Upload flex_to_biotek_v2 data through 2026-08-30 (part 2)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +48 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000039_20260806_133728.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000040_20260806_133903.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000041_20260806_134046.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000042_20260806_134505.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000043_20260806_134640.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000044_20260806_134825.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000045_20260806_135040.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000046_20260806_135216.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000047_20260806_135348.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000048_20260806_135659.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000049_20260806_135834.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000050_20260806_140019.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000051_20260806_140201.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000052_20260806_140456.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000053_20260806_140635.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000054_20260806_140830.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000055_20260806_141007.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000056_20260806_141259.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000057_20260806_141546.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000058_20260806_142143.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000059_20260806_142522.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000060_20260806_151316.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000061_20260806_151448.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000062_20260806_151632.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000063_20260806_151811.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000064_20260806_152029.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.json +469 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.json +471 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.json +473 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.json +469 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.json +469 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.json +471 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.json +476 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.json +489 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.json +657 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.json +652 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.json +654 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.npz +3 -0
- flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121656.json +653 -0
.gitattributes
CHANGED
|
@@ -264,3 +264,51 @@ flex_to_biotek/raw/2026-06-29_11-30-41/episode_000066_20260629_153157.hdf5 filte
|
|
| 264 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000067_20260629_153337.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 265 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000068_20260629_153514.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 266 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000069_20260629_153702.hdf5 filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 264 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000067_20260629_153337.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 265 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000068_20260629_153514.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 266 |
flex_to_biotek/raw/2026-06-29_11-30-41/episode_000069_20260629_153702.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 267 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000039_20260806_133728.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 268 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000040_20260806_133903.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 269 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000041_20260806_134046.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 270 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000042_20260806_134505.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 271 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000043_20260806_134640.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 272 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000044_20260806_134825.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 273 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000045_20260806_135040.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 274 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000046_20260806_135216.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 275 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000047_20260806_135348.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 276 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000048_20260806_135659.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 277 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000049_20260806_135834.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 278 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000050_20260806_140019.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 279 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000051_20260806_140201.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 280 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000052_20260806_140456.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 281 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000053_20260806_140635.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 282 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000054_20260806_140830.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 283 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000055_20260806_141007.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 284 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000056_20260806_141259.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 285 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000057_20260806_141546.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 286 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000058_20260806_142143.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 287 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000059_20260806_142522.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 288 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000060_20260806_151316.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 289 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000061_20260806_151448.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 290 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000062_20260806_151632.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 291 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000063_20260806_151811.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 292 |
+
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000064_20260806_152029.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 293 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000000_20260807_150849.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 294 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000001_20260807_151247.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 295 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000002_20260807_151551.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 296 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000003_20260807_152645.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 297 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000004_20260807_153127.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 298 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000005_20260807_153449.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 299 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000006_20260807_153756.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 300 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000007_20260807_154030.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 301 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000008_20260807_154316.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 302 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000009_20260807_154503.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 303 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000010_20260807_155859.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 304 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000011_20260807_160027.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 305 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000012_20260807_160158.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 306 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000013_20260807_160424.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 307 |
+
flex_to_biotek_v2/raw/2026-08-07_15-05-30/episode_000014_20260807_163354.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 308 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000000_20260807_163726.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 309 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000001_20260807_164020.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 310 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000002_20260807_164151.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 311 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000003_20260807_164316.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 312 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000004_20260807_164449.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 313 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000005_20260807_164623.hdf5 filter=lfs diff=lfs merge=lfs -text
|
| 314 |
+
flex_to_biotek_v2/raw/2026-08-07_16-35-57/episode_000006_20260807_165524.hdf5 filter=lfs diff=lfs merge=lfs -text
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000039_20260806_133728.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a7244ae8dd8b4bb4ac900e4d48402471723803dee36e7a5cfdffa47c1af40d60
|
| 3 |
+
size 1225509873
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000040_20260806_133903.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94a1066aff37bcdeaa7b317dd5de930c4169afba0ca7c9bdcdfb797fd5753142
|
| 3 |
+
size 1256195213
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000041_20260806_134046.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17cafd09e89b3bcd9a1c5bae3bf74ff5fc65c4d071c7ee6b130dca31b5f75974
|
| 3 |
+
size 1250453989
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000042_20260806_134505.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9b71acc6062e7bda45b5cd43664618a41ac80280dfdd2e90f86796f3374e40ab
|
| 3 |
+
size 1243047672
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000043_20260806_134640.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:588a77f3e98eb9436cd17cd49d52df6a31394918b45ace60bbdd7c033e8c4935
|
| 3 |
+
size 1221067706
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000044_20260806_134825.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e92b115e79b390e2079f3e39824db60fe16346f3496ccbe1e19ee9cc134915b
|
| 3 |
+
size 1263645183
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000045_20260806_135040.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e08e0bbf9b5e5c6c0397b927d97b8f300b76c44e8c150d9bbd58b6e33640e94
|
| 3 |
+
size 1218007078
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000046_20260806_135216.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:89742394bcd85f259efdf79dfec0e342b3c972f1cd3cd3dd6019aa745711eac8
|
| 3 |
+
size 1217672037
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000047_20260806_135348.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef03ff31fd8714e924bc4f98393f13b64e6f84dbdc06ae19582bb8e5fd1fc7a8
|
| 3 |
+
size 1169608438
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000048_20260806_135659.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e0da91a5422f96c066f2f09e0d2a06c643da7360afdfc0112b94dd31517ebd76
|
| 3 |
+
size 1239971783
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000049_20260806_135834.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f8519073d05fbc3a61831bee24f8f8565cd09b8c65e236386c298cf850257f9a
|
| 3 |
+
size 1236614832
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000050_20260806_140019.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37fa010d17308ec39120884c35bc28c5f8d4ded1c976be16d41657810556937c
|
| 3 |
+
size 1209853136
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000051_20260806_140201.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9ba2ba8c28f5ffe098af02d84f86dffc87550e4d1ad65b892890170c627d42ff
|
| 3 |
+
size 1226378662
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000052_20260806_140456.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9cbbe89e02351417253437881ac0aa27544fba8546df461e63a28a71471bf2a6
|
| 3 |
+
size 1214197836
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000053_20260806_140635.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:23088c1a8a76e813888d0d00f03f01e592f2fb353569b0f78b67eaeff9595fd4
|
| 3 |
+
size 1211068473
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000054_20260806_140830.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d79e77c01f5bec7ccf07feeb1ce4af937b49a63972ca3adedd10d68936a15520
|
| 3 |
+
size 1256641961
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000055_20260806_141007.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:653e3affbcdf19b23cd92f277fe114fa4ad1d795a583207122b9721f9a508ec0
|
| 3 |
+
size 1255931322
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000056_20260806_141259.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ad20e33a74e8c5fdae9025dc8f63f475f23f3eab2a35096eb99f3778f9ef622
|
| 3 |
+
size 1195814518
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000057_20260806_141546.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f80b4ac8fa260fae15dae00d4795c98670f98ca9a0b95b0d8eac6645981c19d1
|
| 3 |
+
size 1232120290
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000058_20260806_142143.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:acf4215890fb639634d8e2b414331d01b0bf2ab16b2fba9ea8e91a9a8935cb3b
|
| 3 |
+
size 1247153089
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000059_20260806_142522.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e5ed0995c4ce278d4e0d03c4f8257209e55c4ef4945eebb7301837af7472a775
|
| 3 |
+
size 1259491438
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000060_20260806_151316.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b1aaf34de9c9d955bdb3373b2242b39339f50df70a7035279220535ccc17030
|
| 3 |
+
size 1262450000
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000061_20260806_151448.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ec2c0232ece7d9bf623fe4973df34dccce2fd65cee7eaa22ee093c54fa79f6f1
|
| 3 |
+
size 1174557115
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000062_20260806_151632.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30b39cb25f845dc603ed7ddb98802c95852c22c0ec652fbb33e4df022ba16948
|
| 3 |
+
size 1340220753
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000063_20260806_151811.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:84baf57a4c85754be5026b63e9032318ec0cf05202747df57570b21b15db423e
|
| 3 |
+
size 1197141490
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/episode_000064_20260806_152029.hdf5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f3a04805b92a5fedb1fdb87d11211e08c30bf5571443a8fabadf28a0135d5086
|
| 3 |
+
size 1240721503
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.json
ADDED
|
@@ -0,0 +1,469 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T13:28:09",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.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": 349,
|
| 20 |
+
"actual_playback_duration_s": 13.790543364999394,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 349,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 349,
|
| 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": 0.7208856960271508,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 349,
|
| 47 |
+
"cam_wrist": 349
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 22,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.00638301999970281,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.00395942599971022,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004303277999042621,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004863900950567768,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2844,
|
| 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": 0.006453273999795783,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.0040053100001387065,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004350916599651099,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004908940640598302,
|
| 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": 0.0063214510009856895,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0040061319996311795,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004337564599336474,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.00490239587983524,
|
| 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_v006",
|
| 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": 0.012451460999727715,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.009143196376498963,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.009443583208394557,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.010185873641421494,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7006,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.0064192530007858295,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.0039862289995653555,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.0043303862503307755,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004892213150378664,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3255,
|
| 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": 0.005000000000002558,
|
| 138 |
+
"leadthrough_capture_recorded_timestamp_gap_warn": false,
|
| 139 |
+
"leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
|
| 140 |
+
"leadthrough_capture_slow_ticks": 4,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.004028290510177612,
|
| 144 |
+
0.003175020217895508,
|
| 145 |
+
0.005155608057975769,
|
| 146 |
+
0.0010216552764177322,
|
| 147 |
+
0.003002643585205078,
|
| 148 |
+
0.005735635757446289
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.005735635757446289,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0020567625761032104,
|
| 153 |
+
0.00201822048984468,
|
| 154 |
+
0.003125447081401944,
|
| 155 |
+
0.0003030813531950116,
|
| 156 |
+
0.001431881682947278,
|
| 157 |
+
0.0046138702891767025
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0008467137813568115,
|
| 161 |
+
0.0008501133997924626,
|
| 162 |
+
0.0012127861846238375,
|
| 163 |
+
0.00014401882071979344,
|
| 164 |
+
0.0006164242513477802,
|
| 165 |
+
0.0015383679419755936
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 4783,
|
