planned_to_measured_max_error_rad": 0.04016047716140747,
459
+ "stage_planned_to_measured_rms_error_rad": 0.005907402756189855,
460
+ "stage_sent_to_measured_max_error_rad": null,
461
+ "stage_sent_to_measured_rms_error_rad": null,
462
+ "stage_sent_to_planned_max_error_rad": null,
463
+ "stage_sent_to_planned_rms_error_rad": null,
464
+ "stage_target_to_sent_max_error_rad": null,
465
+ "stage_target_to_sent_rms_error_rad": null,
466
+ "state_frame_count": 989,
467
+ "stopped_early": true,
468
+ "strict_tracking_pass": false,
469
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
470
+ "tcp_pose_count": 989,
471
+ "timestamp_count": 989,
472
+ "tool_failures": 0,
473
+ "tracking_geometry_pass": false,
474
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
475
+ "tracking_pass": false,
476
+ "tracking_reason": "diagnostics_skipped_operator_stop",
477
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
478
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
479
+ "tracking_threshold_max_lag_s": 0.1,
480
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
481
+ "tracking_timing_pass": false,
482
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
483
+ "window_lag_count": 0
484
+ }
485
+ }
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_operator_stop_20261014_163818.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9e973da00e324e6aa8e460b89e898ef9ccc4b70795d3af36f1b1a66951b28043
3
+ size 98834
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.json ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-14T16:40:08",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.npz",
11
+ "phase_labels": {
12
+ "0": "connect_to_path",
13
+ "1": "return_to_start",
14
+ "2": "settle",
15
+ "3": "replay"
16
+ },
17
+ "reason": "rapid_planner_completed_candidate",
18
+ "summary": {
19
+ "action_frame_count": 1128,
20
+ "actual_playback_duration_s": 37.610471153631806,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006744942627847195,
23
+ "aligned_p95_error_rad": 0.0019861399196088314,
24
+ "aligned_rms_error_rad": 0.0008766217436827839,
25
+ "aligned_samples": 1128,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 4.171000000000001,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1128,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1128,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6368747509958572,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1128,
46
+ "cam_wrist": 1128
47
+ },
48
+ "joint_lag_best_lag_s": [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ -0.009999999999998233,
53
+ 0.0,
54
+ 0.0
55
+ ],
56
+ "joint_lag_max_error_rad": [
57
+ 0.005060434341430664,
58
+ 0.0036088675260543823,
59
+ 0.006265774369239807,
60
+ 0.006201597861945629,
61
+ 0.005533695220947266,
62
+ 0.0050373077392578125
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0021331848111003637,
66
+ 0.0018825653241947293,
67
+ 0.0018103972543030977,
68
+ 0.0016696128295734525,
69
+ 0.0019374313997104764,
70
+ 0.0023859920911490917
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0009264630063905363,
74
+ 0.0008071371486715402,
75
+ 0.0008645476302793304,
76
+ 0.0007388977845069007,
77
+ 0.000868333371949597,
78
+ 0.0010257026695340234
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1128,
82
+ 1128,
83
+ 1128,
84
+ 1128,
85
+ 1128,
86
+ 1128
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 15.186000000000002,
90
+ 22.201999999999998,
91
+ 4.208,
92
+ 4.171000000000001,
93
+ 4.208,
94
+ 15.186000000000002
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000004656613,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.005000000004656613,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000004656613,
100
+ "leadthrough_capture_controller_tm_gap_warn": false,
101
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
102
+ "leadthrough_capture_dropped_ticks": 0,
103
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
104
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
105
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
106
+ "leadthrough_capture_egm_drained_packet_events": 1,
107
+ "leadthrough_capture_egm_drained_packet_max": 15,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006889081560075283,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003950060345232487,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004443931300193071,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005291406260803343,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2868,
114
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 0,
115
+ "leadthrough_capture_egm_recorded_seqno_step_max": 1,
116
+ "leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
117
+ "leadthrough_capture_expected_dt_s": 0.004,
118
+ "leadthrough_capture_host_loop_dt_max_s": 0.006931331008672714,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039748381823301315,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004471804667264223,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005327444672584534,
122