| 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": -0.005735635757446289,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.49226224422454834,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.7080000000000002,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.49799787998199463,
|
| 176 |
+
"leadthrough_duration_s": 19.13,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 4782,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 4.4830000000000005,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 1121,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 4783,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7006,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 1102,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 4.404,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 1101,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 1101,
|
| 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 |
+
0.004028290510177612,
|
| 203 |
+
0.003175020217895508,
|
| 204 |
+
0.005155608057975769,
|
| 205 |
+
0.0010216552764177322,
|
| 206 |
+
0.003002643585205078,
|
| 207 |
+
0.005735635757446289
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.005735635757446289,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.0070726275440667,
|
| 212 |
+
1.0455648104349375,
|
| 213 |
+
1.7066895961760828,
|
| 214 |
+
0.25541381910440447,
|
| 215 |
+
0.9781122207641231,
|
| 216 |
+
1.5058120091755614
|
| 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": 68.25999999999999,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 19.13,
|
| 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 |
+
2160,
|
| 237 |
+
4248
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.4142782939179534,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08713413774967194,
|
| 244 |
+
"rapid_planner_max_dt_s": 1.8200000000000003,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.007230520248413086,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.08000000000000007,
|
| 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 |
+
21,
|
| 253 |
+
41,
|
| 254 |
+
57,
|
| 255 |
+
74,
|
| 256 |
+
94,
|
| 257 |
+
104,
|
| 258 |
+
114,
|
| 259 |
+
124,
|
| 260 |
+
134,
|
| 261 |
+
144,
|
| 262 |
+
155,
|
| 263 |
+
167,
|
| 264 |
+
179,
|
| 265 |
+
191,
|
| 266 |
+
203,
|
| 267 |
+
218,
|
| 268 |
+
232,
|
| 269 |
+
247,
|
| 270 |
+
262,
|
| 271 |
+
278,
|
| 272 |
+
293,
|
| 273 |
+
308,
|
| 274 |
+
323,
|
| 275 |
+
339,
|
| 276 |
+
359,
|
| 277 |
+
391,
|
| 278 |
+
423,
|
| 279 |
+
483,
|
| 280 |
+
550,
|
| 281 |
+
694,
|
| 282 |
+
771,
|
| 283 |
+
878,
|
| 284 |
+
998,
|
| 285 |
+
1423,
|
| 286 |
+
1505,
|
| 287 |
+
1564,
|
| 288 |
+
1636,
|
| 289 |
+
2091,
|
| 290 |
+
2160,
|
| 291 |
+
2420,
|
| 292 |
+
2502,
|
| 293 |
+
2708,
|
| 294 |
+
2783,
|
| 295 |
+
2855,
|
| 296 |
+
2884,
|
| 297 |
+
2911,
|
| 298 |
+
2923,
|
| 299 |
+
2935,
|
| 300 |
+
2945,
|
| 301 |
+
2955,
|
| 302 |
+
2965,
|
| 303 |
+
2975,
|
| 304 |
+
2986,
|
| 305 |
+
2996,
|
| 306 |
+
3016,
|
| 307 |
+
3035,
|
| 308 |
+
3054,
|
| 309 |
+
3074,
|
| 310 |
+
3101,
|
| 311 |
+
3128,
|
| 312 |
+
3158,
|
| 313 |
+
3187,
|
| 314 |
+
3211,
|
| 315 |
+
3235,
|
| 316 |
+
3250,
|
| 317 |
+
3265,
|
| 318 |
+
3278,
|
| 319 |
+
3292,
|
| 320 |
+
3306,
|
| 321 |
+
3320,
|
| 322 |
+
3341,
|
| 323 |
+
3362,
|
| 324 |
+
3407,
|
| 325 |
+
3468,
|
| 326 |
+
3527,
|
| 327 |
+
3552,
|
| 328 |
+
3634,
|
| 329 |
+
3721,
|
| 330 |
+
4111,
|
| 331 |
+
4248,
|
| 332 |
+
4434,
|
| 333 |
+
4478,
|
| 334 |
+
4510,
|
| 335 |
+
4535,
|
| 336 |
+
4555,
|
| 337 |
+
4566,
|
| 338 |
+
4578,
|
| 339 |
+
4590,
|
| 340 |
+
4602,
|
| 341 |
+
4619,
|
| 342 |
+
4640,
|
| 343 |
+
4662,
|
| 344 |
+
4680,
|
| 345 |
+
4698,
|
| 346 |
+
4715,
|
| 347 |
+
4738,
|
| 348 |
+
4783
|
| 349 |
+
],
|
| 350 |
+
"rapid_planner_selected_max_joint_step_deg": 4.992418344567747,
|
| 351 |
+
"rapid_planner_selected_samples": 98,
|
| 352 |
+
"rapid_planner_service_configured": true,
|
| 353 |
+
"rapid_planner_source_samples": 4784,
|
| 354 |
+
"rapid_planner_state_done": 6.0,
|
| 355 |
+
"rapid_planner_state_error": 7.0,
|
| 356 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 357 |
+
"rapid_planner_tool_command_supported": true,
|
| 358 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 359 |
+
"rapid_planner_tool_io_configured": true,
|
| 360 |
+
"rapid_planner_tool_io_supported": true,
|
| 361 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 362 |
+
"rapid_planner_tool_state_supported": true,
|
| 363 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 364 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 365 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 366 |
+
"rapid_planner_uploaded": true,
|
| 367 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 368 |
+
"rapid_planner_waypoints_uploaded": 98,
|
| 369 |
+
"raw_ramp_max_error_rad": null,
|
| 370 |
+
"raw_replay_max_error_rad": 0.005718350410461426,
|
| 371 |
+
"raw_replay_rms_error_rad": 0.0007565326090823704,
|
| 372 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.999482859400845,
|
| 373 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8681274350724457,
|
| 374 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9714615980059553,
|
| 375 |
+
"replay_smoothing_applied": true,
|
| 376 |
+
"replay_smoothing_blend": 1.0,
|
| 377 |
+
"replay_smoothing_blend_by_joint": [
|
| 378 |
+
1.0,
|
| 379 |
+
1.0,
|
| 380 |
+
1.0,
|
| 381 |
+
1.0,
|
| 382 |
+
1.0,
|
| 383 |
+
1.0
|
| 384 |
+
],
|
| 385 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 386 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 387 |
+
"replay_smoothing_enabled": true,
|
| 388 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0197749210865332,
|
| 389 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8505730018697075,
|
| 390 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9827016907272421,
|
| 391 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 392 |
+
0.00047110021114349365,
|
| 393 |
+
0.0006765127182006836,
|
| 394 |
+
0.0012784898281097412,
|
| 395 |
+
0.0012993551790714264,
|
| 396 |
+
0.0032202601432800293,
|
| 397 |
+
0.006262419745326042
|
| 398 |
+
],
|
| 399 |
+
"replay_smoothing_max_deviation_normalized": 0.7176204474520993,
|
| 400 |
+
"replay_smoothing_max_deviation_rad": 0.006262419745326042,
|
| 401 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 402 |
+
"replay_smoothing_p95_deviation_rad": 0.0014806390972808003,
|
| 403 |
+
"replay_smoothing_passes": 8,
|
| 404 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 6.326286792755127,
|
| 405 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 55.24292755126953,
|
| 406 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 3.7441763828396235,
|
| 407 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 1439.5341796875,
|
| 408 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 17859.787109375,
|
| 409 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 1028.721295078277,
|
| 410 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.515537977218628,
|
| 411 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.24918441294751356,
|
| 412 |
+
"replay_smoothing_rms_deviation_rad": 0.0007553306010831725,
|
| 413 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.323015213012695,
|
| 414 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 47.95790100097656,
|
| 415 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 3.6373235720895383,
|
| 416 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1468.0008544921875,
|
| 417 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 15191.052734375,
|
| 418 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 1010.926155960541,
|
| 419 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4630159139633179,
|
| 420 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.24852324615846236,
|
| 421 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 422 |
+
0.03490658476948738,
|
| 423 |
+
0.03490658476948738,
|
| 424 |
+
0.02617993950843811,
|
| 425 |
+
0.008726646192371845,
|
| 426 |
+
0.008726646192371845,
|
| 427 |
+
0.008726646192371845
|
| 428 |
+
],
|
| 429 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 430 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9653442777120633,
|
| 431 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9973466767795365,
|
| 432 |
+
"replay_smoothing_window_s": 0.2,
|
| 433 |
+
"replay_smoothing_window_samples": 51,
|
| 434 |
+
"replay_smoothing_within_tolerance": true,
|
| 435 |
+
"replay_smoothing_worst_joint": 5,
|
| 436 |
+
"replay_smoothing_worst_time_s": 18.606,
|
| 437 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.006262419745326042,
|
| 438 |
+
"safety_abort": false,
|
| 439 |
+
"safety_path_error_rad": 0.005718350410461426,
|
| 440 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 441 |
+
"send_failures": 0,
|
| 442 |
+
"stage_planned_to_measured_max_error_rad": 0.02357935905456543,
|
| 443 |
+
"stage_planned_to_measured_rms_error_rad": 0.0069439941651937035,
|
| 444 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 445 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 446 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 447 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 448 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 449 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 450 |
+
"state_frame_count": 349,
|
| 451 |
+
"stopped_early": true,
|
| 452 |
+
"strict_tracking_pass": false,
|
| 453 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 454 |
+
"tcp_pose_count": 349,
|
| 455 |
+
"timestamp_count": 349,
|
| 456 |
+
"tool_failures": 0,
|
| 457 |
+
"tracking_geometry_pass": false,
|
| 458 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 459 |
+
"tracking_pass": false,
|
| 460 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 462 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 463 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 464 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 465 |
+
"tracking_timing_pass": false,
|
| 466 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 467 |
+
"window_lag_count": 0
|
| 468 |
+
}
|
| 469 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_132808.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c711ca0caccc65084d4b1c3dcaf741e0b1040da1cc8f04d1fe02cdb718f0145f
|
| 3 |
+
size 39358
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.json
ADDED
|
@@ -0,0 +1,471 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T13:30:36",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.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": 991,
|
| 20 |
+
"actual_playback_duration_s": 33.19816895999975,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 991,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 991,
|
| 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": 1.7533626787789027,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 991,
|
| 47 |
+
"cam_wrist": 991
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 22,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006353131999276229,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003944849000617978,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004283095750906796,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004885137250403215,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2373,
|
| 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": 0.0064212140005111,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004013416000816505,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004344912799570011,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004966127440202399,
|
| 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": 0.006442616999265738,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.004011920998891583,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004337180999209522,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004910850160304106,
|
| 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_v006",
|
| 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": 0.024588758000390953,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.02134977242349123,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.02161676787500255,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.02237159858641462,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 5966,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.006396058000973426,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.003988499500337639,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.00432082650013399,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004936343099961964,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 2814,
|
| 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": 10,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.004478909075260162,
|
| 144 |
+
0.0022003038320690393,
|
| 145 |
+
0.0035701096057891846,
|
| 146 |
+
0.0014536865055561066,
|
| 147 |
+
0.0038649439811706543,
|
| 148 |
+
0.008476436138153076
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.008476436138153076,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0016178712248802185,
|
| 153 |
+
0.0019174739718437195,
|
| 154 |
+
0.0031570696737617254,
|
| 155 |
+
0.0002564930764492601,
|
| 156 |
+
0.0017704577185213566,
|
| 157 |
+
0.004066437482833862
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0008103324798867106,
|
| 161 |
+
0.0008938995888456702,
|
| 162 |
+
0.0011702702613547444,
|
| 163 |
+
0.00018870245548896492,
|
| 164 |
+
0.0006954235723242164,
|
| 165 |
+
0.001625638804398477
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 4734,
|
| 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": -0.008476436138153076,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.49166184663772583,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.6680000000000006,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.5001382827758789,
|
| 176 |
+
"leadthrough_duration_s": 18.934,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 4733,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 1.283999999999999,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 321,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 4734,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 5966,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 911,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 3.639,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 910,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 910,
|
| 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 |
+
0.004478909075260162,
|
| 203 |
+
0.0022003037738613784,
|
| 204 |
+
0.0035701096057891846,
|
| 205 |
+
0.0014536865055561066,
|
| 206 |
+
0.0038649439811706543,
|
| 207 |
+
0.008476436138153076
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.008476436138153076,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.1197272688156612,
|
| 212 |
+
0.5500759580175647,
|
| 213 |
+
0.8925274014473944,
|
| 214 |
+
0.36342162638906667,
|
| 215 |
+
0.966235995293199,
|
| 216 |
+
2.119109034538032
|
| 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": 67.868,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 18.934,
|
| 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 |
+
2053,
|
| 237 |
+
4166
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.44740812648710027,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08619356155395508,
|
| 244 |
+
"rapid_planner_max_dt_s": 2.1690000000000005,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.00780874490737915,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.09200000000000053,
|
| 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 |
+
26,
|
| 253 |
+
54,
|
| 254 |
+
70,
|
| 255 |
+
85,
|
| 256 |
+
96,
|
| 257 |
+
106,
|
| 258 |
+
118,
|
| 259 |
+
129,
|
| 260 |
+
138,
|
| 261 |
+
147,
|
| 262 |
+
156,
|
| 263 |
+
165,
|
| 264 |
+
172,
|
| 265 |
+
180,
|
| 266 |
+
187,
|
| 267 |
+
194,
|
| 268 |
+
202,
|
| 269 |
+
209,
|
| 270 |
+
216,
|
| 271 |
+
224,
|
| 272 |
+
242,
|
| 273 |
+
261,
|
| 274 |
+
281,
|
| 275 |
+
301,
|
| 276 |
+
337,
|
| 277 |
+
370,
|
| 278 |
+
403,
|
| 279 |
+
471,
|
| 280 |
+
516,
|
| 281 |
+
601,
|
| 282 |
+
755,
|
| 283 |
+
855,
|
| 284 |
+
990,
|
| 285 |
+
1074,
|
| 286 |
+
1284,
|
| 287 |
+
1367,
|
| 288 |
+
1511,
|
| 289 |
+
2053,
|
| 290 |
+
2585,
|
| 291 |
+
2619,
|
| 292 |
+
2672,
|
| 293 |
+
2702,
|
| 294 |
+
2749,
|
| 295 |
+
2788,
|
| 296 |
+
2816,
|
| 297 |
+
2845,
|
| 298 |
+
2868,
|
| 299 |
+
2891,
|
| 300 |
+
2904,
|
| 301 |
+
2918,
|
| 302 |
+
2932,
|
| 303 |
+
2946,
|
| 304 |
+
2966,
|
| 305 |
+
2986,
|
| 306 |
+
3006,
|
| 307 |
+
3027,
|
| 308 |
+
3053,
|
| 309 |
+
3079,
|
| 310 |
+
3107,
|
| 311 |
+
3134,
|
| 312 |
+
3153,
|
| 313 |
+
3172,
|
| 314 |
+
3190,
|
| 315 |
+
3209,
|
| 316 |
+
3233,
|
| 317 |
+
3259,
|
| 318 |
+
3293,
|
| 319 |
+
3331,
|
| 320 |
+
3376,
|
| 321 |
+
3411,
|
| 322 |
+
3448,
|
| 323 |
+
3496,
|
| 324 |
+
3539,
|
| 325 |
+
3570,
|
| 326 |
+
3604,
|
| 327 |
+
3639,
|
| 328 |
+
3699,
|
| 329 |
+
3792,
|
| 330 |
+
3983,
|
| 331 |
+
4166,
|
| 332 |
+
4353,
|
| 333 |
+
4408,
|
| 334 |
+
4424,
|
| 335 |
+
4438,
|
| 336 |
+
4462,
|
| 337 |
+
4478,
|
| 338 |
+
4491,
|
| 339 |
+
4505,
|
| 340 |
+
4516,
|
| 341 |
+
4528,
|
| 342 |
+
4547,
|
| 343 |
+
4567,
|
| 344 |
+
4590,
|
| 345 |
+
4602,
|
| 346 |
+
4613,
|
| 347 |
+
4630,
|
| 348 |
+
4645,
|
| 349 |
+
4670,
|
| 350 |
+
4734
|
| 351 |
+
],
|
| 352 |
+
"rapid_planner_selected_max_joint_step_deg": 4.9385272982426995,
|
| 353 |
+
"rapid_planner_selected_samples": 100,
|
| 354 |
+
"rapid_planner_service_configured": true,
|
| 355 |
+
"rapid_planner_source_samples": 4735,
|
| 356 |
+
"rapid_planner_state_done": 6.0,
|
| 357 |
+
"rapid_planner_state_error": 7.0,
|
| 358 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 359 |
+
"rapid_planner_tool_command_supported": true,
|
| 360 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 361 |
+
"rapid_planner_tool_io_configured": true,
|
| 362 |
+
"rapid_planner_tool_io_supported": true,
|
| 363 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 364 |
+
"rapid_planner_tool_state_supported": true,
|
| 365 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 366 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 367 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 368 |
+
"rapid_planner_uploaded": true,
|
| 369 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 370 |
+
"rapid_planner_waypoints_uploaded": 100,
|
| 371 |
+
"raw_ramp_max_error_rad": null,
|
| 372 |
+
"raw_replay_max_error_rad": 0.005735218524932861,
|
| 373 |
+
"raw_replay_rms_error_rad": 0.0008574931881420171,
|
| 374 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8429424981524494,
|
| 375 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.965261177537073,
|
| 376 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.8830866039105081,
|
| 377 |
+
"replay_smoothing_applied": true,
|
| 378 |
+
"replay_smoothing_blend": 1.0,
|
| 379 |
+
"replay_smoothing_blend_by_joint": [
|
| 380 |
+
1.0,
|
| 381 |
+
1.0,
|
| 382 |
+
1.0,
|
| 383 |
+
1.0,
|
| 384 |
+
1.0,
|
| 385 |
+
1.0
|
| 386 |
+
],
|
| 387 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 388 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 389 |
+
"replay_smoothing_enabled": true,
|
| 390 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.4826150286627101,
|
| 391 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9505891295399229,
|
| 392 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9317484809428975,
|
| 393 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 394 |
+
0.0007219314575195312,
|
| 395 |
+
0.0005660578608512878,
|
| 396 |
+
0.001155763864517212,
|
| 397 |
+
0.002959001809358597,
|
| 398 |
+
0.004102587699890137,
|
| 399 |
+
0.007235407829284668
|
| 400 |
+
],
|
| 401 |
+
"replay_smoothing_max_deviation_normalized": 0.8291166697704896,
|
| 402 |
+
"replay_smoothing_max_deviation_rad": 0.007235407829284668,
|
| 403 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 404 |
+
"replay_smoothing_p95_deviation_rad": 0.0019485633820295334,
|
| 405 |
+
"replay_smoothing_passes": 8,
|
| 406 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 2.5283291339874268,
|
| 407 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 18.650318145751953,
|
| 408 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 1.272253488671504,
|
| 409 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 246.0526580810547,
|
| 410 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 5411.4365234375,
|
| 411 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 227.92954157648794,
|
| 412 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1188108921051025,
|
| 413 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.24997720068585924,
|
| 414 |
+
"replay_smoothing_rms_deviation_rad": 0.0009365819814354012,
|
| 415 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.1312360763549805,
|
| 416 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 18.00242805480957,
|
| 417 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 1.1235100126242146,
|
| 418 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 118.74871063232422,
|
| 419 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 5144.052734375,
|
| 420 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 212.37300412590363,
|
| 421 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.091068744659424,
|
| 422 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.24896164250587513,
|
| 423 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 424 |
+
0.03490658476948738,
|
| 425 |
+
0.03490658476948738,
|
| 426 |
+
0.02617993950843811,
|
| 427 |
+
0.008726646192371845,
|
| 428 |
+
0.008726646192371845,
|
| 429 |
+
0.008726646192371845
|
| 430 |
+
],
|
| 431 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 432 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9869067373831951,
|
| 433 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9959373967817956,
|
| 434 |
+
"replay_smoothing_window_s": 0.2,
|
| 435 |
+
"replay_smoothing_window_samples": 51,
|
| 436 |
+
"replay_smoothing_within_tolerance": true,
|
| 437 |
+
"replay_smoothing_worst_joint": 5,
|
| 438 |
+
"replay_smoothing_worst_time_s": 17.958000000000002,
|
| 439 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.007235407829284668,
|
| 440 |
+
"safety_abort": false,
|
| 441 |
+
"safety_path_error_rad": 0.005735218524932861,
|
| 442 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 443 |
+
"send_failures": 0,
|
| 444 |
+
"stage_planned_to_measured_max_error_rad": 0.029362142086029053,
|
| 445 |
+
"stage_planned_to_measured_rms_error_rad": 0.00575114685006216,
|
| 446 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 447 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 448 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 449 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 450 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 451 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 452 |
+
"state_frame_count": 991,
|
| 453 |
+
"stopped_early": true,
|
| 454 |
+
"strict_tracking_pass": false,
|
| 455 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 456 |
+
"tcp_pose_count": 991,
|
| 457 |
+
"timestamp_count": 991,
|
| 458 |
+
"tool_failures": 0,
|
| 459 |
+
"tracking_geometry_pass": false,
|
| 460 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tracking_pass": false,
|
| 462 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 463 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 464 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 465 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 466 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 467 |
+
"tracking_timing_pass": false,
|
| 468 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 469 |
+
"window_lag_count": 0
|
| 470 |
+
}
|
| 471 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133035.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9c485edb656a6d50c311c48f2db94ded9d1e386c0d01d2970a6bd35a8935ec09
|
| 3 |
+
size 103600
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.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": "2026-08-06T13:33:25",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.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": 504,
|
| 20 |
+
"actual_playback_duration_s": 16.902747641999667,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 504,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 504,
|
| 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": 0.7348701205164849,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 504,
|
| 47 |
+
"cam_wrist": 504
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 20,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.007350972999120131,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003944339000554464,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004333972800577611,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004919987009161559,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2823,
|
| 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": 0.007418842000333825,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.003987861000496196,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004391787000349723,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.005009018359560287,
|
| 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": 0.007409298999846214,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0039948049998201896,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004358772599880467,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004937294520350406,
|
| 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_v006",
|
| 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": 0.015371761999631417,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.008984407057141652,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.009356613111322076,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.009995493519054434,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7114,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.007393402000161586,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.0039709279999442515,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.004369421149931441,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004993221029362758,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3146,
|
| 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": 9,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.004492089152336121,
|
| 144 |
+
0.002756357192993164,
|
| 145 |
+
0.003940410912036896,
|
| 146 |
+
0.0011774525046348572,
|
| 147 |
+
0.0025005340576171875,
|
| 148 |
+
0.0060190558433532715
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.0060190558433532715,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0018210038542747498,
|
| 153 |
+
0.0020397119224071503,
|
| 154 |
+
0.0032007843255996704,
|
| 155 |
+
0.00018126051872968674,
|
| 156 |
+
0.001391679048538208,
|
| 157 |
+
0.004391919821500778
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0007498571649193764,
|
| 161 |
+
0.0008395615150220692,
|
| 162 |
+
0.0011322477366775274,
|
| 163 |
+
0.00011492087651276961,
|
| 164 |
+
0.000525070121511817,
|
| 165 |
+
0.0014044643612578511
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 5751,
|
| 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": -0.0060190558433532715,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.5394675135612488,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.8149999999999995,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.545486569404602,
|
| 176 |
+
"leadthrough_duration_s": 23.000999999999998,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 5750,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 0.9520000000000017,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 238,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 5751,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7114,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 1125,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 4.496,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 1124,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 1124,
|
| 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 |
+
0.004492089152336121,
|
| 203 |
+
0.002756357192993164,
|
| 204 |
+
0.003940410912036896,
|
| 205 |
+
0.0011774525046348572,
|
| 206 |
+
0.0025005340576171875,
|
| 207 |
+
0.0060190558433532715
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.0060190558433532715,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.4897733926772507,
|
| 212 |
+
0.9173254172006895,
|
| 213 |
+
1.2962967157371077,
|
| 214 |
+
0.3924841682116042,
|
| 215 |
+
0.8251269658406263,
|
| 216 |
+
2.006351947784348
|
| 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": 76.002,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 23.000999999999998,
|
| 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 |
+
1939,
|
| 237 |
+
4386
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.4408494373365955,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08645367622375488,
|
| 244 |
+
"rapid_planner_max_dt_s": 3.216000000000001,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.007694274187088013,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.07200000000000273,
|
| 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 |
+
24,
|
| 253 |
+
50,
|
| 254 |
+
66,
|
| 255 |
+
87,
|
| 256 |
+
102,
|
| 257 |
+
118,
|
| 258 |
+
128,
|
| 259 |
+
139,
|
| 260 |
+
150,
|
| 261 |
+
160,
|
| 262 |
+
173,
|
| 263 |
+
186,
|
| 264 |
+
200,
|
| 265 |
+
213,
|
| 266 |
+
222,
|
| 267 |
+
230,
|
| 268 |
+
246,
|
| 269 |
+
254,
|
| 270 |
+
263,
|
| 271 |
+
272,
|
| 272 |
+
280,
|
| 273 |
+
289,
|
| 274 |
+
298,
|
| 275 |
+
315,
|
| 276 |
+
327,
|
| 277 |
+
339,
|
| 278 |
+
365,
|
| 279 |
+
399,
|
| 280 |
+
439,
|
| 281 |
+
480,
|
| 282 |
+
516,
|
| 283 |
+
701,
|
| 284 |
+
841,
|
| 285 |
+
1125,
|
| 286 |
+
1250,
|
| 287 |
+
1939,
|
| 288 |
+
2063,
|
| 289 |
+
2471,
|
| 290 |
+
2506,
|
| 291 |
+
2537,
|
| 292 |
+
2597,
|
| 293 |
+
2627,
|
| 294 |
+
2656,
|
| 295 |
+
2682,
|
| 296 |
+
2694,
|
| 297 |
+
2707,
|
| 298 |
+
2720,
|
| 299 |
+
2732,
|
| 300 |
+
2745,
|
| 301 |
+
2758,
|
| 302 |
+
2775,
|
| 303 |
+
2792,
|
| 304 |
+
2809,
|
| 305 |
+
2826,
|
| 306 |
+
2841,
|
| 307 |
+
2856,
|
| 308 |
+
2886,
|
| 309 |
+
2912,
|
| 310 |
+
2938,
|
| 311 |
+
2962,
|
| 312 |
+
2987,
|
| 313 |
+
3011,
|
| 314 |
+
3037,
|
| 315 |
+
3051,
|
| 316 |
+
3065,
|
| 317 |
+
3081,
|
| 318 |
+
3097,
|
| 319 |
+
3113,
|
| 320 |
+
3129,
|
| 321 |
+
3144,
|
| 322 |
+
3159,
|
| 323 |
+
3183,
|
| 324 |
+
3254,
|
| 325 |
+
3304,
|
| 326 |
+
3359,
|
| 327 |
+
3383,
|
| 328 |
+
3437,
|
| 329 |
+
3488,
|
| 330 |
+
3543,
|
| 331 |
+
3595,
|
| 332 |
+
3693,
|
| 333 |
+
3789,
|
| 334 |
+
3979,
|
| 335 |
+
4386,
|
| 336 |
+
4610,
|
| 337 |
+
4649,
|
| 338 |
+
4679,
|
| 339 |
+
4702,
|
| 340 |
+
4730,
|
| 341 |
+
4744,
|
| 342 |
+
4757,
|
| 343 |
+
4771,
|
| 344 |
+
4785,
|
| 345 |
+
4802,
|
| 346 |
+
4818,
|
| 347 |
+
4836,
|
| 348 |
+
4854,
|
| 349 |
+
4878,
|
| 350 |
+
4910,
|
| 351 |
+
4947,
|
| 352 |
+
5751
|
| 353 |
+
],
|
| 354 |
+
"rapid_planner_selected_max_joint_step_deg": 4.953430771011667,
|
| 355 |
+
"rapid_planner_selected_samples": 102,
|
| 356 |
+
"rapid_planner_service_configured": true,
|
| 357 |
+
"rapid_planner_source_samples": 5752,
|
| 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": 0.005772183649241924,
|
| 375 |
+
"raw_replay_rms_error_rad": 0.0007945430633400445,
|
| 376 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9917344122109012,
|
| 377 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9653447262749846,
|
| 378 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9937894680132527,
|
| 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": 1.0067938027444185,
|
| 393 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9702650747085076,
|
| 394 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9977240648755742,
|
| 395 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 396 |
+
0.0011373981833457947,
|
| 397 |
+
0.0006106868386268616,
|
| 398 |
+
0.0007512569427490234,
|
| 399 |
+
0.0019771233201026917,
|
| 400 |
+
0.0027545690536499023,
|
| 401 |
+
0.007704049348831177
|
| 402 |
+
],
|
| 403 |
+
"replay_smoothing_max_deviation_normalized": 0.882819032535713,
|
| 404 |
+
"replay_smoothing_max_deviation_rad": 0.007704049348831177,
|
| 405 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 406 |
+
"replay_smoothing_p95_deviation_rad": 0.0015257173217833042,
|
| 407 |
+
"replay_smoothing_passes": 8,
|
| 408 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 11.076488494873047,
|
| 409 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 59.096134185791016,
|
| 410 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 5.085223807666909,
|
| 411 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 2428.935546875,
|
| 412 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 18652.833984375,
|
| 413 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 1391.3524431120297,
|
| 414 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.790747046470642,
|
| 415 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.23528539030463516,
|
| 416 |
+
"replay_smoothing_rms_deviation_rad": 0.0007560896900039455,
|
| 417 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.98493480682373,
|
| 418 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.04814147949219,
|
| 419 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 5.053641862549625,
|
| 420 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2445.437255859375,
|
| 421 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18098.193359375,
|
| 422 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 1388.1858152162954,
|
| 423 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7419159412384033,
|
| 424 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.2346455455170374,
|
| 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": 0.972731433326399,
|
| 435 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9972805587853572,
|
| 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": 19.454,
|
| 441 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.007704049348831177,
|
| 442 |
+
"safety_abort": false,
|
| 443 |
+
"safety_path_error_rad": 0.005772183649241924,
|
| 444 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 445 |
+
"send_failures": 0,
|
| 446 |
+
"stage_planned_to_measured_max_error_rad": 0.024322509765625,
|
| 447 |
+
"stage_planned_to_measured_rms_error_rad": 0.0060492296699369875,
|
| 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": 504,
|
| 455 |
+
"stopped_early": true,
|
| 456 |
+
"strict_tracking_pass": false,
|
| 457 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 458 |
+
"tcp_pose_count": 504,
|
| 459 |
+
"timestamp_count": 504,
|
| 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/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_133324.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:372a595dfacf9c3f46558c89c5a438fadb9ed9e46e41d1b7c356b9577f1f42bd
|
| 3 |
+
size 51493
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.json
ADDED
|
@@ -0,0 +1,469 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T13:42:06",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.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": 809,
|
| 20 |
+
"actual_playback_duration_s": 27.772847468999316,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 809,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 809,
|
| 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": 1.2353370460367992,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 809,
|
| 47 |
+
"cam_wrist": 809
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 21,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006465472000854788,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003959080999266007,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004309908499999437,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004818811429558991,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2872,
|
| 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": 0.006822117000410799,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004006089000540669,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.00435147869920911,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.0049046505196383774,
|
| 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": 0.0065075449983851286,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.004006189001302118,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004350992498439154,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004858584380417596,
|
| 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_v006",
|
| 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": 0.016946785999607528,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.013194634608225897,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.013465174581961037,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.014080340283071565,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 6840,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.006796603000111645,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.003987703999882797,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.004334176400698197,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004875837980071072,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3228,
|
| 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": 8,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.004134155809879303,
|
| 144 |
+
0.0032784640789031982,
|
| 145 |
+
0.004309117794036865,
|
| 146 |
+
0.0017413077875971794,
|
| 147 |
+
0.0021122097969055176,
|
| 148 |
+
0.005971729755401611
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.005971729755401611,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0016122758388519287,
|
| 153 |
+
0.0018095970153808594,
|
| 154 |
+
0.0028111040592193604,
|
| 155 |
+
0.00039787590503692627,
|
| 156 |
+
0.0010228157043457031,
|
| 157 |
+
0.003972172737121582
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.000743541051633656,
|
| 161 |
+
0.0008065301808528602,
|
| 162 |
+
0.001099851680919528,
|
| 163 |
+
0.00020749997929669917,
|
| 164 |
+
0.00041795530705712736,
|
| 165 |
+
0.001339891692623496
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 5621,
|
| 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": -0.005971729755401611,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.7227422595024109,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 1.017,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.7287139892578125,
|
| 176 |
+
"leadthrough_duration_s": 22.482,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 5620,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 1.5480000000000018,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 387,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 5621,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 6840,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 832,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 3.323,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 831,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 831,