+ "leadthrough_capture_host_loop_gap_warn": false,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 0,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.006859976798295975,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003979220055043697,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004464341141283512,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005308699849992985,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.03061456512659788,
170
+ "leadthrough_capture_loop_late_median_s": 0.024375348817557096,
171
+ "leadthrough_capture_loop_late_p95_s": 0.02486949982121587,
172
+ "leadthrough_capture_loop_late_p99_s": 0.02584261603653431,
173
+ "leadthrough_capture_loop_late_warn_count": 7400,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006913449615240097,
176
+ "leadthrough_capture_read_duration_median_s": 0.003963531460613012,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004458363726735115,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005310975080356003,
179
+ "leadthrough_capture_read_duration_warn_count": 3052,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
181
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
182
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
183
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000002558,
184
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
185
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
186
+ "leadthrough_capture_slow_ticks": 8,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0029876679182052612,
190
+ 0.0020684897899627686,
191
+ 0.0027336031198501587,
192
+ 0.0017964355647563934,
193
+ 0.002010345458984375,
194
+ 0.006576329469680786
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006576329469680786,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002068487461656332,
199
+ 0.0015192091232165694,
200
+ 0.002328932285308838,
201
+ 0.00045252303243614733,
202
+ 0.0012906789779663086,
203
+ 0.0036751970183104277
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007883234648033977,
207
+ 0.0006540798931382596,
208
+ 0.0008116569952107966,
209
+ 0.00022567105770576745,
210
+ 0.0005050624022260308,
211
+ 0.0014045441057533026
212
+ ],
213
+ "leadthrough_delta_samples": 5745,
214
+ "leadthrough_delta_warn": false,
215
+ "leadthrough_delta_warn_count": 0,
216
+ "leadthrough_delta_warn_threshold_rad": 0.2617993877991494,
217
+ "leadthrough_delta_worst_delta_rad": -0.006576329469680786,
218
+ "leadthrough_delta_worst_from_rad": -0.31862640380859375,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.4560000000000004,
221
+ "leadthrough_delta_worst_to_rad": -0.32520273327827454,
222
+ "leadthrough_duration_s": 22.976999999999997,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5744,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5760000000000005,
228
+ "leadthrough_final_stillness_removed_samples": 144,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5745,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7400,
234
+ "leadthrough_initial_stillness_first_motion_index": 1511,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 6.039,
238
+ "leadthrough_initial_stillness_removed_samples": 1510,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1510,
242
+ "leadthrough_initial_stillness_trimmed": true,
243
+ "leadthrough_reference_hz": 250.0,
244
+ "leadthrough_sample_dt_max_s": 0.005000000000002558,
245
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.0029876679182052612,
249
+ 0.0020684897899627686,
250
+ 0.0027336031198501587,
251
+ 0.0017964355647563934,
252
+ 0.002010345458984375,
253
+ 0.006576329469680786
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006576329469680786,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.9933561086654287,
258
+ 0.682036081949844,
259
+ 0.9096066157022767,
260
+ 0.5988118549187751,
261
+ 0.5780458450317164,
262
+ 1.6440823674200125
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.619085669517517,
265
+ "leadthrough_velocity_rms_rad_s": 0.20626047544420326,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006744942627847195,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5534909963607788,
271
+ "measured_wall_accel_peak_abs_rad_s2": 4.482030868530273,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 14.572957623749971,
274
+ "measured_wall_accel_rms_rad_s2": 0.2790401495219288,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.94096565246582,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 65.6240463256836,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 14.609403672628105,
279
+ "measured_wall_jerk_rms_rad_s3": 4.487066707584502,
280
+ "measured_wall_smoothness_samples": 1128,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6256676912307739,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.40966384392232,
284
+ "measured_wall_velocity_rms_rad_s": 0.09445375907183982,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006744942627847195,
287
+ "moving_aligned_p95_error_rad": 0.0022721460554748774,
288
+ "moving_aligned_rms_error_rad": 0.0010174317913297934,
289
+ "moving_aligned_samples": 832,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 4.171000000000001,
292
+ "moving_joint_lag_best_lag_s": [
293
+ 0.0,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0,
297
+ 0.0,
298
+ 0.0
299
+ ],
300
+ "moving_joint_lag_max_error_rad": [
301