|
| 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 |
+
0.004134155809879303,
|
| 203 |
+
0.0032784640789031982,
|
| 204 |
+
0.004309117794036865,
|
| 205 |
+
0.0017413077875971794,
|
| 206 |
+
0.0021122097969055176,
|
| 207 |
+
0.005971729755401611
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.005971729755401611,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.370996236802719,
|
| 212 |
+
0.8196160197262539,
|
| 213 |
+
1.0772794485088566,
|
| 214 |
+
0.5724461128314119,
|
| 215 |
+
0.7008910179138955,
|
| 216 |
+
1.9903779029845436
|
| 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": 74.964,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 22.482,
|
| 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 |
+
2483,
|
| 237 |
+
4469
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.43078003095270423,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.0849311426281929,
|
| 244 |
+
"rapid_planner_max_dt_s": 2.2829999999999995,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.0075185298919677734,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.07600000000000051,
|
| 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 |
+
38,
|
| 253 |
+
70,
|
| 254 |
+
88,
|
| 255 |
+
106,
|
| 256 |
+
122,
|
| 257 |
+
137,
|
| 258 |
+
148,
|
| 259 |
+
158,
|
| 260 |
+
169,
|
| 261 |
+
180,
|
| 262 |
+
192,
|
| 263 |
+
205,
|
| 264 |
+
218,
|
| 265 |
+
230,
|
| 266 |
+
238,
|
| 267 |
+
245,
|
| 268 |
+
252,
|
| 269 |
+
260,
|
| 270 |
+
274,
|
| 271 |
+
289,
|
| 272 |
+
304,
|
| 273 |
+
318,
|
| 274 |
+
332,
|
| 275 |
+
345,
|
| 276 |
+
363,
|
| 277 |
+
381,
|
| 278 |
+
416,
|
| 279 |
+
450,
|
| 280 |
+
488,
|
| 281 |
+
525,
|
| 282 |
+
582,
|
| 283 |
+
638,
|
| 284 |
+
874,
|
| 285 |
+
937,
|
| 286 |
+
1037,
|
| 287 |
+
1146,
|
| 288 |
+
1286,
|
| 289 |
+
1632,
|
| 290 |
+
1721,
|
| 291 |
+
2199,
|
| 292 |
+
2483,
|
| 293 |
+
3054,
|
| 294 |
+
3112,
|
| 295 |
+
3175,
|
| 296 |
+
3204,
|
| 297 |
+
3231,
|
| 298 |
+
3246,
|
| 299 |
+
3261,
|
| 300 |
+
3276,
|
| 301 |
+
3291,
|
| 302 |
+
3309,
|
| 303 |
+
3327,
|
| 304 |
+
3345,
|
| 305 |
+
3363,
|
| 306 |
+
3382,
|
| 307 |
+
3401,
|
| 308 |
+
3419,
|
| 309 |
+
3436,
|
| 310 |
+
3468,
|
| 311 |
+
3500,
|
| 312 |
+
3512,
|
| 313 |
+
3525,
|
| 314 |
+
3536,
|
| 315 |
+
3548,
|
| 316 |
+
3560,
|
| 317 |
+
3571,
|
| 318 |
+
3582,
|
| 319 |
+
3592,
|
| 320 |
+
3611,
|
| 321 |
+
3630,
|
| 322 |
+
3672,
|
| 323 |
+
3717,
|
| 324 |
+
3753,
|
| 325 |
+
3798,
|
| 326 |
+
3849,
|
| 327 |
+
3916,
|
| 328 |
+
3962,
|
| 329 |
+
4008,
|
| 330 |
+
4321,
|
| 331 |
+
4469,
|
| 332 |
+
4690,
|
| 333 |
+
4733,
|
| 334 |
+
4757,
|
| 335 |
+
4781,
|
| 336 |
+
4810,
|
| 337 |
+
4828,
|
| 338 |
+
4845,
|
| 339 |
+
4865,
|
| 340 |
+
4885,
|
| 341 |
+
4902,
|
| 342 |
+
4918,
|
| 343 |
+
4940,
|
| 344 |
+
4982,
|
| 345 |
+
5016,
|
| 346 |
+
5125,
|
| 347 |
+
5220,
|
| 348 |
+
5621
|
| 349 |
+
],
|
| 350 |
+
"rapid_planner_selected_max_joint_step_deg": 4.866196021819087,
|
| 351 |
+
"rapid_planner_selected_samples": 98,
|
| 352 |
+
"rapid_planner_service_configured": true,
|
| 353 |
+
"rapid_planner_source_samples": 5622,
|
| 354 |
+
"rapid_planner_state_done": 6.0,
|
| 355 |
+
"rapid_planner_state_error": 7.0,
|
| 356 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 357 |
+
"rapid_planner_tool_command_supported": true,
|
| 358 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 359 |
+
"rapid_planner_tool_io_configured": true,
|
| 360 |
+
"rapid_planner_tool_io_supported": true,
|
| 361 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 362 |
+
"rapid_planner_tool_state_supported": true,
|
| 363 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 364 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 365 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 366 |
+
"rapid_planner_uploaded": true,
|
| 367 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 368 |
+
"rapid_planner_waypoints_uploaded": 98,
|
| 369 |
+
"raw_ramp_max_error_rad": null,
|
| 370 |
+
"raw_replay_max_error_rad": 0.005558930337429047,
|
| 371 |
+
"raw_replay_rms_error_rad": 0.0007758206574221894,
|
| 372 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9590337813798107,
|
| 373 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9831558074701506,
|
| 374 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9879322606257062,
|
| 375 |
+
"replay_smoothing_applied": true,
|
| 376 |
+
"replay_smoothing_blend": 1.0,
|
| 377 |
+
"replay_smoothing_blend_by_joint": [
|
| 378 |
+
1.0,
|
| 379 |
+
1.0,
|
| 380 |
+
1.0,
|
| 381 |
+
1.0,
|
| 382 |
+
1.0,
|
| 383 |
+
1.0
|
| 384 |
+
],
|
| 385 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 386 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 387 |
+
"replay_smoothing_enabled": true,
|
| 388 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9831299508136329,
|
| 389 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.985467312794698,
|
| 390 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9943137343684673,
|
| 391 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 392 |
+
0.0005653798580169678,
|
| 393 |
+
0.0006873607635498047,
|
| 394 |
+
0.0016712546348571777,
|
| 395 |
+
0.0023952163755893707,
|
| 396 |
+
0.001703500747680664,
|
| 397 |
+
0.003994062542915344
|
| 398 |
+
],
|
| 399 |
+
"replay_smoothing_max_deviation_normalized": 0.45768585718607946,
|
| 400 |
+
"replay_smoothing_max_deviation_rad": 0.003994062542915344,
|
| 401 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 402 |
+
"replay_smoothing_p95_deviation_rad": 0.0015520560555160046,
|
| 403 |
+
"replay_smoothing_passes": 8,
|
| 404 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 6.191854476928711,
|
| 405 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 58.20630645751953,
|
| 406 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 3.87717753180519,
|
| 407 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 1267.103515625,
|
| 408 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 18427.478515625,
|
| 409 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 1057.8519576844885,
|
| 410 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7758742570877075,
|
| 411 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.22163775604246383,
|
| 412 |
+
"replay_smoothing_rms_deviation_rad": 0.0006553335520277726,
|
| 413 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.938197612762451,
|
| 414 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.225868225097656,
|
| 415 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 3.8303887638434975,
|
| 416 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1245.7274169921875,
|
| 417 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18159.677734375,
|
| 418 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 1051.8367304542576,
|
| 419 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7506139278411865,
|
| 420 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.2211103638594871,
|
| 421 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 422 |
+
0.03490658476948738,
|
| 423 |
+
0.03490658476948738,
|
| 424 |
+
0.02617993950843811,
|
| 425 |
+
0.008726646192371845,
|
| 426 |
+
0.008726646192371845,
|
| 427 |
+
0.008726646192371845
|
| 428 |
+
],
|
| 429 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 430 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9857758345526412,
|
| 431 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9976204767978445,
|
| 432 |
+
"replay_smoothing_window_s": 0.2,
|
| 433 |
+
"replay_smoothing_window_samples": 51,
|
| 434 |
+
"replay_smoothing_within_tolerance": true,
|
| 435 |
+
"replay_smoothing_worst_joint": 5,
|
| 436 |
+
"replay_smoothing_worst_time_s": 19.686,
|
| 437 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.003994062542915344,
|
| 438 |
+
"safety_abort": false,
|
| 439 |
+
"safety_path_error_rad": 0.005558930337429047,
|
| 440 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 441 |
+
"send_failures": 0,
|
| 442 |
+
"stage_planned_to_measured_max_error_rad": 0.0268324613571167,
|
| 443 |
+
"stage_planned_to_measured_rms_error_rad": 0.0059572123297199474,
|
| 444 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 445 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 446 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 447 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 448 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 449 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 450 |
+
"state_frame_count": 809,
|
| 451 |
+
"stopped_early": true,
|
| 452 |
+
"strict_tracking_pass": false,
|
| 453 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 454 |
+
"tcp_pose_count": 809,
|
| 455 |
+
"timestamp_count": 809,
|
| 456 |
+
"tool_failures": 0,
|
| 457 |
+
"tracking_geometry_pass": false,
|
| 458 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 459 |
+
"tracking_pass": false,
|
| 460 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 462 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 463 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 464 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 465 |
+
"tracking_timing_pass": false,
|
| 466 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 467 |
+
"window_lag_count": 0
|
| 468 |
+
}
|
| 469 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_134205.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a6ae4d190c39db02c0e61418304c57996408d5636e9284d802ef5c228f18f78
|
| 3 |
+
size 83484
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.json
ADDED
|
@@ -0,0 +1,469 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T14:03:18",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.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": 591,
|
| 20 |
+
"actual_playback_duration_s": 19.91384628099877,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 591,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 591,
|
| 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": 0.8102635098262103,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 591,
|
| 47 |
+
"cam_wrist": 591
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 37,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006502705000457354,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003961491000154638,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.00432189149887563,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004847985141386731,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 3283,
|
| 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": 0.006580043000212754,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004004819001238502,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004369954051253444,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004945252518900814,
|
| 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": 0.0065280029994028155,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.00400753500071005,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004349818399350625,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004911581529868271,
|
| 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_v006",
|
| 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": 0.017806142999688745,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.012076733337380574,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.012368353246165496,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.013008378584090674,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7695,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.006551272999786306,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.003987920999861672,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.004351390299780177,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004930397759417246,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3641,
|
| 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": 7,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.0031949952244758606,
|
| 144 |
+
0.00254705548286438,
|
| 145 |
+
0.004000332206487656,
|
| 146 |
+
0.001440504565834999,
|
| 147 |
+
0.001710057258605957,
|
| 148 |
+
0.006273150444030762
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.006273150444030762,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0015084907645359635,
|
| 153 |
+
0.0018201617058366537,
|
| 154 |
+
0.0031106944661587477,
|
| 155 |
+
0.0003790644113905728,
|
| 156 |
+
0.0011590232606977224,
|
| 157 |
+
0.0034897136501967907
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0006312767509371042,
|
| 161 |
+
0.0007358134025707841,
|
| 162 |
+
0.0010446847882121801,
|
| 163 |
+
0.00017147585458587855,
|
| 164 |
+
0.00042279064655303955,
|
| 165 |
+
0.0012698612408712506
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 6145,
|
| 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": -0.006273150444030762,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.3368861675262451,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.5920000000000001,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.3431593179702759,
|
| 176 |
+
"leadthrough_duration_s": 24.576999999999998,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 6144,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 3.2669999999999995,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 817,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 6145,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7695,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 733,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 2.928,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 732,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 732,
|
| 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": 0.004000000000000448,
|
| 200 |
+
"leadthrough_sample_gap_warn": false,
|
| 201 |
+
"leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
|
| 202 |
+
0.0031949952244758606,
|
| 203 |
+
0.00254705548286438,
|
| 204 |
+
0.004000332206487656,
|
| 205 |
+
0.001440504565834999,
|
| 206 |
+
0.001710057258605957,
|
| 207 |
+
0.006273150444030762
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.006273150444030762,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.0366365313529575,
|
| 212 |
+
0.8482138315836267,
|
| 213 |
+
1.316666603088329,
|
| 214 |
+
0.3601261414586295,
|
| 215 |
+
0.5700190862019641,
|
| 216 |
+
1.9100705782574532
|
| 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": 79.154,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 24.576999999999998,
|
| 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 |
+
2142,
|
| 237 |
+
4855
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.4487639190373478,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08688503503799438,
|
| 244 |
+
"rapid_planner_max_dt_s": 3.2880000000000003,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.00783240795135498,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.10000000000000142,
|
| 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 |
+
25,
|
| 253 |
+
50,
|
| 254 |
+
65,
|
| 255 |
+
79,
|
| 256 |
+
88,
|
| 257 |
+
98,
|
| 258 |
+
112,
|
| 259 |
+
126,
|
| 260 |
+
133,
|
| 261 |
+
140,
|
| 262 |
+
154,
|
| 263 |
+
168,
|
| 264 |
+
176,
|
| 265 |
+
183,
|
| 266 |
+
195,
|
| 267 |
+
207,
|
| 268 |
+
219,
|
| 269 |
+
231,
|
| 270 |
+
249,
|
| 271 |
+
266,
|
| 272 |
+
282,
|
| 273 |
+
298,
|
| 274 |
+
318,
|
| 275 |
+
339,
|
| 276 |
+
360,
|
| 277 |
+
382,
|
| 278 |
+
428,
|
| 279 |
+
476,
|
| 280 |
+
527,
|
| 281 |
+
614,
|
| 282 |
+
667,
|
| 283 |
+
758,
|
| 284 |
+
814,
|
| 285 |
+
869,
|
| 286 |
+
949,
|
| 287 |
+
1026,
|
| 288 |
+
1091,
|
| 289 |
+
1913,
|
| 290 |
+
2142,
|
| 291 |
+
2725,
|
| 292 |
+
2796,
|
| 293 |
+
2868,
|
| 294 |
+
2959,
|
| 295 |
+
3001,
|
| 296 |
+
3043,
|
| 297 |
+
3064,
|
| 298 |
+
3085,
|
| 299 |
+
3104,
|
| 300 |
+
3122,
|
| 301 |
+
3140,
|
| 302 |
+
3159,
|
| 303 |
+
3183,
|
| 304 |
+
3207,
|
| 305 |
+
3226,
|
| 306 |
+
3244,
|
| 307 |
+
3264,
|
| 308 |
+
3284,
|
| 309 |
+
3323,
|
| 310 |
+
3352,
|
| 311 |
+
3371,
|
| 312 |
+
3390,
|
| 313 |
+
3409,
|
| 314 |
+
3428,
|
| 315 |
+
3453,
|
| 316 |
+
3479,
|
| 317 |
+
3511,
|
| 318 |
+
3576,
|
| 319 |
+
3656,
|
| 320 |
+
3703,
|
| 321 |
+
3755,
|
| 322 |
+
3776,
|
| 323 |
+
3879,
|
| 324 |
+
3953,
|
| 325 |
+
4352,
|
| 326 |
+
4509,
|
| 327 |
+
4855,
|
| 328 |
+
5029,
|
| 329 |
+
5142,
|
| 330 |
+
5197,
|
| 331 |
+
5245,
|
| 332 |
+
5275,
|
| 333 |
+
5305,
|
| 334 |
+
5317,
|
| 335 |
+
5329,
|
| 336 |
+
5351,
|
| 337 |
+
5372,
|
| 338 |
+
5397,
|
| 339 |
+
5424,
|
| 340 |
+
5450,
|
| 341 |
+
5494,
|
| 342 |
+
5528,
|
| 343 |
+
5561,
|
| 344 |
+
5725,
|
| 345 |
+
5854,
|
| 346 |
+
5968,
|
| 347 |
+
6078,
|
| 348 |
+
6145
|
| 349 |
+
],
|
| 350 |
+
"rapid_planner_selected_max_joint_step_deg": 4.978145810523358,
|
| 351 |
+
"rapid_planner_selected_samples": 98,
|
| 352 |
+
"rapid_planner_service_configured": true,
|
| 353 |
+
"rapid_planner_source_samples": 6146,
|
| 354 |
+
"rapid_planner_state_done": 6.0,
|
| 355 |
+
"rapid_planner_state_error": 7.0,
|
| 356 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 357 |
+
"rapid_planner_tool_command_supported": true,
|
| 358 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 359 |
+
"rapid_planner_tool_io_configured": true,
|
| 360 |
+
"rapid_planner_tool_io_supported": true,
|
| 361 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 362 |
+
"rapid_planner_tool_state_supported": true,
|
| 363 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 364 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 365 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 366 |
+
"rapid_planner_uploaded": true,
|
| 367 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 368 |
+
"rapid_planner_waypoints_uploaded": 98,
|
| 369 |
+
"raw_ramp_max_error_rad": null,
|
| 370 |
+
"raw_replay_max_error_rad": 0.0055006444454193115,
|
| 371 |
+
"raw_replay_rms_error_rad": 0.0008307195262876998,
|
| 372 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9467858867035833,
|
| 373 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9669433332000087,
|
| 374 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9802058095696041,
|
| 375 |
+
"replay_smoothing_applied": true,
|
| 376 |
+
"replay_smoothing_blend": 1.0,
|
| 377 |
+
"replay_smoothing_blend_by_joint": [
|
| 378 |
+
1.0,
|
| 379 |
+
1.0,
|
| 380 |
+
1.0,
|
| 381 |
+
1.0,
|
| 382 |
+
1.0,
|
| 383 |
+
1.0
|
| 384 |
+
],
|
| 385 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 386 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 387 |
+
"replay_smoothing_enabled": true,
|
| 388 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9788978137768991,
|
| 389 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9939037119452592,
|
| 390 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9903318956436211,
|
| 391 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 392 |
+
0.0005630850791931152,
|
| 393 |
+
0.0010802596807479858,
|
| 394 |
+
0.00047516822814941406,
|
| 395 |
+
0.0020279167219996452,
|
| 396 |
+
0.003354370594024658,
|
| 397 |
+
0.004622776061296463
|
| 398 |
+
],
|
| 399 |
+
"replay_smoothing_max_deviation_normalized": 0.5297311199962861,
|
| 400 |
+
"replay_smoothing_max_deviation_rad": 0.004622776061296463,
|
| 401 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 402 |
+
"replay_smoothing_p95_deviation_rad": 0.001302085816860199,
|
| 403 |
+
"replay_smoothing_passes": 8,
|
| 404 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 4.183942794799805,
|
| 405 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 46.44694900512695,
|
| 406 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 2.790788007876374,
|
| 407 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 875.6422729492188,
|
| 408 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 12658.509765625,
|
| 409 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 737.1579852238802,
|
| 410 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.705618143081665,
|
| 411 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.20383917001963697,
|
| 412 |
+
"replay_smoothing_rms_deviation_rad": 0.0006768372426026651,
|
| 413 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.9612979888916016,
|
| 414 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.91156768798828,
|
| 415 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 2.7355466185976036,
|
| 416 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 857.164306640625,
|
| 417 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12581.33984375,
|
| 418 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 730.0310648955978,
|
| 419 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7079859972000122,
|
| 420 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.20327689974635177,
|
| 421 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 422 |
+
0.03490658476948738,
|
| 423 |
+
0.03490658476948738,
|
| 424 |
+
0.02617993950843811,
|
| 425 |
+
0.008726646192371845,
|
| 426 |
+
0.008726646192371845,
|
| 427 |
+
0.008726646192371845
|
| 428 |
+
],
|
| 429 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 430 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0013882674313426,
|
| 431 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9972415984953675,
|
| 432 |
+
"replay_smoothing_window_s": 0.2,
|
| 433 |
+
"replay_smoothing_window_samples": 51,
|
| 434 |
+
"replay_smoothing_within_tolerance": true,
|
| 435 |
+
"replay_smoothing_worst_joint": 5,
|
| 436 |
+
"replay_smoothing_worst_time_s": 21.756999999999998,
|
| 437 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.004622776061296463,
|
| 438 |
+
"safety_abort": false,
|
| 439 |
+
"safety_path_error_rad": 0.0055006444454193115,
|
| 440 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 441 |
+
"send_failures": 0,
|
| 442 |
+
"stage_planned_to_measured_max_error_rad": 0.023562699556350708,
|
| 443 |
+
"stage_planned_to_measured_rms_error_rad": 0.005772611932531717,
|
| 444 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 445 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 446 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 447 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 448 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 449 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 450 |
+
"state_frame_count": 591,
|
| 451 |
+
"stopped_early": true,
|
| 452 |
+
"strict_tracking_pass": false,
|
| 453 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 454 |
+
"tcp_pose_count": 591,
|
| 455 |
+
"timestamp_count": 591,
|
| 456 |
+
"tool_failures": 0,
|
| 457 |
+
"tracking_geometry_pass": false,
|
| 458 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 459 |
+
"tracking_pass": false,
|
| 460 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 462 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 463 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 464 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 465 |
+
"tracking_timing_pass": false,
|
| 466 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 467 |
+
"window_lag_count": 0
|
| 468 |
+
}
|
| 469 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_140317.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9125f160456815bc7e70d8ef2cc6dbc3f5114d29347b7601fe2bebf4f7d4294e
|
| 3 |
+
size 61497
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.json
ADDED
|
@@ -0,0 +1,471 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T14:11:19",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.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": 468,
|
| 20 |
+
"actual_playback_duration_s": 15.759403807998751,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 468,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 468,
|
| 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": 0.7503763359679436,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 468,
|
| 47 |
+
"cam_wrist": 468
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 11,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006244547999813221,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003942981000363943,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.00434025870035839,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004925919059678563,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2857,
|
| 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": 0.006316793000223697,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.003989810498751467,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004386117200374429,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004987301190940345,
|
| 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": 0.006314579000900267,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.003992114000539004,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004364423499828262,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004921396769550487,
|
| 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_v006",
|
| 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": 0.013675676000275416,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.00759819022823649,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.007930102508180426,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.008587707388833223,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7255,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.006290825000178302,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.003970525000113412,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.004367933400862966,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004968049200288078,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3187,
|
| 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": 0.005000000000002558,
|
| 138 |
+
"leadthrough_capture_recorded_timestamp_gap_warn": false,
|
| 139 |
+
"leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
|
| 140 |
+
"leadthrough_capture_slow_ticks": 9,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.003540143370628357,
|
| 144 |
+
0.0027979016304016113,
|
| 145 |
+
0.003856923198327422,
|
| 146 |
+
0.0014806510880589485,
|
| 147 |
+
0.002130866050720215,
|
| 148 |
+
0.006096974015235901
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.006096974015235901,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0016226768493652344,
|
| 153 |
+
0.0018008295446634293,
|
| 154 |
+
0.0027933269739151,
|
| 155 |
+
0.00016358471475541592,
|
| 156 |
+
0.0013338327407836914,
|
| 157 |
+
0.004204988479614258
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0007360326126217842,
|
| 161 |
+
0.0008000968373380601,
|
| 162 |
+
0.001067674020305276,
|
| 163 |
+
0.000158672672114335,
|
| 164 |
+
0.000503952382132411,
|
| 165 |
+
0.0014269736129790545
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 5251,
|
| 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": -0.006096974015235901,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.026273615658283234,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.3039999999999994,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.032370589673519135,
|
| 176 |
+
"leadthrough_duration_s": 21.002,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 5250,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 3.8470000000000013,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 962,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 5251,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7255,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 1042,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 4.163,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 1041,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 1041,
|
| 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 |
+
0.003540143370628357,
|
| 203 |
+
0.0027979016304016113,
|
| 204 |
+
0.003856923198327422,
|
| 205 |
+
0.0014806510880589485,
|
| 206 |
+
0.002130866050720215,
|
| 207 |
+
0.006096974015235901
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.006096974015235901,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
0.8850358426567937,
|
| 212 |
+
0.8817712465921703,
|
| 213 |
+
1.2088070313135324,
|
| 214 |
+
0.3701627720146957,
|
| 215 |
+
0.5327165126799941,
|
| 216 |
+
1.5303889910379465
|
| 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": 72.00399999999999,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 21.002,
|
| 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 |
+
2102,
|
| 237 |
+
4567
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.4473295793116451,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08677676320075989,
|
| 244 |
+
"rapid_planner_max_dt_s": 2.603999999999999,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.007807374000549316,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.08800000000000008,
|
| 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 |
+
33,
|
| 253 |
+
55,
|
| 254 |
+
68,
|
| 255 |
+
78,
|
| 256 |
+
88,
|
| 257 |
+
98,
|
| 258 |
+
109,
|
| 259 |
+
124,
|
| 260 |
+
138,
|
| 261 |
+
152,
|
| 262 |
+
166,
|
| 263 |
+
184,
|
| 264 |
+
193,
|
| 265 |
+
202,
|
| 266 |
+
213,
|
| 267 |
+
224,
|
| 268 |
+
236,
|
| 269 |
+
247,
|
| 270 |
+
264,
|
| 271 |
+
280,
|
| 272 |
+
302,
|
| 273 |
+
323,
|
| 274 |
+
348,
|
| 275 |
+
373,
|
| 276 |
+
399,
|
| 277 |
+
423,
|
| 278 |
+
472,
|
| 279 |
+
499,
|
| 280 |
+
530,
|
| 281 |
+
568,
|
| 282 |
+
619,
|
| 283 |
+
674,
|
| 284 |
+
730,
|
| 285 |
+
880,
|
| 286 |
+
980,
|
| 287 |
+
1293,
|
| 288 |
+
1434,
|
| 289 |
+
1534,
|
| 290 |
+
2102,
|
| 291 |
+
2753,
|
| 292 |
+
2800,
|
| 293 |
+
2873,
|
| 294 |
+
2923,
|
| 295 |
+
2963,
|
| 296 |
+
3003,
|
| 297 |
+
3020,
|
| 298 |
+
3038,
|
| 299 |
+
3054,
|
| 300 |
+
3070,
|
| 301 |
+
3086,
|
| 302 |
+
3101,
|
| 303 |
+
3114,
|
| 304 |
+
3127,
|
| 305 |
+
3153,
|
| 306 |
+
3168,
|
| 307 |
+
3184,
|
| 308 |
+
3215,
|
| 309 |
+
3236,
|
| 310 |
+
3257,
|
| 311 |
+
3287,
|
| 312 |
+
3302,
|
| 313 |
+
3317,
|
| 314 |
+
3332,
|
| 315 |
+
3346,
|
| 316 |
+
3360,
|
| 317 |
+
3374,
|
| 318 |
+
3386,
|
| 319 |
+
3398,
|
| 320 |
+
3422,
|
| 321 |
+
3446,
|
| 322 |
+
3506,
|
| 323 |
+
3605,
|
| 324 |
+
3664,
|
| 325 |
+
3727,
|
| 326 |
+
3808,
|
| 327 |
+
3883,
|
| 328 |
+
3950,
|
| 329 |
+
4004,
|
| 330 |
+
4085,
|
| 331 |
+
4183,
|
| 332 |
+
4335,
|
| 333 |
+
4567,
|
| 334 |
+
4790,
|
| 335 |
+
4844,
|
| 336 |
+
4881,
|
| 337 |
+
4900,
|
| 338 |
+
4916,
|
| 339 |
+
4926,
|
| 340 |
+
4937,
|
| 341 |
+
4954,
|
| 342 |
+
4971,
|
| 343 |
+
4984,
|
| 344 |
+
4998,
|
| 345 |
+
5012,
|
| 346 |
+
5027,
|
| 347 |
+
5052,
|
| 348 |
+
5090,
|
| 349 |
+
5131,
|
| 350 |
+
5251
|
| 351 |
+
],
|
| 352 |
+
"rapid_planner_selected_max_joint_step_deg": 4.971942291209694,
|
| 353 |
+
"rapid_planner_selected_samples": 100,
|
| 354 |
+
"rapid_planner_service_configured": true,
|
| 355 |
+
"rapid_planner_source_samples": 5252,
|
| 356 |
+
"rapid_planner_state_done": 6.0,
|
| 357 |
+
"rapid_planner_state_error": 7.0,
|
| 358 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 359 |
+
"rapid_planner_tool_command_supported": true,
|
| 360 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 361 |
+
"rapid_planner_tool_io_configured": true,
|
| 362 |
+
"rapid_planner_tool_io_supported": true,
|
| 363 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 364 |
+
"rapid_planner_tool_state_supported": true,
|
| 365 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 366 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 367 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 368 |
+
"rapid_planner_uploaded": true,
|
| 369 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 370 |
+
"rapid_planner_waypoints_uploaded": 100,
|
| 371 |
+
"raw_ramp_max_error_rad": null,
|
| 372 |
+
"raw_replay_max_error_rad": 0.007211001589894295,
|
| 373 |
+
"raw_replay_rms_error_rad": 0.0007946756750118492,
|
| 374 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9492625601883995,
|
| 375 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9887465572714592,
|
| 376 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9767869275532227,
|
| 377 |
+
"replay_smoothing_applied": true,
|
| 378 |
+
"replay_smoothing_blend": 1.0,
|
| 379 |
+
"replay_smoothing_blend_by_joint": [
|
| 380 |
+
1.0,
|
| 381 |
+
1.0,
|
| 382 |
+
1.0,
|
| 383 |
+
1.0,
|
| 384 |
+
1.0,
|
| 385 |
+
1.0
|
| 386 |
+
],
|
| 387 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 388 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 389 |
+
"replay_smoothing_enabled": true,
|
| 390 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9654256579814564,
|
| 391 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9958902933156174,
|
| 392 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9939830552986285,
|
| 393 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 394 |
+
0.0003678649663925171,
|
| 395 |
+
0.0004500746726989746,
|
| 396 |
+
0.0008226633071899414,
|
| 397 |
+
0.0020321235060691833,
|
| 398 |
+
0.0016580820083618164,
|
| 399 |
+
0.005523502826690674
|
| 400 |
+
],
|
| 401 |
+
"replay_smoothing_max_deviation_normalized": 0.6329468050989497,
|
| 402 |
+
"replay_smoothing_max_deviation_rad": 0.005523502826690674,
|
| 403 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 404 |
+
"replay_smoothing_p95_deviation_rad": 0.002046415349468589,
|
| 405 |
+
"replay_smoothing_passes": 8,
|
| 406 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 3.9817535877227783,
|
| 407 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 45.05863952636719,
|
| 408 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 2.568822667695337,
|
| 409 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 751.97802734375,
|
| 410 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 14202.7509765625,
|
| 411 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 680.3171716683498,
|
| 412 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5240939855575562,
|
| 413 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.2227084867329969,
|
| 414 |
+
"replay_smoothing_rms_deviation_rad": 0.0008978539916846991,
|
| 415 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.7797296047210693,
|
| 416 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.55157470703125,
|
| 417 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 2.5091924010072018,
|
| 418 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 725.9788818359375,
|
| 419 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14144.3818359375,
|
| 420 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 676.2237408670279,
|
| 421 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4721397161483765,
|
| 422 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.22183564872209832,
|
| 423 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 424 |
+
0.03490658476948738,
|
| 425 |
+
0.03490658476948738,
|
| 426 |
+
0.02617993950843811,
|
| 427 |
+
0.008726646192371845,
|
| 428 |
+
0.008726646192371845,
|
| 429 |
+
0.008726646192371845
|
| 430 |
+
],
|
| 431 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 432 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9659113742974497,
|
| 433 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9960808048956616,
|
| 434 |
+
"replay_smoothing_window_s": 0.2,
|
| 435 |
+
"replay_smoothing_window_samples": 51,
|
| 436 |
+
"replay_smoothing_within_tolerance": true,
|
| 437 |
+
"replay_smoothing_worst_joint": 5,
|
| 438 |
+
"replay_smoothing_worst_time_s": 19.618,
|
| 439 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.005523502826690674,
|
| 440 |
+
"safety_abort": false,
|
| 441 |
+
"safety_path_error_rad": 0.007211001589894295,
|
| 442 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 443 |
+
"send_failures": 0,
|
| 444 |
+
"stage_planned_to_measured_max_error_rad": 0.029606521129608154,
|
| 445 |
+
"stage_planned_to_measured_rms_error_rad": 0.006083609607325584,
|
| 446 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 447 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 448 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 449 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 450 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 451 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 452 |
+
"state_frame_count": 468,
|
| 453 |
+
"stopped_early": true,
|
| 454 |
+
"strict_tracking_pass": false,
|
| 455 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 456 |
+
"tcp_pose_count": 468,
|
| 457 |
+
"timestamp_count": 468,
|
| 458 |
+
"tool_failures": 0,
|
| 459 |
+
"tracking_geometry_pass": false,
|
| 460 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tracking_pass": false,
|
| 462 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 463 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 464 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 465 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 466 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 467 |
+
"tracking_timing_pass": false,
|
| 468 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 469 |
+
"window_lag_count": 0
|
| 470 |
+
}
|
| 471 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141118.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:077e87f815e7aadca78041676ebf82b2f325af699916dd3989d33c97c8326ff4
|
| 3 |
+
size 47655
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.json
ADDED
|
@@ -0,0 +1,476 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T14:16:58",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.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": 482,
|
| 20 |
+
"actual_playback_duration_s": 16.116150314999686,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 482,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 482,
|
| 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": 0.6359713632058595,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 482,
|
| 47 |
+
"cam_wrist": 482
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 3,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006481155000074068,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003944597499867086,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004334684499735886,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.0049258780897071105,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 3021,
|
| 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": 0.006516378000014811,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.0039899089988466585,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004390313398471335,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.0050124944405251885,
|
| 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": 0.006384903999787639,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0039942540006450145,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004357592400265275,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004914405639647158,
|
| 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_v006",
|
| 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": 0.11972063699977298,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.11600868309233192,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.11636619373048233,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.11697533366159404,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7610,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.006503022999822861,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.00397150950084324,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.0043654789496031295,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.004981203709230611,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3355,