+ 0.005060434341430664,
302
+ 0.0036088675260543823,
303
+ 0.006265774369239807,
304
+ 0.006744942627847195,
305
+ 0.005533695220947266,
306
+ 0.0050373077392578125
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0025329941418021917,
310
+ 0.0021660057827830315,
311
+ 0.0022390650119632483,
312
+ 0.004727846942842007,
313
+ 0.002753125736489892,
314
+ 0.0031156137119978666
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0011609770016433086,
318
+ 0.0009761227494309314,
319
+ 0.0011100103786992584,
320
+ 0.0020881668563177496,
321
+ 0.001223305875637201,
322
+ 0.001508150582262651
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 630,
326
+ 729,
327
+ 644,
328
+ 91,
329
+ 522,
330
+ 448
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 15.186000000000002,
334
+ 22.201999999999998,
335
+ 4.208,
336
+ 4.171000000000001,
337
+ 4.208,
338
+ 15.186000000000002
339
+ ],
340
+ "moving_lag_velocity_threshold_rad_s": 0.03,
341
+ "playback_backend": "rapid_planner",
342
+ "playback_keepalive_hz": null,
343
+ "playback_sample_rate_hz": 30.0,
344
+ "playback_settle_s": 0.0,
345
+ "playback_speed_scale": 1.0,
346
+ "playback_speedref_scale": 0.0,
347
+ "playback_velocity_peak_abs_rad_s": 1.806172490119934,
348
+ "playback_velocity_rms_rad_s": 0.350876570223999,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.954,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.976999999999997,
353
+ "rapid_planner_event_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerEventPath",
354
+ "rapid_planner_event_points_uploaded": 2,
355
+ "rapid_planner_event_selected_source_indices": [
356
+ 2469,
357
+ 4917
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.42477378671217714,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08596301078796387,
364
+ "rapid_planner_max_dt_s": 1.2199999999999989,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.00741370115429163,
367
+ "rapid_planner_median_dt_s": 0.09600000000000186,
368
+ "rapid_planner_path_max_error_rad": 0.006744942627847195,
369
+ "rapid_planner_path_p95_error_rad": 0.0030283150495961164,
370
+ "rapid_planner_path_rms_error_rad": 0.0014449208347957483,
371
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
372
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
373
+ "rapid_planner_selected_indices": [
374
+ 0,
375
+ 17,
376
+ 29,
377
+ 42,
378
+ 57,
379
+ 68,
380
+ 80,
381
+ 94,
382
+ 102,
383
+ 109,
384
+ 116,
385
+ 124,
386
+ 132,
387
+ 139,
388
+ 146,
389
+ 154,
390
+ 162,
391
+ 169,
392
+ 181,
393
+ 193,
394
+ 204,
395
+ 215,
396
+ 230,
397
+ 245,
398
+ 260,
399
+ 275,
400
+ 300,
401
+ 326,
402
+ 343,
403
+ 354,
404
+ 364,
405
+ 375,
406
+ 386,
407
+ 401,
408
+ 417,
409
+ 455,
410
+ 479,
411
+ 502,
412
+ 537,
413
+ 604,
414
+ 812,
415
+ 881,
416
+ 919,
417
+ 962,
418
+ 1015,
419
+ 1072,
420
+ 1122,
421
+ 1197,
422
+ 1238,
423
+ 1357,
424
+ 1436,
425
+ 1503,
426
+ 1545,
427
+ 1569,
428
+ 1638,
429
+ 1697,
430
+ 1739,
431
+ 1799,
432
+ 1897,
433
+ 1966,
434
+ 2090,
435
+ 2164,
436
+ 2469,
437
+ 2732,
438
+ 2801,
439
+ 3008,
440
+ 3061,
441
+ 3158,
442
+ 3193,
443
+ 3217,
444
+ 3242,
445
+ 3263,
446
+ 3284,
447
+ 3302,
448
+ 3320,
449
+ 3338,
450
+ 3355,
451
+ 3372,
452
+ 3390,
453
+ 3408,
454
+ 3426,
455
+ 3464,
456
+ 3488,
457
+ 3511,
458
+ 3541,
459
+ 3571,
460
+ 3607,
461
+ 3625,
462
+ 3643,
463
+ 3658,
464
+ 3672,
465
+ 3694,
466
+ 3716,
467
+ 3738,
468
+ 3759,
469
+ 3816,
470
+ 3874,
471
+ 3951,
472
+ 4043,
473
+ 4169,
474
+ 4388,
475
+ 4562,
476
+ 4791,
477
+ 4917,
478
+ 5146,
479
+ 5180,
480
+ 5239,
481
+ 5294,
482
+ 5336,
483
+ 5360,
484
+ 5396,
485
+ 5429,
486
+ 5454,
487
+ 5480,
488
+ 5495,
489
+ 5510,
490
+ 5525,
491
+ 5540,
492
+ 5564,
493
+ 5600,
494
+ 5654,
495
+ 5697,
496
+ 5745
497
+ ],
498
+ "rapid_planner_selected_max_joint_step_deg": 4.925317712387895,
499
+ "rapid_planner_selected_samples": 123,
500
+ "rapid_planner_service_configured": true,
501
+ "rapid_planner_source_samples": 5746,
502
+ "rapid_planner_state_done": 6.0,
503
+ "rapid_planner_state_error": 7.0,
504
+ "rapid_planner_tool_command_hz": 30.0,
505
+ "rapid_planner_tool_command_supported": true,
506
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
507
+ "rapid_planner_tool_io_configured": true,
508
+ "rapid_planner_tool_io_supported": true,
509
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
510
+ "rapid_planner_tool_state_supported": true,
511
+ "rapid_planner_tool_transition_source_count": 2,
512
+ "rapid_planner_tool_transitions_uploaded": 2,
513
+ "rapid_planner_tool_upload_enabled": true,
514
+ "rapid_planner_uploaded": true,
515
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
516
+ "rapid_planner_waypoints_uploaded": 123,
517
+ "raw_ramp_max_error_rad": null,
518
+ "raw_replay_max_error_rad": 0.006744942627847195,
519
+ "raw_replay_rms_error_rad": 0.0008766217436827839,
520
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9662738235925686,
521
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0006203907509696,
522
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9829330619387683,
523
+ "replay_smoothing_applied": true,
524
+ "replay_smoothing_blend": 1.0,
525
+ "replay_smoothing_blend_by_joint": [
526
+ 1.0,
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0
532
+ ],
533
+ "replay_smoothing_edge_taper_s": 0.2,
534
+ "replay_smoothing_edge_taper_samples": 50,
535
+ "replay_smoothing_enabled": true,
536
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9869888624484016,
537
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9686941790879122,
538
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9947539979840027,
539
+ "replay_smoothing_max_deviation_by_joint_rad": [
540
+ 0.0005166530609130859,
541
+ 0.0004904866218566895,
542
+ 0.0008802711963653564,
543
+ 0.002814091742038727,
544
+ 0.001229703426361084,
545
+ 0.007828712463378906
546
+ ],
547
+ "replay_smoothing_max_deviation_normalized": 0.8971043732954542,
548
+ "replay_smoothing_max_deviation_rad": 0.007828712463378906,
549
+ "replay_smoothing_method": "scipy_savgol",
550
+ "replay_smoothing_p95_deviation_rad": 0.001973380334675312,
551
+ "replay_smoothing_passes": 8,
552
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.786883354187012,
553
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 34.05854797363281,
554
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.830158567574848,
555
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1312.708740234375,
556
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 9053.9833984375,
557
+ "replay_smoothing_raw_jerk_rms_rad_s3": 738.860823615065,
558
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6436352729797363,
559
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.20722235702051994,
560
+ "replay_smoothing_rms_deviation_rad": 0.0009203717857755142,
561
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.591713905334473,
562
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 34.07967758178711,
563
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.781856426598584,
564
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1295.62890625,
565
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8770.541015625,
566
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 734.9847582448389,
567
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.619085669517517,
568
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20626047544420326,
569
+ "replay_smoothing_tolerance_by_joint_rad": [
570
+ 0.03490658476948738,
571
+ 0.03490658476948738,
572
+ 0.02617993950843811,
573
+ 0.008726646192371845,
574
+ 0.008726646192371845,
575
+ 0.008726646192371845
576
+ ],
577
+ "replay_smoothing_tolerance_rad": 0.034906585,
578
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9850638375399955,
579
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9953582152517383,
580
+ "replay_smoothing_window_s": 0.2,
581
+ "replay_smoothing_window_samples": 51,
582
+ "replay_smoothing_within_tolerance": true,
583
+ "replay_smoothing_worst_joint": 5,
584
+ "replay_smoothing_worst_time_s": 1.532,
585
+ "replay_smoothing_wrist_max_deviation_rad": 0.007828712463378906,
586
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
587
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
588
+ "return_measured_wall_accel_peak_joint": -1,
589
+ "return_measured_wall_accel_peak_time_s": null,
590
+ "return_measured_wall_accel_rms_rad_s2": null,
591
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
592
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
593
+ "return_measured_wall_jerk_peak_joint": -1,
594
+ "return_measured_wall_jerk_peak_time_s": null,
595
+ "return_measured_wall_jerk_rms_rad_s3": null,
596
+ "return_measured_wall_smoothness_samples": 0,
597
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
598
+ "return_measured_wall_velocity_peak_joint": -1,
599
+ "return_measured_wall_velocity_peak_time_s": null,
600
+ "return_measured_wall_velocity_rms_rad_s": null,
601
+ "safety_abort": false,
602
+ "safety_path_error_rad": 0.006744942627847195,
603
+ "saved_data_source": "measured_rapid_planner_playback",
604
+ "send_failures": 0,
605
+ "sent_wall_accel_p95_abs_rad_s2": null,
606
+ "sent_wall_accel_peak_abs_rad_s2": null,
607
+ "sent_wall_accel_peak_joint": -1,
608
+ "sent_wall_accel_peak_time_s": null,
609
+ "sent_wall_accel_rms_rad_s2": null,
610
+ "sent_wall_jerk_p95_abs_rad_s3": null,
611
+ "sent_wall_jerk_peak_abs_rad_s3": null,
612
+ "sent_wall_jerk_peak_joint": -1,
613
+ "sent_wall_jerk_peak_time_s": null,
614
+ "sent_wall_jerk_rms_rad_s3": null,
615
+ "sent_wall_smoothness_samples": 0,
616
+ "sent_wall_velocity_peak_abs_rad_s": null,
617
+ "sent_wall_velocity_peak_joint": -1,
618
+ "sent_wall_velocity_peak_time_s": null,
619
+ "sent_wall_velocity_rms_rad_s": null,
620
+ "stage_planned_to_measured_max_error_rad": 0.03724551200866699,
621
+ "stage_planned_to_measured_rms_error_rad": 0.0056046170175459145,
622
+ "stage_sent_to_measured_max_error_rad": null,
623
+ "stage_sent_to_measured_rms_error_rad": null,
624
+ "stage_sent_to_planned_max_error_rad": null,
625
+ "stage_sent_to_planned_rms_error_rad": null,
626
+ "stage_target_to_sent_max_error_rad": null,
627
+ "stage_target_to_sent_rms_error_rad": null,
628
+ "state_frame_count": 1128,
629
+ "stopped_early": false,
630
+ "strict_tracking_pass": true,
631
+ "strict_tracking_reason": "ok",
632
+ "target_wall_accel_p95_abs_rad_s2": 0.767523467540741,
633