|
| 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": 0.005000000000002558,
|
| 138 |
+
"leadthrough_capture_recorded_timestamp_gap_warn": false,
|
| 139 |
+
"leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
|
| 140 |
+
"leadthrough_capture_slow_ticks": 6,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.0033104419708251953,
|
| 144 |
+
0.0031498372554779053,
|
| 145 |
+
0.004196867346763611,
|
| 146 |
+
0.0010186582803726196,
|
| 147 |
+
0.0020654797554016113,
|
| 148 |
+
0.0066751837730407715
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.0066751837730407715,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.001486634835600853,
|
| 153 |
+
0.0019850805401802063,
|
| 154 |
+
0.0033395015634596348,
|
| 155 |
+
0.0003075455315411091,
|
| 156 |
+
0.0010120868682861328,
|
| 157 |
+
0.0037967339158058167
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0006335253128781915,
|
| 161 |
+
0.0007291114307008684,
|
| 162 |
+
0.0010769753716886044,
|
| 163 |
+
0.00014801681390963495,
|
| 164 |
+
0.0004230726044625044,
|
| 165 |
+
0.001349815633147955
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 6336,
|
| 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": -0.0066751837730407715,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.6522612571716309,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 0.8319999999999994,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.6589364409446716,
|
| 176 |
+
"leadthrough_duration_s": 25.341,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 6335,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 1.404,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 351,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 6336,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7610,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 923,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 3.688,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 922,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 922,
|
| 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 |
+
0.0033104419708251953,
|
| 203 |
+
0.0031498372554779053,
|
| 204 |
+
0.004196867346763611,
|
| 205 |
+
0.0010186582803726196,
|
| 206 |
+
0.0020654797554016113,
|
| 207 |
+
0.0066751837730407715
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.0066751837730407715,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
1.097756127516387,
|
| 212 |
+
1.0313093662261572,
|
| 213 |
+
1.3927010198433667,
|
| 214 |
+
0.31458586454390286,
|
| 215 |
+
0.5163699388504597,
|
| 216 |
+
1.6687959432603767
|
| 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": 80.682,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 25.341,
|
| 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 |
+
2443,
|
| 237 |
+
4778
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.4066807223225191,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.08665168285369873,
|
| 244 |
+
"rapid_planner_max_dt_s": 3.8240000000000016,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.0070979176089167595,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.07949999999999946,
|
| 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 |
+
27,
|
| 253 |
+
56,
|
| 254 |
+
74,
|
| 255 |
+
91,
|
| 256 |
+
107,
|
| 257 |
+
115,
|
| 258 |
+
123,
|
| 259 |
+
130,
|
| 260 |
+
138,
|
| 261 |
+
146,
|
| 262 |
+
153,
|
| 263 |
+
160,
|
| 264 |
+
168,
|
| 265 |
+
176,
|
| 266 |
+
183,
|
| 267 |
+
196,
|
| 268 |
+
203,
|
| 269 |
+
210,
|
| 270 |
+
217,
|
| 271 |
+
224,
|
| 272 |
+
238,
|
| 273 |
+
251,
|
| 274 |
+
264,
|
| 275 |
+
278,
|
| 276 |
+
291,
|
| 277 |
+
306,
|
| 278 |
+
318,
|
| 279 |
+
330,
|
| 280 |
+
345,
|
| 281 |
+
364,
|
| 282 |
+
382,
|
| 283 |
+
421,
|
| 284 |
+
466,
|
| 285 |
+
510,
|
| 286 |
+
580,
|
| 287 |
+
690,
|
| 288 |
+
746,
|
| 289 |
+
772,
|
| 290 |
+
1232,
|
| 291 |
+
1319,
|
| 292 |
+
1488,
|
| 293 |
+
1586,
|
| 294 |
+
1977,
|
| 295 |
+
2443,
|
| 296 |
+
3094,
|
| 297 |
+
3135,
|
| 298 |
+
3217,
|
| 299 |
+
3245,
|
| 300 |
+
3276,
|
| 301 |
+
3306,
|
| 302 |
+
3320,
|
| 303 |
+
3333,
|
| 304 |
+
3346,
|
| 305 |
+
3360,
|
| 306 |
+
3372,
|
| 307 |
+
3383,
|
| 308 |
+
3394,
|
| 309 |
+
3406,
|
| 310 |
+
3418,
|
| 311 |
+
3429,
|
| 312 |
+
3452,
|
| 313 |
+
3471,
|
| 314 |
+
3490,
|
| 315 |
+
3511,
|
| 316 |
+
3532,
|
| 317 |
+
3571,
|
| 318 |
+
3610,
|
| 319 |
+
3653,
|
| 320 |
+
3696,
|
| 321 |
+
3725,
|
| 322 |
+
3761,
|
| 323 |
+
3786,
|
| 324 |
+
3805,
|
| 325 |
+
3822,
|
| 326 |
+
3838,
|
| 327 |
+
3854,
|
| 328 |
+
3871,
|
| 329 |
+
3886,
|
| 330 |
+
3901,
|
| 331 |
+
3928,
|
| 332 |
+
3958,
|
| 333 |
+
3996,
|
| 334 |
+
4053,
|
| 335 |
+
4124,
|
| 336 |
+
4195,
|
| 337 |
+
4251,
|
| 338 |
+
4567,
|
| 339 |
+
4778,
|
| 340 |
+
5003,
|
| 341 |
+
5057,
|
| 342 |
+
5101,
|
| 343 |
+
5139,
|
| 344 |
+
5161,
|
| 345 |
+
5180,
|
| 346 |
+
5198,
|
| 347 |
+
5217,
|
| 348 |
+
5240,
|
| 349 |
+
5265,
|
| 350 |
+
5294,
|
| 351 |
+
5319,
|
| 352 |
+
5339,
|
| 353 |
+
5359,
|
| 354 |
+
5380,
|
| 355 |
+
6336
|
| 356 |
+
],
|
| 357 |
+
"rapid_planner_selected_max_joint_step_deg": 4.964775715223059,
|
| 358 |
+
"rapid_planner_selected_samples": 105,
|
| 359 |
+
"rapid_planner_service_configured": true,
|
| 360 |
+
"rapid_planner_source_samples": 6337,
|
| 361 |
+
"rapid_planner_state_done": 6.0,
|
| 362 |
+
"rapid_planner_state_error": 7.0,
|
| 363 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 364 |
+
"rapid_planner_tool_command_supported": true,
|
| 365 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 366 |
+
"rapid_planner_tool_io_configured": true,
|
| 367 |
+
"rapid_planner_tool_io_supported": true,
|
| 368 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 369 |
+
"rapid_planner_tool_state_supported": true,
|
| 370 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 371 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 372 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 373 |
+
"rapid_planner_uploaded": true,
|
| 374 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 375 |
+
"rapid_planner_waypoints_uploaded": 105,
|
| 376 |
+
"raw_ramp_max_error_rad": null,
|
| 377 |
+
"raw_replay_max_error_rad": 0.004874706268310547,
|
| 378 |
+
"raw_replay_rms_error_rad": 0.0007111571254471553,
|
| 379 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9904806191683577,
|
| 380 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9641229978004395,
|
| 381 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.982469510574253,
|
| 382 |
+
"replay_smoothing_applied": true,
|
| 383 |
+
"replay_smoothing_blend": 1.0,
|
| 384 |
+
"replay_smoothing_blend_by_joint": [
|
| 385 |
+
1.0,
|
| 386 |
+
1.0,
|
| 387 |
+
1.0,
|
| 388 |
+
1.0,
|
| 389 |
+
1.0,
|
| 390 |
+
1.0
|
| 391 |
+
],
|
| 392 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 393 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 394 |
+
"replay_smoothing_enabled": true,
|
| 395 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9922034786367266,
|
| 396 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9270252882036191,
|
| 397 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9919976839457436,
|
| 398 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 399 |
+
0.0003460794687271118,
|
| 400 |
+
0.0003694295883178711,
|
| 401 |
+
0.0007980465888977051,
|
| 402 |
+
0.0013358099386096,
|
| 403 |
+
0.0020073652267456055,
|
| 404 |
+
0.006769418716430664
|
| 405 |
+
],
|
| 406 |
+
"replay_smoothing_max_deviation_normalized": 0.7757182504256862,
|
| 407 |
+
"replay_smoothing_max_deviation_rad": 0.006769418716430664,
|
| 408 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 409 |
+
"replay_smoothing_p95_deviation_rad": 0.001459605759009719,
|
| 410 |
+
"replay_smoothing_passes": 8,
|
| 411 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 5.274803161621094,
|
| 412 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 43.047054290771484,
|
| 413 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 3.1952351784408823,
|
| 414 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 1064.7088623046875,
|
| 415 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 13692.9658203125,
|
| 416 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 860.4554709840254,
|
| 417 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.668199896812439,
|
| 418 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.21177862264017042,
|
| 419 |
+
"replay_smoothing_rms_deviation_rad": 0.0007877335017825603,
|
| 420 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.224590301513672,
|
| 421 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 41.502655029296875,
|
| 422 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 3.13922114193245,
|
| 423 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1056.4078369140625,
|
| 424 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12693.7255859375,
|
| 425 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 853.5698343545972,
|
| 426 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6340539455413818,
|
| 427 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.21108249164039383,
|
| 428 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 429 |
+
0.03490658476948738,
|
| 430 |
+
0.03490658476948738,
|
| 431 |
+
0.02617993950843811,
|
| 432 |
+
0.008726646192371845,
|
| 433 |
+
0.008726646192371845,
|
| 434 |
+
0.008726646192371845
|
| 435 |
+
],
|
| 436 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 437 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9795312592116193,
|
| 438 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9967129307429704,
|
| 439 |
+
"replay_smoothing_window_s": 0.2,
|
| 440 |
+
"replay_smoothing_window_samples": 51,
|
| 441 |
+
"replay_smoothing_within_tolerance": true,
|
| 442 |
+
"replay_smoothing_worst_joint": 5,
|
| 443 |
+
"replay_smoothing_worst_time_s": 1.2879999999999998,
|
| 444 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.006769418716430664,
|
| 445 |
+
"safety_abort": false,
|
| 446 |
+
"safety_path_error_rad": 0.004874706268310547,
|
| 447 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 448 |
+
"send_failures": 0,
|
| 449 |
+
"stage_planned_to_measured_max_error_rad": 0.023920953273773193,
|
| 450 |
+
"stage_planned_to_measured_rms_error_rad": 0.00618436745074368,
|
| 451 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 452 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 453 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 454 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 455 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 456 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 457 |
+
"state_frame_count": 482,
|
| 458 |
+
"stopped_early": true,
|
| 459 |
+
"strict_tracking_pass": false,
|
| 460 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 461 |
+
"tcp_pose_count": 482,
|
| 462 |
+
"timestamp_count": 482,
|
| 463 |
+
"tool_failures": 0,
|
| 464 |
+
"tracking_geometry_pass": false,
|
| 465 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 466 |
+
"tracking_pass": false,
|
| 467 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 468 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 469 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 470 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 471 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 472 |
+
"tracking_timing_pass": false,
|
| 473 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 474 |
+
"window_lag_count": 0
|
| 475 |
+
}
|
| 476 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_141657.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c6f62106277a96afcc78239c3f2d6c7c08288f0dc63a19d17f32fc6e2e73886
|
| 3 |
+
size 49421
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.json
ADDED
|
@@ -0,0 +1,489 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T15:11:25",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.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": 480,
|
| 20 |
+
"actual_playback_duration_s": 16.162554831998932,
|
| 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": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.json",
|
| 32 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.npz",
|
| 33 |
+
"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
+
"diagnostic_ramp_samples": 0,
|
| 36 |
+
"diagnostic_replay_samples": 480,
|
| 37 |
+
"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 480,
|
| 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": 0.7187830130747547,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
+
"cam_scene": 480,
|
| 47 |
+
"cam_wrist": 480
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 52 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 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": 31,
|
| 62 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.007094607999533764,
|
| 64 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003933518999474472,
|
| 65 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.0042794964003405765,
|
| 66 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004848887019543326,
|
| 67 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2640,
|
| 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": 0.007159853999837651,
|
| 73 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004009429999314307,
|
| 74 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004355820199998561,
|
| 75 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.00494975148985759,
|
| 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": 0.007133295999665279,
|
| 79 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0040102020002450445,
|
| 80 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.0043377305492867885,
|
| 81 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.0049229665098209805,
|
| 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_v006",
|
| 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": 0.015557654998701764,
|
| 124 |
+
"leadthrough_capture_loop_late_median_s": 0.009326587514806306,
|
| 125 |
+
"leadthrough_capture_loop_late_p95_s": 0.009597197965194936,
|
| 126 |
+
"leadthrough_capture_loop_late_p99_s": 0.010323365854819709,
|
| 127 |
+
"leadthrough_capture_loop_late_warn_count": 7015,
|
| 128 |
+
"leadthrough_capture_none_reads": 0,
|
| 129 |
+
"leadthrough_capture_read_duration_max_s": 0.007131959999242099,
|
| 130 |
+
"leadthrough_capture_read_duration_median_s": 0.003981814999860944,
|
| 131 |
+
"leadthrough_capture_read_duration_p95_s": 0.004323493000447342,
|
| 132 |
+
"leadthrough_capture_read_duration_p99_s": 0.00490852174021711,
|
| 133 |
+
"leadthrough_capture_read_duration_warn_count": 3203,
|
| 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": 0.005000000000002558,
|
| 138 |
+
"leadthrough_capture_recorded_timestamp_gap_warn": false,
|
| 139 |
+
"leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
|
| 140 |
+
"leadthrough_capture_slow_ticks": 10,
|
| 141 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 142 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 143 |
+
0.0037566572427749634,
|
| 144 |
+
0.0031198859214782715,
|
| 145 |
+
0.004794087260961533,
|
| 146 |
+
0.0012529529631137848,
|
| 147 |
+
0.003480255603790283,
|
| 148 |
+
0.009252429008483887
|
| 149 |
+
],
|
| 150 |
+
"leadthrough_delta_max_abs_rad": 0.009252429008483887,
|
| 151 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 152 |
+
0.0018083396134898067,
|
| 153 |
+
0.0019046928500756621,
|
| 154 |
+
0.00248731835745275,
|
| 155 |
+
0.0003559027099981904,
|
| 156 |
+
0.0013475711457431316,
|
| 157 |
+
0.0037142024375498295
|
| 158 |
+
],
|
| 159 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 160 |
+
0.0007410423713736236,
|
| 161 |
+
0.000770234561059624,
|
| 162 |
+
0.0010806400096043944,
|
| 163 |
+
0.00016510894056409597,
|
| 164 |
+
0.0005867546424269676,
|
| 165 |
+
0.0015870141796767712
|
| 166 |
+
],
|
| 167 |
+
"leadthrough_delta_samples": 5622,
|
| 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": 0.009252429008483887,
|
| 172 |
+
"leadthrough_delta_worst_from_rad": -0.14347635209560394,
|
| 173 |
+
"leadthrough_delta_worst_joint": 5,
|
| 174 |
+
"leadthrough_delta_worst_time_s": 19.497999999999998,
|
| 175 |
+
"leadthrough_delta_worst_to_rad": -0.13422392308712006,
|
| 176 |
+
"leadthrough_duration_s": 22.485999999999997,
|
| 177 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 178 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 179 |
+
"leadthrough_final_stillness_last_motion_index": 5621,
|
| 180 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 181 |
+
"leadthrough_final_stillness_removed_s": 1.2590000000000003,
|
| 182 |
+
"leadthrough_final_stillness_removed_samples": 315,
|
| 183 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 184 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 185 |
+
"leadthrough_final_stillness_trim_end_index": 5622,
|
| 186 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 187 |
+
"leadthrough_frame_count": 7015,
|
| 188 |
+
"leadthrough_initial_stillness_first_motion_index": 1078,
|
| 189 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 190 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 191 |
+
"leadthrough_initial_stillness_removed_s": 4.307,
|
| 192 |
+
"leadthrough_initial_stillness_removed_samples": 1077,
|
| 193 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 194 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 195 |
+
"leadthrough_initial_stillness_trim_start_index": 1077,
|
| 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 |
+
0.0037566572427749634,
|
| 203 |
+
0.0031198859214782715,
|
| 204 |
+
0.004794087260961533,
|
| 205 |
+
0.0012529529631137848,
|
| 206 |
+
0.003480255603790283,
|
| 207 |
+
0.009252429008483887
|
| 208 |
+
],
|
| 209 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.009252429008483887,
|
| 210 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 211 |
+
0.9391643106925931,
|
| 212 |
+
0.7799714803693074,
|
| 213 |
+
1.1985218152399828,
|
| 214 |
+
0.3132382407780634,
|
| 215 |
+
0.870063900948053,
|
| 216 |
+
2.3131072521222538
|
| 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": 74.972,
|
| 231 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 232 |
+
"rapid_planner_duration_s": 22.485999999999997,
|
| 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 |
+
1788,
|
| 237 |
+
4445
|
| 238 |
+
],
|
| 239 |
+
"rapid_planner_event_upload_enabled": true,
|
| 240 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 241 |
+
"rapid_planner_keypoint_error_deg": 0.44721688119033987,
|
| 242 |
+
"rapid_planner_last_state": 5.0,
|
| 243 |
+
"rapid_planner_max_delta_rad": 0.0871199294924736,
|
| 244 |
+
"rapid_planner_max_dt_s": 2.411999999999999,
|
| 245 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 246 |
+
"rapid_planner_max_keypoint_error_rad": 0.0078054070472717285,
|
| 247 |
+
"rapid_planner_median_dt_s": 0.08000000000000007,
|
| 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 |
+
32,
|
| 253 |
+
70,
|
| 254 |
+
87,
|
| 255 |
+
103,
|
| 256 |
+
117,
|
| 257 |
+
132,
|
| 258 |
+
140,
|
| 259 |
+
148,
|
| 260 |
+
156,
|
| 261 |
+
163,
|
| 262 |
+
170,
|
| 263 |
+
176,
|
| 264 |
+
182,
|
| 265 |
+
189,
|
| 266 |
+
202,
|
| 267 |
+
209,
|
| 268 |
+
216,
|
| 269 |
+
224,
|
| 270 |
+
232,
|
| 271 |
+
240,
|
| 272 |
+