+ "target_wall_accel_peak_abs_rad_s2": 4.6543450355529785,
634
+ "target_wall_accel_peak_joint": 5,
635
+ "target_wall_accel_peak_time_s": 0.16682156547904015,
636
+ "target_wall_accel_rms_rad_s2": 0.37540953961182927,
637
+ "target_wall_jerk_p95_abs_rad_s3": 16.331806182861328,
638
+ "target_wall_jerk_peak_abs_rad_s3": 71.27268981933594,
639
+ "target_wall_jerk_peak_joint": 4,
640
+ "target_wall_jerk_peak_time_s": 27.200053971260786,
641
+ "target_wall_jerk_rms_rad_s3": 7.919072240143001,
642
+ "target_wall_smoothness_samples": 1128,
643
+ "target_wall_velocity_peak_abs_rad_s": 0.6523374915122986,
644
+ "target_wall_velocity_peak_joint": 5,
645
+ "target_wall_velocity_peak_time_s": 25.00005575362593,
646
+ "target_wall_velocity_rms_rad_s": 0.09548406583065269,
647
+ "tcp_pose_count": 1128,
648
+ "timestamp_count": 1128,
649
+ "tool_failures": 0,
650
+ "tracking_geometry_pass": true,
651
+ "tracking_geometry_reason": "ok",
652
+ "tracking_pass": true,
653
+ "tracking_reason": "ok",
654
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
655
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
656
+ "tracking_threshold_max_lag_s": 0.1,
657
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
658
+ "tracking_timing_pass": true,
659
+ "tracking_timing_reason": "ok",
660
+ "window_lag_best_lag_max_s": 0.5500000000000025,
661
+ "window_lag_best_lag_median_s": 0.0,
662
+ "window_lag_best_lag_min_s": -1.0699999999999992,
663
+ "window_lag_best_lag_p95_abs_s": 0.8100000000000008,
664
+ "window_lag_count": 31,
665
+ "window_lag_window_s": 1.0,
666
+ "window_lag_worst_best_lag_s": 0.0,
667
+ "window_lag_worst_end_s": 5.0,
668
+ "window_lag_worst_max_error_rad": 0.006744942627847195,
669
+ "window_lag_worst_rms_error_rad": 0.0019256020772569931,
670
+ "window_lag_worst_start_s": 4.0,
671
+ "zero_lag_max_error_rad": 0.006744942627847195,
672
+ "zero_lag_p95_error_rad": 0.0019861399196088314,
673
+ "zero_lag_rms_error_rad": 0.0008766217436827839,
674
+ "zero_lag_samples": 1128,
675
+ "zero_lag_worst_joint": 3,
676
+ "zero_lag_worst_time_s": 4.171000000000001
677
+ }
678
+ }
flex_to_biotek_v2/raw/2026-10-14_16-35-44/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261014_164007.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfeb018ff5df38c31c97f15458229b387dc2c1e4b404ea841ea8c3c65d3f643e
3
+ size 118209
flex_to_biotek_v2/raw/2026-10-14_16-35-44/session_manifest.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_type": "state_copy",
3
+ "camera_status": {
4
+ "cam_scene": {
5
+ "backend": "realsense",
6
+ "connected": true,
7
+ "error": null,
8
+ "frame_count": 0,
9
+ "has_frame": false,
10
+ "model": "Intel(R) RealSense(TM) Depth Camera 455",
11
+ "name": "cam_scene",
12
+ "product_id": "0b5c",
13
+ "serial": "324422301529",
14
+ "started": false,
15
+ "usb_min_speed_mbps": 5000.0,
16
+ "usb_path": "2-4.3",
17
+ "usb_serial": "408243061090",
18
+ "usb_speed_label": "5000M",
19
+ "usb_speed_mbps": 5000.0,
20
+ "usb_speed_ok": true
21
+ },
22
+ "cam_wrist": {
23
+ "backend": "realsense",
24
+ "connected": true,
25
+ "error": null,
26
+ "frame_count": 0,
27
+ "has_frame": false,
28
+ "model": "Intel(R) RealSense(TM) Depth Camera 405",
29
+ "name": "cam_wrist",
30
+ "product_id": "0b5b",
31
+ "serial": "218722271296",
32
+ "started": false,
33
+ "usb_min_speed_mbps": 5000.0,
34
+ "usb_path": "2-3.4",
35
+ "usb_serial": "235123075560",
36
+ "usb_speed_label": "5000M",
37
+ "usb_speed_mbps": 5000.0,
38
+ "usb_speed_ok": true
39
+ }
40
+ },
41
+ "cameras": [
42
+ "cam_wrist",
43
+ "cam_scene"
44
+ ],
45
+ "collection_mode": "leadthrough_record",
46
+ "counts": {
47
+ "attempted": 4,
48
+ "discard": 3,
49
+ "failure": 0,
50
+ "success": 1
51
+ },
52
+ "dataset_schema_version": "abb_gofa_dataset_v1",
53
+ "episodes": [
54
+ {
55
+ "dropped_ticks": 0,
56
+ "duration_s": 24.22,
57
+ "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-10-14_16-35-44:discard_000001",
58
+ "episode_idx": -1,
59
+ "file": null,
60
+ "file_size_mb": 0.0,
61
+ "included": false,
62
+ "measured_fps": 250.04,
63
+ "num_frames": 6057,
64
+ "outcome": "discard",
65
+ "playback_attempts": 0,
66
+ "playback_tracking_geometry_pass": false,
67
+ "playback_tracking_pass": false,
68
+ "slow_ticks": 21,
69
+ "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
70
+ "start_pose_id": "start_pose_v017",
71
+ "tool_command_valid": false,
72
+ "tool_state_valid": true,
73
+ "tool_transitions": 2,
74
+ "warnings": []
75
+ },
76
+ {
77
+ "dropped_ticks": 0,
78
+ "duration_s": 23.657,
79
+ "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-10-14_16-35-44:discard_000002",
80
+ "episode_idx": -1,
81
+ "file": null,
82
+ "file_size_mb": 0.0,
83
+ "included": false,
84
+ "measured_fps": 250.03,
85
+ "num_frames": 5916,
86
+ "outcome": "discard",
87
+ "playback_attempts": 0,
88
+ "playback_tracking_geometry_pass": false,
89
+ "playback_tracking_pass": false,
90
+ "slow_ticks": 11,
91
+ "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
92
+ "start_pose_id": "start_pose_v017",
93
+ "tool_command_valid": false,
94
+ "tool_state_valid": true,
95
+ "tool_transitions": 2,
96
+ "warnings": []
97
+ },
98
+ {
99
+ "dropped_ticks": 0,
100
+ "duration_s": 37.567,
101
+ "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-10-14_16-35-44:episode_000000",
102
+ "episode_idx": 0,
103
+ "file": "episode_000000_20261014_164010.hdf5",
104
+ "file_size_mb": 1377.5,
105
+ "included": true,
106
+ "measured_fps": 30.0,
107
+ "num_frames": 1128,
108
+ "outcome": "success",
109
+ "playback_attempts": 1,
110
+ "playback_tracking_geometry_pass": true,
111
+ "playback_tracking_pass": true,
112
+ "slow_ticks": 0,
113
+ "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
114
+ "start_pose_id": "start_pose_v017",
115
+ "tool_command_valid": true,
116
+ "tool_state_valid": true,
117
+ "tool_transitions": 12,
118
+ "warnings": []
119
+ },
120
+ {
121
+ "dropped_ticks": 0,
122
+ "duration_s": 9.911,
123
+ "episode_id": "flex_to_biotek_v2:flex_to_biotek_v2_2026-10-14_16-35-44:discard_000003",
124
+ "episode_idx": -1,
125
+ "file": null,
126
+ "file_size_mb": 0.0,
127
+ "included": false,
128
+ "measured_fps": 250.03,
129
+ "num_frames": 2479,
130
+ "outcome": "discard",
131
+ "playback_attempts": 0,
132
+ "playback_tracking_geometry_pass": false,
133
+ "playback_tracking_pass": false,
134
+ "slow_ticks": 1,
135
+ "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
136
+ "start_pose_id": "start_pose_v017",
137
+ "tool_command_valid": false,
138
+ "tool_state_valid": true,
139
+ "tool_transitions": 0,
140
+ "warnings": []
141
+ }
142
+ ],
143
+ "operator": "Jesse",
144
+ "rapid_service_status": {
145
+ "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
146
+ "configured": true,
147
+ "message": "configured",
148
+ "ok": true,
149
+ "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
150
+ },
151
+ "robot_type": "abb_gofa",
152
+ "session_ended": "",
153
+ "session_id": "flex_to_biotek_v2_2026-10-14_16-35-44",
154
+ "session_started": "2026-10-14T16:35:44",
155
+ "settings": {
156
+ "arm_mode": "egm",
157
+ "fps": 30,
158
+ "leadthrough_reference_hz": 250.0,
159
+ "max_duration": 180.0,
160
+ "num_episodes": 12,
161
+ "playback_backend": "rapid_planner",
162
+ "playback_keepalive_hz": 250.0,
163
+ "playback_settle_s": 0.25,
164
+ "playback_speed_scale": 1.0,
165
+ "playback_speedref_scale": 0.25,
166
+ "start_index": 0
167
+ },
168
+ "start_pose": {
169
+ "leadthrough_start_arm_mode": "",
170
+ "leadthrough_start_arm_source": "task_manifest",
171
+ "leadthrough_start_captured_at": "2026-06-26T16:17:49",
172
+ "leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
173
+ "leadthrough_start_joints_deg": [
174
+ 16.926,
175
+ -0.49,
176
+ 52.285,
177
+ 4.341,
178
+ 41.395,
179
+ 7.983
180
+ ],
181
+ "leadthrough_start_joints_rad": [
182
+ 0.295419,
183
+ -0.008551,
184
+ 0.912542,
185
+ 0.075773,
186
+ 0.722472,
187
+ 0.139336
188
+ ],
189
+ "leadthrough_start_pose_enabled": true,
190
+ "leadthrough_start_pose_locked": true,
191
+ "leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
192
+ "leadthrough_start_pose_notes": "",
193
+ "leadthrough_start_pose_project": "flex_to_biotek_v2",
194
+ "leadthrough_start_pose_role": "leadthrough_start",
195
+ "leadthrough_start_pose_saved_task_local": true,
196
+ "leadthrough_start_pose_source": "saved_pose",
197
+ "leadthrough_start_pose_uploaded": true,
198
+ "leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
199
+ "leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
200
+ "leadthrough_start_tcp_pos_m": [],
201
+ "leadthrough_start_tcp_quat": [],
202
+ "leadthrough_start_tool_command_supported": false,
203
+ "leadthrough_start_tool_commanded": false,
204
+ "leadthrough_start_tool_io_backend": "",
205
+ "leadthrough_start_tool_state": 0.0,
206
+ "leadthrough_start_tool_state_valid": true,
207
+ "start_pose_hash": "21a2ac29a6584cae977c7b558173ddd31d58aa4febf610ad32b9c6ba74b821d2",
208
+ "start_pose_id": "start_pose_v017",
209
+ "start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek_v2/poses/start_pose_v017.json"
210
+ },
211
+ "task_id": "flex_to_biotek_v2",
212
+ "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
213
+ "tool_signal": "read-only configured",
214
+ "tool_status": {
215
+ "backend": "rws_rapid_feedback",
216
+ "can_command": false,
217
+ "can_read": true,
218
+ "command_failures": 0,
219
+ "command_hysteresis": 0.05,
220
+ "command_mode": "binary",
221
+ "command_signal": "read-only configured",
222
+ "command_threshold": 0.5,
223
+ "configured": true,
224
+ "last_state": null,
225
+ "last_state_age_s": null,
226
+ "message": "read RAPID gripper feedback array configured",
227
+ "ok": true,
228
+ "read_failures": 0,
229
+ "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
230
+ "state_valid": false
231
+ },
232
+ "updated_at": "2026-10-14T16:40:35"
233
+ }
flex_to_biotek_v2/raw/2026-10-14_16-35-44/session_summary.json ADDED
@@ -0,0 +1,112 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_id": "flex_to_biotek_v2",
3
+ "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
4
+ "operator": "Jesse",
5
+ "robot_type": "abb_gofa",
6
+ "collection_mode": "leadthrough_record",
7
+ "action_type": "state_copy",
8
+ "session_started": "2026-10-14T16:35:45",
9
+ "session_ended": "",
10
+ "counts": {
11
+ "attempted": 4,
12
+ "success": 1,
13
+ "failure": 0,
14
+ "discard": 3
15
+ },
16
+ "episodes": [
17
+ {
18