249,
|
| 273 |
+
263,
|
| 274 |
+
277,
|
| 275 |
+
290,
|
| 276 |
+
304,
|
| 277 |
+
321,
|
| 278 |
+
338,
|
| 279 |
+
354,
|
| 280 |
+
371,
|
| 281 |
+
393,
|
| 282 |
+
417,
|
| 283 |
+
451,
|
| 284 |
+
485,
|
| 285 |
+
538,
|
| 286 |
+
572,
|
| 287 |
+
599,
|
| 288 |
+
646,
|
| 289 |
+
696,
|
| 290 |
+
778,
|
| 291 |
+
825,
|
| 292 |
+
870,
|
| 293 |
+
1298,
|
| 294 |
+
1788,
|
| 295 |
+
2391,
|
| 296 |
+
2453,
|
| 297 |
+
2492,
|
| 298 |
+
2522,
|
| 299 |
+
2560,
|
| 300 |
+
2597,
|
| 301 |
+
2617,
|
| 302 |
+
2637,
|
| 303 |
+
2650,
|
| 304 |
+
2664,
|
| 305 |
+
2678,
|
| 306 |
+
2692,
|
| 307 |
+
2709,
|
| 308 |
+
2726,
|
| 309 |
+
2744,
|
| 310 |
+
2761,
|
| 311 |
+
2778,
|
| 312 |
+
2796,
|
| 313 |
+
2813,
|
| 314 |
+
2830,
|
| 315 |
+
2852,
|
| 316 |
+
2873,
|
| 317 |
+
2898,
|
| 318 |
+
2923,
|
| 319 |
+
2973,
|
| 320 |
+
3007,
|
| 321 |
+
3037,
|
| 322 |
+
3054,
|
| 323 |
+
3070,
|
| 324 |
+
3087,
|
| 325 |
+
3104,
|
| 326 |
+
3155,
|
| 327 |
+
3180,
|
| 328 |
+
3206,
|
| 329 |
+
3235,
|
| 330 |
+
3276,
|
| 331 |
+
3311,
|
| 332 |
+
3330,
|
| 333 |
+
3352,
|
| 334 |
+
3373,
|
| 335 |
+
3397,
|
| 336 |
+
3500,
|
| 337 |
+
3610,
|
| 338 |
+
3718,
|
| 339 |
+
3775,
|
| 340 |
+
3888,
|
| 341 |
+
4060,
|
| 342 |
+
4267,
|
| 343 |
+
4445,
|
| 344 |
+
4652,
|
| 345 |
+
4705,
|
| 346 |
+
4742,
|
| 347 |
+
4771,
|
| 348 |
+
4791,
|
| 349 |
+
4811,
|
| 350 |
+
4828,
|
| 351 |
+
4843,
|
| 352 |
+
4850,
|
| 353 |
+
4858,
|
| 354 |
+
4864,
|
| 355 |
+
4871,
|
| 356 |
+
4878,
|
| 357 |
+
4884,
|
| 358 |
+
4896,
|
| 359 |
+
4909,
|
| 360 |
+
4924,
|
| 361 |
+
4952,
|
| 362 |
+
4976,
|
| 363 |
+
5001,
|
| 364 |
+
5028,
|
| 365 |
+
5065,
|
| 366 |
+
5088,
|
| 367 |
+
5148,
|
| 368 |
+
5622
|
| 369 |
+
],
|
| 370 |
+
"rapid_planner_selected_max_joint_step_deg": 4.991604271396046,
|
| 371 |
+
"rapid_planner_selected_samples": 118,
|
| 372 |
+
"rapid_planner_service_configured": true,
|
| 373 |
+
"rapid_planner_source_samples": 5623,
|
| 374 |
+
"rapid_planner_state_done": 6.0,
|
| 375 |
+
"rapid_planner_state_error": 7.0,
|
| 376 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 377 |
+
"rapid_planner_tool_command_supported": true,
|
| 378 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 379 |
+
"rapid_planner_tool_io_configured": true,
|
| 380 |
+
"rapid_planner_tool_io_supported": true,
|
| 381 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 382 |
+
"rapid_planner_tool_state_supported": true,
|
| 383 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 384 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 385 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 386 |
+
"rapid_planner_uploaded": true,
|
| 387 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 388 |
+
"rapid_planner_waypoints_uploaded": 118,
|
| 389 |
+
"raw_ramp_max_error_rad": null,
|
| 390 |
+
"raw_replay_max_error_rad": 0.004705309867858887,
|
| 391 |
+
"raw_replay_rms_error_rad": 0.0008059154049605793,
|
| 392 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8084947687056683,
|
| 393 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9867444079746696,
|
| 394 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9142671203533095,
|
| 395 |
+
"replay_smoothing_applied": true,
|
| 396 |
+
"replay_smoothing_blend": 1.0,
|
| 397 |
+
"replay_smoothing_blend_by_joint": [
|
| 398 |
+
1.0,
|
| 399 |
+
1.0,
|
| 400 |
+
1.0,
|
| 401 |
+
1.0,
|
| 402 |
+
1.0,
|
| 403 |
+
1.0
|
| 404 |
+
],
|
| 405 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 406 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 407 |
+
"replay_smoothing_enabled": true,
|
| 408 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.6960417683004059,
|
| 409 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.989501368925594,
|
| 410 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9504134199970714,
|
| 411 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 412 |
+
0.0006700754165649414,
|
| 413 |
+
0.00040416419506073,
|
| 414 |
+
0.001005411148071289,
|
| 415 |
+
0.00225741695612669,
|
| 416 |
+
0.0029394030570983887,
|
| 417 |
+
0.007579151540994644
|
| 418 |
+
],
|
| 419 |
+
"replay_smoothing_max_deviation_normalized": 0.8685067979059067,
|
| 420 |
+
"replay_smoothing_max_deviation_rad": 0.007579151540994644,
|
| 421 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 422 |
+
"replay_smoothing_p95_deviation_rad": 0.001948819262906909,
|
| 423 |
+
"replay_smoothing_passes": 8,
|
| 424 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 2.676759958267212,
|
| 425 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 31.051918029785156,
|
| 426 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 1.5979889704179586,
|
| 427 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 354.19366455078125,
|
| 428 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 8334.0478515625,
|
| 429 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 347.2137659683661,
|
| 430 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 2.3120577335357666,
|
| 431 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.23337357598346345,
|
| 432 |
+
"replay_smoothing_rms_deviation_rad": 0.0009724647202569384,
|
| 433 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.1641464233398438,
|
| 434 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 30.64030647277832,
|
| 435 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 1.4609887743403769,
|
| 436 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 246.53358459472656,
|
| 437 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8246.5517578125,
|
| 438 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 329.9966227840576,
|
| 439 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1993649005889893,
|
| 440 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.23216609594607965,
|
| 441 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 442 |
+
0.03490658476948738,
|
| 443 |
+
0.03490658476948738,
|
| 444 |
+
0.02617993950843811,
|
| 445 |
+
0.008726646192371845,
|
| 446 |
+
0.008726646192371845,
|
| 447 |
+
0.008726646192371845
|
| 448 |
+
],
|
| 449 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 450 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9512586423287799,
|
| 451 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9948259779099011,
|
| 452 |
+
"replay_smoothing_window_s": 0.2,
|
| 453 |
+
"replay_smoothing_window_samples": 51,
|
| 454 |
+
"replay_smoothing_within_tolerance": true,
|
| 455 |
+
"replay_smoothing_worst_joint": 5,
|
| 456 |
+
"replay_smoothing_worst_time_s": 19.594,
|
| 457 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.007579151540994644,
|
| 458 |
+
"safety_abort": false,
|
| 459 |
+
"safety_path_error_rad": 0.004705309867858887,
|
| 460 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 461 |
+
"send_failures": 0,
|
| 462 |
+
"stage_planned_to_measured_max_error_rad": 0.037251994013786316,
|
| 463 |
+
"stage_planned_to_measured_rms_error_rad": 0.006663533951309292,
|
| 464 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 465 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 466 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 467 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 468 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 469 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 470 |
+
"state_frame_count": 480,
|
| 471 |
+
"stopped_early": true,
|
| 472 |
+
"strict_tracking_pass": false,
|
| 473 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 474 |
+
"tcp_pose_count": 480,
|
| 475 |
+
"timestamp_count": 480,
|
| 476 |
+
"tool_failures": 0,
|
| 477 |
+
"tracking_geometry_pass": false,
|
| 478 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 479 |
+
"tracking_pass": false,
|
| 480 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 481 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 482 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 483 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 484 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 485 |
+
"tracking_timing_pass": false,
|
| 486 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 487 |
+
"window_lag_count": 0
|
| 488 |
+
}
|
| 489 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_operator_stop_20260806_151124.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc2e9a39f6dd2d9127f1317899efac1cdf772f1218150a954292f6df3b87120d
|
| 3 |
+
size 47586
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.json
ADDED
|
@@ -0,0 +1,657 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T12:11:42",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.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": 1037,
|
| 20 |
+
"actual_playback_duration_s": 34.57636411200019,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.005605190992355347,
|
| 23 |
+
"aligned_p95_error_rad": 0.002116324845701456,
|
| 24 |
+
"aligned_rms_error_rad": 0.0009147500015432347,
|
| 25 |
+
"aligned_samples": 1037,
|
| 26 |
+
"aligned_worst_joint": 0,
|
| 27 |
+
"aligned_worst_time_s": 2.2880000000000003,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1037,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1037,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.5409735320438627,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 1037,
|
| 46 |
+
"cam_wrist": 1037
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.005605190992355347,
|
| 58 |
+
0.005236446857452393,
|
| 59 |
+
0.005367262288928032,
|
| 60 |
+
0.004257801920175552,
|
| 61 |
+
0.004669666290283203,
|
| 62 |
+
0.005113005638122559
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.0019521130016073585,
|
| 66 |
+
0.002084001898765564,
|
| 67 |
+
0.0021589561365544796,
|
| 68 |
+
0.0013428659876808524,
|
| 69 |
+
0.0024442439898848534,
|
| 70 |
+
0.0023712993133813143
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.0008989784199300501,
|
| 74 |
+
0.0009168791927788757,
|
| 75 |
+
0.0009589366523279227,
|
| 76 |
+
0.0005663867534261361,
|
| 77 |
+
0.001038877398360911,
|
| 78 |
+
0.0010257465729066315
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
1037,
|
| 82 |
+
1037,
|
| 83 |
+
1037,
|
| 84 |
+
1037,
|
| 85 |
+
1037,
|
| 86 |
+
1037
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
2.2880000000000003,
|
| 90 |
+
2.2880000000000003,
|
| 91 |
+
2.24,
|
| 92 |
+
3.24,
|
| 93 |
+
15.863,
|
| 94 |
+
15.459
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
+
"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": 29,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006860136999421229,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003966202499668725,
|
| 111 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004272250749863815,
|
| 112 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004838703050063487,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 3100,
|
| 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": 0.006901811999341589,
|
| 119 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004017075999399822,
|
| 120 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004326075800236139,
|
| 121 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004908530039938338,
|
| 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": 0.006901482999637665,
|
| 125 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.004020329000013589,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.00431182360061939,
|
| 127 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004867841119812508,
|
| 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_v006",
|
| 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": 0.015233202999297646,
|
| 170 |
+
"leadthrough_capture_loop_late_median_s": 0.009821625989388849,
|
| 171 |
+
"leadthrough_capture_loop_late_p95_s": 0.010135462143807672,
|
| 172 |
+
"leadthrough_capture_loop_late_p99_s": 0.010838122123959694,
|
| 173 |
+
"leadthrough_capture_loop_late_warn_count": 7346,
|
| 174 |
+
"leadthrough_capture_none_reads": 0,
|
| 175 |
+
"leadthrough_capture_read_duration_max_s": 0.006884229999741365,
|
| 176 |
+
"leadthrough_capture_read_duration_median_s": 0.003996325000116485,
|
| 177 |
+
"leadthrough_capture_read_duration_p95_s": 0.0043026424996241985,
|
| 178 |
+
"leadthrough_capture_read_duration_p99_s": 0.004886573400381167,
|
| 179 |
+
"leadthrough_capture_read_duration_warn_count": 3604,
|
| 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": 12,
|
| 187 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 188 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 189 |
+
0.0030587762594223022,
|
| 190 |
+
0.0019602179527282715,
|
| 191 |
+
0.0030104368925094604,
|
| 192 |
+
0.0012505538761615753,
|
| 193 |
+
0.0021733641624450684,
|
| 194 |
+
0.006180286407470703
|
| 195 |
+
],
|
| 196 |
+
"leadthrough_delta_max_abs_rad": 0.006180286407470703,
|
| 197 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 198 |
+
0.0014043725095689297,
|
| 199 |
+
0.001513640396296978,
|
| 200 |
+
0.0022662533447146416,
|
| 201 |
+
0.00048149775830097497,
|
| 202 |
+
0.0011887550354003906,
|
| 203 |
+
0.0025505730882287025
|
| 204 |
+
],
|
| 205 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 206 |
+
0.0006604635273106396,
|
| 207 |
+
0.0006662145024165511,
|
| 208 |
+
0.0009030020446516573,
|
| 209 |
+
0.00020367017714306712,
|
| 210 |
+
0.000496709777507931,
|
| 211 |
+
0.0012241494841873646
|
| 212 |
+
],
|
| 213 |
+
"leadthrough_delta_samples": 5610,
|
| 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": -0.006180286407470703,
|
| 218 |
+
"leadthrough_delta_worst_from_rad": -0.30434298515319824,
|
| 219 |
+
"leadthrough_delta_worst_joint": 5,
|
| 220 |
+
"leadthrough_delta_worst_time_s": 0.52,
|
| 221 |
+
"leadthrough_delta_worst_to_rad": -0.31052327156066895,
|
| 222 |
+
"leadthrough_duration_s": 22.438000000000002,
|
| 223 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 224 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 225 |
+
"leadthrough_final_stillness_last_motion_index": 5609,
|
| 226 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 227 |
+
"leadthrough_final_stillness_removed_s": 4.738999999999997,
|
| 228 |
+
"leadthrough_final_stillness_removed_samples": 1185,
|
| 229 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 230 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 231 |
+
"leadthrough_final_stillness_trim_end_index": 5610,
|
| 232 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 233 |
+
"leadthrough_frame_count": 7346,
|
| 234 |
+
"leadthrough_initial_stillness_first_motion_index": 551,
|
| 235 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 236 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 237 |
+
"leadthrough_initial_stillness_removed_s": 2.2,
|
| 238 |
+
"leadthrough_initial_stillness_removed_samples": 550,
|
| 239 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 240 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 241 |
+
"leadthrough_initial_stillness_trim_start_index": 550,
|
| 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": 0.004000000000000448,
|
| 246 |
+
"leadthrough_sample_gap_warn": false,
|
| 247 |
+
"leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
|
| 248 |
+
0.0030587762594223022,
|
| 249 |
+
0.0019602179527282715,
|
| 250 |
+
0.0030104368925094604,
|
| 251 |
+
0.0012505538761615753,
|
| 252 |
+
0.0021733641624450684,
|
| 253 |
+
0.006180286407470703
|
| 254 |
+
],
|
| 255 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.006180286407470703,
|
| 256 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 257 |
+
0.7646940648559993,
|
| 258 |
+
0.6488859653472655,
|
| 259 |
+
0.9892309705415987,
|
| 260 |
+
0.3126384690405671,
|
| 261 |
+
0.5670587221781198,
|
| 262 |
+
1.5450716018676744
|
| 263 |
+
],
|
| 264 |
+
"leadthrough_velocity_peak_abs_rad_s": 1.5225913524627686,
|
| 265 |
+
"leadthrough_velocity_rms_rad_s": 0.19287704595206615,
|
| 266 |
+
"leadthrough_wrap_suspect": false,
|
| 267 |
+
"leadthrough_wrap_suspect_count": 0,
|
| 268 |
+
"leadthrough_wrap_threshold_rad": 3.0,
|
| 269 |
+
"max_tracking_error_rad": 0.005605190992355347,
|
| 270 |
+
"measured_wall_accel_p95_abs_rad_s2": 0.5203148126602173,
|
| 271 |
+
"measured_wall_accel_peak_abs_rad_s2": 2.4346280097961426,
|
| 272 |
+
"measured_wall_accel_peak_joint": 5,
|
| 273 |
+
"measured_wall_accel_peak_time_s": 11.678501776999838,
|
| 274 |
+
"measured_wall_accel_rms_rad_s2": 0.2585500416221336,
|
| 275 |
+
"measured_wall_jerk_p95_abs_rad_s3": 8.784043312072754,
|
| 276 |
+
"measured_wall_jerk_peak_abs_rad_s3": 53.18727111816406,
|
| 277 |
+
"measured_wall_jerk_peak_joint": 5,
|
| 278 |
+
"measured_wall_jerk_peak_time_s": 19.4794604839999,
|
| 279 |
+
"measured_wall_jerk_rms_rad_s3": 4.3581354131161465,
|
| 280 |
+
"measured_wall_smoothness_samples": 1037,
|
| 281 |
+
"measured_wall_velocity_peak_abs_rad_s": 0.8131477236747742,
|
| 282 |
+
"measured_wall_velocity_peak_joint": 5,
|
| 283 |
+
"measured_wall_velocity_peak_time_s": 11.912572868000098,
|
| 284 |
+
"measured_wall_velocity_rms_rad_s": 0.09886625977909569,
|
| 285 |
+
"moving_aligned_best_lag_s": 0.0,
|
| 286 |
+
"moving_aligned_max_error_rad": 0.005605190992355347,
|
| 287 |
+
"moving_aligned_p95_error_rad": 0.0024482160806655884,
|
| 288 |
+
"moving_aligned_rms_error_rad": 0.0010767594202437296,
|
| 289 |
+
"moving_aligned_samples": 741,
|
| 290 |
+
"moving_aligned_worst_joint": 0,
|
| 291 |
+
"moving_aligned_worst_time_s": 2.2880000000000003,
|
| 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 |
+
0.005108773708343506,
|
| 302 |
+
0.005236446857452393,
|
| 303 |
+
0.005367262288928032,
|
| 304 |
+
0.004257801920175552,
|
| 305 |
+
0.004669666290283203,
|
| 306 |
+
0.005113005638122559
|
| 307 |
+
],
|
| 308 |
+
"moving_joint_lag_p95_error_rad": [
|
| 309 |
+
0.0022899010218679905,
|
| 310 |
+
0.0023687947541475296,
|
| 311 |
+
0.0025998034980148077,
|
| 312 |
+
0.0023638394195586443,
|
| 313 |
+
0.002941131591796875,
|
| 314 |
+
0.002749532461166382
|
| 315 |
+
],
|
| 316 |
+
"moving_joint_lag_rms_error_rad": [
|
| 317 |
+
0.0009981900708039052,
|
| 318 |
+
0.0011017095933206992,
|
| 319 |
+
0.0011835029702602555,
|
| 320 |
+
0.001177809573920447,
|
| 321 |
+
0.0013553874456576048,
|
| 322 |
+
0.0013948066412263914
|
| 323 |
+
],
|
| 324 |
+
"moving_joint_lag_samples": [
|
| 325 |
+
619,
|
| 326 |
+
668,
|
| 327 |
+
592,
|
| 328 |
+
168,
|
| 329 |
+
541,
|
| 330 |
+
471
|
| 331 |
+
],
|
| 332 |
+
"moving_joint_lag_worst_time_s": [
|
| 333 |
+
2.3359999999999994,
|
| 334 |
+
2.2880000000000003,
|
| 335 |
+
2.24,
|
| 336 |
+
3.24,
|
| 337 |
+
15.863,
|
| 338 |
+
15.459
|
| 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": 1.6354113817214966,
|
| 348 |
+
"playback_velocity_rms_rad_s": 0.29747327960545533,
|
| 349 |
+
"rapid_planner_done_timeout_margin_s": 30.0,
|
| 350 |
+
"rapid_planner_done_timeout_s": 74.876,
|
| 351 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 352 |
+
"rapid_planner_duration_s": 22.438000000000002,
|
| 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 |
+
2421,
|
| 357 |
+
4901
|
| 358 |
+
],
|
| 359 |
+
"rapid_planner_event_upload_enabled": true,
|
| 360 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 361 |
+
"rapid_planner_keypoint_error_deg": 0.4830582988599818,
|
| 362 |
+
"rapid_planner_last_state": 6.0,
|
| 363 |
+
"rapid_planner_max_delta_rad": 0.08624956011772156,
|
| 364 |
+
"rapid_planner_max_dt_s": 3.072,
|
| 365 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 366 |
+
"rapid_planner_max_keypoint_error_rad": 0.008430957794189453,
|
| 367 |
+
"rapid_planner_median_dt_s": 0.12399999999999878,
|
| 368 |
+
"rapid_planner_path_max_error_rad": 0.005605190992355347,
|
| 369 |
+