+ "episode_idx": -1,
19
+ "outcome": "discard",
20
+ "file": null,
21
+ "num_frames": 6057,
22
+ "duration_s": 24.22,
23
+ "measured_fps": 250.04,
24
+ "slow_ticks": 21,
25
+ "dropped_ticks": 0,
26
+ "save_time_s": 0.0,
27
+ "file_size_mb": 0.0,
28
+ "save_metrics": {}
29
+ },
30
+ {
31
+ "episode_idx": -1,
32
+ "outcome": "discard",
33
+ "file": null,
34
+ "num_frames": 5916,
35
+ "duration_s": 23.657,
36
+ "measured_fps": 250.03,
37
+ "slow_ticks": 11,
38
+ "dropped_ticks": 0,
39
+ "save_time_s": 0.0,
40
+ "file_size_mb": 0.0,
41
+ "save_metrics": {}
42
+ },
43
+ {
44
+ "episode_idx": 0,
45
+ "outcome": "success",
46
+ "file": "episode_000000_20261014_164010.hdf5",
47
+ "num_frames": 1128,
48
+ "duration_s": 37.567,
49
+ "measured_fps": 30.0,
50
+ "slow_ticks": 0,
51
+ "dropped_ticks": 0,
52
+ "save_time_s": 9.191,
53
+ "file_size_mb": 1377.5,
54
+ "save_metrics": {
55
+ "validate_s": 0.0010186899453401566,
56
+ "prepare_arrays_s": 0.0012264987453818321,
57
+ "image_compression": "lzf",
58
+ "image_gzip_level": 0,
59
+ "image_stack_s": 0.26593718212097883,
60
+ "image_write_s": 8.88358333427459,
61
+ "image_chunking": "frame",
62
+ "image_input_mb": 2079.1296,
63
+ "image_storage_mb": 1374.901397,
64
+ "image_frame_count": 2256,
65
+ "image_camera_frame_counts": {
66
+ "cam_scene": 1128,
67
+ "cam_wrist": 1128
68
+ },
69
+ "image_camera_chunks": {
70
+ "cam_scene": [
71
+ 1,
72
+ 480,
73
+ 640,
74
+ 3
75
+ ],
76
+ "cam_wrist": [
77
+ 1,
78
+ 480,
79
+ 640,
80
+ 3
81
+ ]
82
+ },
83
+ "image_camera_input_mb": {
84
+ "cam_scene": 1039.5648,
85
+ "cam_wrist": 1039.5648
86
+ },
87
+ "image_camera_storage_mb": {
88
+ "cam_scene": 727.155179,
89
+ "cam_wrist": 647.746218
90
+ },
91
+ "file_size_mb": 1377.537741,
92
+ "hdf5_write_s": 9.18847968429327,
93
+ "hdf5_attr_timing_scope": "pre_close_pre_replace",
94
+ "replace_s": 3.77139076590538e-05,
95
+ "total_s": 9.190881775692105
96
+ }
97
+ },
98
+ {
99
+ "episode_idx": -1,
100
+ "outcome": "discard",
101
+ "file": null,
102
+ "num_frames": 2479,
103
+ "duration_s": 9.911,
104
+ "measured_fps": 250.03,
105
+ "slow_ticks": 1,
106
+ "dropped_ticks": 0,
107
+ "save_time_s": 0.0,
108
+ "file_size_mb": 0.0,
109
+ "save_metrics": {}
110
+ }
111
+ ]
112
+ }
flex_to_biotek_v2/raw/2026-10-14_16-41-37/session_manifest.json ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_type": "state_copy",
3
+ "camera_status": {
4
+ "cam_scene": {
5
+ "backend": "realsense",
6
+ "connected": true,
7
+ "error": null,
8
+ "frame_count": 0,
9
+ "has_frame": false,
10
+ "model": "Intel(R) RealSense(TM) Depth Camera 455",
11
+ "name": "cam_scene",
12
+ "product_id": "0b5c",
13
+ "serial": "324422301529",
14
+ "started": false,
15
+ "usb_min_speed_mbps": 5000.0,
16
+ "usb_path": "2-4.3",
17
+ "usb_serial": "408243061090",
18
+ "usb_speed_label": "5000M",
19
+ "usb_speed_mbps": 5000.0,
20
+ "usb_speed_ok": true
21
+ },
22
+ "cam_wrist": {
23
+ "backend": "realsense",
24
+ "connected": false,
25
+ "error": null,
26
+ "frame_count": 0,
27
+ "has_frame": false,
28
+ "model": null,
29
+ "name": "cam_wrist",
30
+ "product_id": null,
31
+ "serial": "218722271296",
32
+ "started": false,
33
+ "usb_min_speed_mbps": 5000.0,
34
+ "usb_path": null,
35
+ "usb_serial": "235123075560",
36
+ "usb_speed_label": "unknown",
37
+ "usb_speed_mbps": null,
38
+ "usb_speed_ok": false
39
+ }
40
+ },
41
+ "cameras": [
42
+ "cam_wrist",
43
+ "cam_scene"
44
+ ],
45
+ "collection_mode": "leadthrough_record",
46
+ "counts": {
47
+ "attempted": 0,
48
+ "discard": 0,
49
+ "failure": 0,
50
+ "success": 0
51
+ },
52
+ "dataset_schema_version": "abb_gofa_dataset_v1",
53
+ "episodes": [],
54
+ "operator": "Jesse",
55
+ "rapid_service_status": {
56
+ "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
57
+ "configured": true,
58
+ "message": "configured",
59
+ "ok": true,
60
+ "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
61
+ },
62
+ "robot_type": "abb_gofa",
63
+ "session_ended": "2026-10-14T16:41:37",
64
+ "session_id": "flex_to_biotek_v2_2026-10-14_16-41-37",
65
+ "session_started": "2026-10-14T16:41:37",
66
+ "settings": {
67
+ "arm_mode": "egm",
68
+ "fps": 30,
69
+ "leadthrough_reference_hz": 250.0,
70
+ "max_duration": 180.0,
71
+ "num_episodes": 11,
72
+ "playback_backend": "rapid_planner",
73
+ "playback_keepalive_hz": 250.0,
74
+ "playback_settle_s": 0.25,
75
+ "playback_speed_scale": 1.0,
76
+ "playback_speedref_scale": 0.25,
77
+ "start_index": 0
78
+ },
79
+ "start_pose": {},
80
+ "task_id": "flex_to_biotek_v2",
81
+ "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
82
+ "tool_signal": "read-only configured",
83
+ "tool_status": {
84
+ "backend": "rws_rapid_feedback",
85
+ "can_command": false,
86
+ "can_read": true,
87
+ "command_failures": 0,
88
+ "command_hysteresis": 0.05,
89
+ "command_mode": "binary",
90
+ "command_signal": "read-only configured",
91
+ "command_threshold": 0.5,
92
+ "configured": true,
93
+ "last_state": null,
94
+ "last_state_age_s": null,
95
+ "message": "read RAPID gripper feedback array configured",
96
+ "ok": true,
97
+ "read_failures": 0,
98
+ "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
99
+ "state_valid": false
100
+ },
101
+ "updated_at": "2026-10-14T16:41:37"
102
+ }
flex_to_biotek_v2/raw/2026-10-14_16-41-59/session_manifest.json ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_type": "state_copy",
3
+ "camera_status": {
4
+ "cam_scene": {
5
+ "backend": "realsense",
6
+ "connected": true,
7
+ "error": null,
8
+ "frame_count": 0,
9
+ "has_frame": false,
10
+ "model": "Intel(R) RealSense(TM) Depth Camera 455",
11
+ "name": "cam_scene",
12
+ "product_id": "0b5c",
13
+ "serial": "324422301529",
14
+ "started": false,
15
+ "usb_min_speed_mbps": 5000.0,
16
+ "usb_path": "2-4.3",
17
+ "usb_serial": "408243061090",
18
+ "usb_speed_label": "5000M",
19
+ "usb_speed_mbps": 5000.0,
20
+ "usb_speed_ok": true
21
+ },
22
+ "cam_wrist": {
23
+ "backend": "realsense",
24
+ "connected": false,
25
+ "error": null,
26
+ "frame_count": 0,
27
+ "has_frame": false,
28
+ "model": null,
29
+ "name": "cam_wrist",
30
+ "product_id": null,
31
+ "serial": "218722271296",
32
+ "started": false,
33
+ "usb_min_speed_mbps": 5000.0,
34
+ "usb_path": null,
35
+ "usb_serial": "235123075560",
36
+ "usb_speed_label": "unknown",
37
+ "usb_speed_mbps": null,
38
+ "usb_speed_ok": false
39
+ }
40
+ },
41
+ "cameras": [
42
+ "cam_wrist",
43
+ "cam_scene"
44
+ ],
45
+ "collection_mode": "leadthrough_record",
46
+ "counts": {
47
+ "attempted": 0,
48
+ "discard": 0,
49
+ "failure": 0,
50
+ "success": 0
51
+ },
52
+ "dataset_schema_version": "abb_gofa_dataset_v1",
53
+ "episodes": [],
54
+ "operator": "Jesse",
55
+ "rapid_service_status": {
56
+ "command_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughCmd",
57
+ "configured": true,
58
+ "message": "configured",
59
+ "ok": true,
60
+ "state_signal": "rapid:RAPID/T_ROB1/EgmLeadthroughService/uiLeadthroughState"
61
+ },
62
+ "robot_type": "abb_gofa",
63
+ "session_ended": "2026-10-14T16:41:59",
64
+ "session_id": "flex_to_biotek_v2_2026-10-14_16-41-59",
65
+ "session_started": "2026-10-14T16:41:59",
66
+ "settings": {
67
+ "arm_mode": "egm",
68
+ "fps": 30,
69
+ "leadthrough_reference_hz": 250.0,
70
+ "max_duration": 180.0,
71
+ "num_episodes": 11,
72
+ "playback_backend": "rapid_planner",
73
+ "playback_keepalive_hz": 250.0,
74
+ "playback_settle_s": 0.25,
75
+ "playback_speed_scale": 1.0,
76
+ "playback_speedref_scale": 0.25,
77
+ "start_index": 0
78
+ },
79
+ "start_pose": {},
80
+ "task_id": "flex_to_biotek_v2",
81
+ "task_prompt": "move the well plate from Opentrons Flex to BioTek Plate Reader",
82
+ "tool_signal": "read-only configured",
83
+ "tool_status": {
84
+ "backend": "rws_rapid_feedback",
85
+ "can_command": false,
86
+ "can_read": true,
87
+ "command_failures": 0,
88
+ "command_hysteresis": 0.05,
89
+ "command_mode": "binary",
90
+ "command_signal": "read-only configured",
91
+ "command_threshold": 0.5,
92
+ "configured": true,
93
+ "last_state": null,
94
+ "last_state_age_s": null,
95
+ "message": "read RAPID gripper feedback array configured",
96
+ "ok": true,
97
+ "read_failures": 0,
98
+ "state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
99
+ "state_valid": false
100
+ },
101
+ "updated_at": "2026-10-14T16:41:59"
102
+ }
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000000_20261014_164418.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f0e19657ec00a86a332dcb8a57eb166354227863566324feb928a5688dd5e5ac
3
+ size 1270549572
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000001_20261014_164550.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f107399b260c843196b79513b30afcbe5d2426d95a17899c0e98552b666137e7
3
+ size 1243804651
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000002_20261014_164731.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fccd25d68bfa9c9b5284268e078518c0bd04bb2e940a5e42f213b43a8aa80fd
3
+ size 1321312294
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000003_20261014_164926.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d34ccbf85885a74f512d29bf17360f5061ec47bab94c478c810b14e25224c86
3
+ size 1308517095
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000004_20261014_165133.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11f740ae97187637622e7eff0077e5a10980773b620815a84ed3976d52ec469e
3
+ size 1323433728
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000005_20261014_165422.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe68301f134b163ab7c478a4532afb5a100d0df55da31725e419c7761e72d5df
3
+ size 1334198847
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000006_20261014_165837.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:814a3abca508091b55b5dd890aa1a1942ebfcba0adb74a3478192746abb4a248
3
+ size 1346447336
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000007_20261014_170021.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34bc3bd1904e58f66a7c64e1e0496de6b5c15f85cc9542cf6588140d0fc06ca8
3
+ size 1449936069
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000008_20261014_170203.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6dbfb9d45e732e0259ad00d2d06db1ac41c08b420fffb5244c1e9836bac26fcd
3
+ size 1316358059
flex_to_biotek_v2/raw/2026-10-14_16-42-27/episode_000009_20261014_170347.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:797793cd3eac55cd971bb49d2f88fcd4cf15084316ab2865dedd001272f48df6
3
+ size 1334953876