"rapid_planner_path_p95_error_rad": 0.0029891490936279274,
|
| 370 |
+
"rapid_planner_path_rms_error_rad": 0.001447275567934662,
|
| 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 |
+
21,
|
| 376 |
+
44,
|
| 377 |
+
66,
|
| 378 |
+
82,
|
| 379 |
+
91,
|
| 380 |
+
100,
|
| 381 |
+
108,
|
| 382 |
+
116,
|
| 383 |
+
124,
|
| 384 |
+
131,
|
| 385 |
+
140,
|
| 386 |
+
148,
|
| 387 |
+
165,
|
| 388 |
+
180,
|
| 389 |
+
196,
|
| 390 |
+
211,
|
| 391 |
+
226,
|
| 392 |
+
239,
|
| 393 |
+
252,
|
| 394 |
+
266,
|
| 395 |
+
279,
|
| 396 |
+
301,
|
| 397 |
+
326,
|
| 398 |
+
352,
|
| 399 |
+
376,
|
| 400 |
+
414,
|
| 401 |
+
436,
|
| 402 |
+
458,
|
| 403 |
+
484,
|
| 404 |
+
619,
|
| 405 |
+
661,
|
| 406 |
+
711,
|
| 407 |
+
781,
|
| 408 |
+
832,
|
| 409 |
+
869,
|
| 410 |
+
975,
|
| 411 |
+
1059,
|
| 412 |
+
1129,
|
| 413 |
+
1198,
|
| 414 |
+
1292,
|
| 415 |
+
1432,
|
| 416 |
+
1497,
|
| 417 |
+
1653,
|
| 418 |
+
2421,
|
| 419 |
+
2691,
|
| 420 |
+
2765,
|
| 421 |
+
3032,
|
| 422 |
+
3091,
|
| 423 |
+
3176,
|
| 424 |
+
3242,
|
| 425 |
+
3336,
|
| 426 |
+
3367,
|
| 427 |
+
3397,
|
| 428 |
+
3414,
|
| 429 |
+
3432,
|
| 430 |
+
3460,
|
| 431 |
+
3489,
|
| 432 |
+
3506,
|
| 433 |
+
3524,
|
| 434 |
+
3550,
|
| 435 |
+
3576,
|
| 436 |
+
3603,
|
| 437 |
+
3630,
|
| 438 |
+
3657,
|
| 439 |
+
3684,
|
| 440 |
+
3723,
|
| 441 |
+
3762,
|
| 442 |
+
3794,
|
| 443 |
+
3827,
|
| 444 |
+
3848,
|
| 445 |
+
3898,
|
| 446 |
+
3944,
|
| 447 |
+
4000,
|
| 448 |
+
4057,
|
| 449 |
+
4101,
|
| 450 |
+
4138,
|
| 451 |
+
4174,
|
| 452 |
+
4210,
|
| 453 |
+
4247,
|
| 454 |
+
4273,
|
| 455 |
+
4368,
|
| 456 |
+
4448,
|
| 457 |
+
4570,
|
| 458 |
+
4651,
|
| 459 |
+
4901,
|
| 460 |
+
4961,
|
| 461 |
+
5177,
|
| 462 |
+
5224,
|
| 463 |
+
5248,
|
| 464 |
+
5281,
|
| 465 |
+
5299,
|
| 466 |
+
5317,
|
| 467 |
+
5341,
|
| 468 |
+
5365,
|
| 469 |
+
5398,
|
| 470 |
+
5434,
|
| 471 |
+
5464,
|
| 472 |
+
5494,
|
| 473 |
+
5529,
|
| 474 |
+
5564,
|
| 475 |
+
5610
|
| 476 |
+
],
|
| 477 |
+
"rapid_planner_selected_max_joint_step_deg": 4.941735779605313,
|
| 478 |
+
"rapid_planner_selected_samples": 102,
|
| 479 |
+
"rapid_planner_service_configured": true,
|
| 480 |
+
"rapid_planner_source_samples": 5611,
|
| 481 |
+
"rapid_planner_state_done": 6.0,
|
| 482 |
+
"rapid_planner_state_error": 7.0,
|
| 483 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 484 |
+
"rapid_planner_tool_command_supported": true,
|
| 485 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 486 |
+
"rapid_planner_tool_io_configured": true,
|
| 487 |
+
"rapid_planner_tool_io_supported": true,
|
| 488 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 489 |
+
"rapid_planner_tool_state_supported": true,
|
| 490 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 491 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 492 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 493 |
+
"rapid_planner_uploaded": true,
|
| 494 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 495 |
+
"rapid_planner_waypoints_uploaded": 102,
|
| 496 |
+
"raw_ramp_max_error_rad": null,
|
| 497 |
+
"raw_replay_max_error_rad": 0.005605190992355347,
|
| 498 |
+
"raw_replay_rms_error_rad": 0.0009147500015432347,
|
| 499 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9789055033918043,
|
| 500 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9173104455554321,
|
| 501 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9795781453514657,
|
| 502 |
+
"replay_smoothing_applied": true,
|
| 503 |
+
"replay_smoothing_blend": 0.8720001578330994,
|
| 504 |
+
"replay_smoothing_blend_by_joint": [
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0,
|
| 508 |
+
1.0,
|
| 509 |
+
1.0,
|
| 510 |
+
0.8720001578330994
|
| 511 |
+
],
|
| 512 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 513 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 514 |
+
"replay_smoothing_enabled": true,
|
| 515 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.998276662224603,
|
| 516 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9640965716021839,
|
| 517 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9963695405173397,
|
| 518 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 519 |
+
0.00042125582695007324,
|
| 520 |
+
0.0003319680690765381,
|
| 521 |
+
0.0006406903266906738,
|
| 522 |
+
0.002420920878648758,
|
| 523 |
+
0.0016607046127319336,
|
| 524 |
+
0.00872659683227539
|
| 525 |
+
],
|
| 526 |
+
"replay_smoothing_max_deviation_normalized": 0.9999943437495498,
|
| 527 |
+
"replay_smoothing_max_deviation_rad": 0.00872659683227539,
|
| 528 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 529 |
+
"replay_smoothing_p95_deviation_rad": 0.0015536844730377197,
|
| 530 |
+
"replay_smoothing_passes": 8,
|
| 531 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 5.843841552734375,
|
| 532 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 31.188997268676758,
|
| 533 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 2.592511700516379,
|
| 534 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 1227.83056640625,
|
| 535 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 9420.9970703125,
|
| 536 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 692.5910754506917,
|
| 537 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5442445278167725,
|
| 538 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.19388628706825978,
|
| 539 |
+
"replay_smoothing_rms_deviation_rad": 0.0009269526707372729,
|
| 540 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.720568656921387,
|
| 541 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 28.60999298095703,
|
| 542 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 2.539567803393809,
|
| 543 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1225.714599609375,
|
| 544 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 9082.7509765625,
|
| 545 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 690.0766516132159,
|
| 546 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5225913524627686,
|
| 547 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.19287704595206615,
|
| 548 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 549 |
+
0.03490658476948738,
|
| 550 |
+
0.03490658476948738,
|
| 551 |
+
0.02617993950843811,
|
| 552 |
+
0.008726646192371845,
|
| 553 |
+
0.008726646192371845,
|
| 554 |
+
0.008726646192371845
|
| 555 |
+
],
|
| 556 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 557 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9859781433808176,
|
| 558 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.994794675108517,
|
| 559 |
+
"replay_smoothing_window_s": 0.2,
|
| 560 |
+
"replay_smoothing_window_samples": 51,
|
| 561 |
+
"replay_smoothing_within_tolerance": true,
|
| 562 |
+
"replay_smoothing_worst_joint": 5,
|
| 563 |
+
"replay_smoothing_worst_time_s": 1.8319999999999999,
|
| 564 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
|
| 565 |
+
"return_measured_wall_accel_p95_abs_rad_s2": null,
|
| 566 |
+
"return_measured_wall_accel_peak_abs_rad_s2": null,
|
| 567 |
+
"return_measured_wall_accel_peak_joint": -1,
|
| 568 |
+
"return_measured_wall_accel_peak_time_s": null,
|
| 569 |
+
"return_measured_wall_accel_rms_rad_s2": null,
|
| 570 |
+
"return_measured_wall_jerk_p95_abs_rad_s3": null,
|
| 571 |
+
"return_measured_wall_jerk_peak_abs_rad_s3": null,
|
| 572 |
+
"return_measured_wall_jerk_peak_joint": -1,
|
| 573 |
+
"return_measured_wall_jerk_peak_time_s": null,
|
| 574 |
+
"return_measured_wall_jerk_rms_rad_s3": null,
|
| 575 |
+
"return_measured_wall_smoothness_samples": 0,
|
| 576 |
+
"return_measured_wall_velocity_peak_abs_rad_s": null,
|
| 577 |
+
"return_measured_wall_velocity_peak_joint": -1,
|
| 578 |
+
"return_measured_wall_velocity_peak_time_s": null,
|
| 579 |
+
"return_measured_wall_velocity_rms_rad_s": null,
|
| 580 |
+
"safety_abort": false,
|
| 581 |
+
"safety_path_error_rad": 0.005605190992355347,
|
| 582 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 583 |
+
"send_failures": 0,
|
| 584 |
+
"sent_wall_accel_p95_abs_rad_s2": null,
|
| 585 |
+
"sent_wall_accel_peak_abs_rad_s2": null,
|
| 586 |
+
"sent_wall_accel_peak_joint": -1,
|
| 587 |
+
"sent_wall_accel_peak_time_s": null,
|
| 588 |
+
"sent_wall_accel_rms_rad_s2": null,
|
| 589 |
+
"sent_wall_jerk_p95_abs_rad_s3": null,
|
| 590 |
+
"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 591 |
+
"sent_wall_jerk_peak_joint": -1,
|
| 592 |
+
"sent_wall_jerk_peak_time_s": null,
|
| 593 |
+
"sent_wall_jerk_rms_rad_s3": null,
|
| 594 |
+
"sent_wall_smoothness_samples": 0,
|
| 595 |
+
"sent_wall_velocity_peak_abs_rad_s": null,
|
| 596 |
+
"sent_wall_velocity_peak_joint": -1,
|
| 597 |
+
"sent_wall_velocity_peak_time_s": null,
|
| 598 |
+
"sent_wall_velocity_rms_rad_s": null,
|
| 599 |
+
"stage_planned_to_measured_max_error_rad": 0.047716639935970306,
|
| 600 |
+
"stage_planned_to_measured_rms_error_rad": 0.005868501887605103,
|
| 601 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 602 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 603 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 604 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 605 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 606 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 607 |
+
"state_frame_count": 1037,
|
| 608 |
+
"stopped_early": false,
|
| 609 |
+
"strict_tracking_pass": true,
|
| 610 |
+
"strict_tracking_reason": "ok",
|
| 611 |
+
"target_wall_accel_p95_abs_rad_s2": 0.719010591506958,
|
| 612 |
+
"target_wall_accel_peak_abs_rad_s2": 2.991183280944824,
|
| 613 |
+
"target_wall_accel_peak_joint": 5,
|
| 614 |
+
"target_wall_accel_peak_time_s": 0.9667464039994229,
|
| 615 |
+
"target_wall_accel_rms_rad_s2": 0.3504077794783337,
|
| 616 |
+
"target_wall_jerk_p95_abs_rad_s3": 15.485589027404785,
|
| 617 |
+
"target_wall_jerk_peak_abs_rad_s3": 75.76560974121094,
|
| 618 |
+
"target_wall_jerk_peak_joint": 4,
|
| 619 |
+
"target_wall_jerk_peak_time_s": 8.50008065899965,
|
| 620 |
+
"target_wall_jerk_rms_rad_s3": 7.309164274151677,
|
| 621 |
+
"target_wall_smoothness_samples": 1037,
|
| 622 |
+
"target_wall_velocity_peak_abs_rad_s": 0.8669543266296387,
|
| 623 |
+
"target_wall_velocity_peak_joint": 5,
|
| 624 |
+
"target_wall_velocity_peak_time_s": 0.7334794560001683,
|
| 625 |
+
"target_wall_velocity_rms_rad_s": 0.09991241389753046,
|
| 626 |
+
"tcp_pose_count": 1037,
|
| 627 |
+
"timestamp_count": 1037,
|
| 628 |
+
"tool_failures": 0,
|
| 629 |
+
"tracking_geometry_pass": true,
|
| 630 |
+
"tracking_geometry_reason": "ok",
|
| 631 |
+
"tracking_pass": true,
|
| 632 |
+
"tracking_reason": "ok",
|
| 633 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 634 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 635 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 636 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 637 |
+
"tracking_timing_pass": true,
|
| 638 |
+
"tracking_timing_reason": "ok",
|
| 639 |
+
"window_lag_best_lag_max_s": 0.7600000000000025,
|
| 640 |
+
"window_lag_best_lag_median_s": 0.0,
|
| 641 |
+
"window_lag_best_lag_min_s": -0.9999999999999991,
|
| 642 |
+
"window_lag_best_lag_p95_abs_s": 0.8000000000000007,
|
| 643 |
+
"window_lag_count": 31,
|
| 644 |
+
"window_lag_window_s": 1.0,
|
| 645 |
+
"window_lag_worst_best_lag_s": 0.7600000000000025,
|
| 646 |
+
"window_lag_worst_end_s": 20.5,
|
| 647 |
+
"window_lag_worst_max_error_rad": 0.008942954242229462,
|
| 648 |
+
"window_lag_worst_rms_error_rad": 0.003417060190091576,
|
| 649 |
+
"window_lag_worst_start_s": 19.5,
|
| 650 |
+
"zero_lag_max_error_rad": 0.005605190992355347,
|
| 651 |
+
"zero_lag_p95_error_rad": 0.002116324845701456,
|
| 652 |
+
"zero_lag_rms_error_rad": 0.0009147500015432347,
|
| 653 |
+
"zero_lag_samples": 1037,
|
| 654 |
+
"zero_lag_worst_joint": 0,
|
| 655 |
+
"zero_lag_worst_time_s": 2.2880000000000003
|
| 656 |
+
}
|
| 657 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121141.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72f8f1eb496751ab5b272c934c21a4d5e162dfc1de6d45ed47239c073e44c792
|
| 3 |
+
size 111270
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.json
ADDED
|
@@ -0,0 +1,652 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T12:13:42",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.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": 1014,
|
| 20 |
+
"actual_playback_duration_s": 33.81476855299934,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.006546199321746826,
|
| 23 |
+
"aligned_p95_error_rad": 0.0018143383786082268,
|
| 24 |
+
"aligned_rms_error_rad": 0.0008502313574153095,
|
| 25 |
+
"aligned_samples": 1014,
|
| 26 |
+
"aligned_worst_joint": 0,
|
| 27 |
+
"aligned_worst_time_s": 14.563,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1014,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1014,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.6464489508715232,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 1014,
|
| 46 |
+
"cam_wrist": 1014
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.006546199321746826,
|
| 58 |
+
0.0062127262353897095,
|
| 59 |
+
0.0058386921882629395,
|
| 60 |
+
0.004446912556886673,
|
| 61 |
+
0.0056549906730651855,
|
| 62 |
+
0.0045043788850307465
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.0017705948557704687,
|
| 66 |
+
0.0019431492546573281,
|
| 67 |
+
0.0019105819519609213,
|
| 68 |
+
0.0006617580074816942,
|
| 69 |
+
0.0016616102075204253,
|
| 70 |
+
0.0022945969831198454
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.0008417679672647621,
|
| 74 |
+
0.0009522973416052401,
|
| 75 |
+
0.0009360911518441992,
|
| 76 |
+
0.00038493799168486787,
|
| 77 |
+
0.0008443072225413084,
|
| 78 |
+
0.000992279215348898
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
1014,
|
| 82 |
+
1014,
|
| 83 |
+
1014,
|
| 84 |
+
1014,
|
| 85 |
+
1014,
|
| 86 |
+
1014
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
14.563,
|
| 90 |
+
14.534999999999998,
|
| 91 |
+
14.578999999999999,
|
| 92 |
+
15.559,
|
| 93 |
+
14.534999999999998,
|
| 94 |
+
20.061999999999998
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
+
"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": 11,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006921503999365086,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003937388499707595,
|
| 111 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004318367150244739,
|
| 112 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004870365349888744,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2812,
|
| 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": 0.007010219999756373,
|
| 119 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.003991407000285108,
|
| 120 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004383108000001811,
|
| 121 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.0049331278000317984,
|
| 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": 0.006965832999412669,
|
| 125 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.003994534999947064,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.0043471802004205525,
|
| 127 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004895621820360249,
|
| 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_v006",
|
| 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": 0.015297277000172471,
|
| 170 |
+
"leadthrough_capture_loop_late_median_s": 0.010986406182837527,
|
| 171 |
+
"leadthrough_capture_loop_late_p95_s": 0.011366508595392589,
|
| 172 |
+
"leadthrough_capture_loop_late_p99_s": 0.011947976260062205,
|
| 173 |
+
"leadthrough_capture_loop_late_warn_count": 7180,
|
| 174 |
+
"leadthrough_capture_none_reads": 0,
|
| 175 |
+
"leadthrough_capture_read_duration_max_s": 0.006975244999921415,
|
| 176 |
+
"leadthrough_capture_read_duration_median_s": 0.00397052399966924,
|
| 177 |
+
"leadthrough_capture_read_duration_p95_s": 0.00435263015028795,
|
| 178 |
+
"leadthrough_capture_read_duration_p99_s": 0.004918755119924754,
|
| 179 |
+
"leadthrough_capture_read_duration_warn_count": 3162,
|
| 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": 14,
|
| 187 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 188 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 189 |
+
0.002956107258796692,
|
| 190 |
+
0.0023073554039001465,
|
| 191 |
+
0.0034386739134788513,
|
| 192 |
+
0.0009791110642254353,
|
| 193 |
+
0.001705944538116455,
|
| 194 |
+
0.005312025547027588
|
| 195 |
+
],
|
| 196 |
+
"leadthrough_delta_max_abs_rad": 0.005312025547027588,
|
| 197 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 198 |
+
0.00168231048155576,
|
| 199 |
+
0.001837676391005516,
|
| 200 |
+
0.002748697530478239,
|
| 201 |
+
0.0003279477241449058,
|
| 202 |
+
0.0012105463538318872,
|
| 203 |
+
0.0038890575524419546
|
| 204 |
+
],
|
| 205 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 206 |
+
0.0006912276730872691,
|
| 207 |
+
0.0007601328543387353,
|
| 208 |
+
0.0010747076012194157,
|
| 209 |
+
0.00013512346777133644,
|
| 210 |
+
0.0004973495961166918,
|
| 211 |
+
0.001328089158050716
|
| 212 |
+
],
|
| 213 |
+
"leadthrough_delta_samples": 5135,
|
| 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": -0.005312025547027588,
|
| 218 |
+
"leadthrough_delta_worst_from_rad": -0.4807933270931244,
|
| 219 |
+
"leadthrough_delta_worst_joint": 5,
|
| 220 |
+
"leadthrough_delta_worst_time_s": 0.8599999999999999,
|
| 221 |
+
"leadthrough_delta_worst_to_rad": -0.486105352640152,
|
| 222 |
+
"leadthrough_duration_s": 20.537999999999997,
|
| 223 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 224 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 225 |
+
"leadthrough_final_stillness_last_motion_index": 5134,
|
| 226 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 227 |
+
"leadthrough_final_stillness_removed_s": 5.783000000000001,
|
| 228 |
+
"leadthrough_final_stillness_removed_samples": 1446,
|
| 229 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 230 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 231 |
+
"leadthrough_final_stillness_trim_end_index": 5135,
|
| 232 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 233 |
+
"leadthrough_frame_count": 7180,
|
| 234 |
+
"leadthrough_initial_stillness_first_motion_index": 599,
|
| 235 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 236 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 237 |
+
"leadthrough_initial_stillness_removed_s": 2.391,
|
| 238 |
+
"leadthrough_initial_stillness_removed_samples": 598,
|
| 239 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 240 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 241 |
+
"leadthrough_initial_stillness_trim_start_index": 598,
|
| 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 |
+
0.002956107258796692,
|
| 249 |
+
0.0023073554039001465,
|
| 250 |
+
0.0034386739134788513,
|
| 251 |
+
0.0009791110642254353,
|
| 252 |
+
0.001705944538116455,
|
| 253 |
+
0.005312025547027588
|
| 254 |
+
],
|
| 255 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.005312025547027588,
|
| 256 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 257 |
+
0.979510446389479,
|
| 258 |
+
0.5768388509751001,
|
| 259 |
+
0.8596684783698075,
|
| 260 |
+
0.32277513916292555,
|
| 261 |
+
0.5632638931274201,
|
| 262 |
+
1.7706751823427243
|
| 263 |
+
],
|
| 264 |
+
"leadthrough_velocity_peak_abs_rad_s": 1.5534257888793945,
|
| 265 |
+
"leadthrough_velocity_rms_rad_s": 0.21658092440808738,
|
| 266 |
+
"leadthrough_wrap_suspect": false,
|
| 267 |
+
"leadthrough_wrap_suspect_count": 0,
|
| 268 |
+
"leadthrough_wrap_threshold_rad": 3.0,
|
| 269 |
+
"max_tracking_error_rad": 0.006546199321746826,
|
| 270 |
+
"measured_wall_accel_p95_abs_rad_s2": 0.4138604998588562,
|
| 271 |
+
"measured_wall_accel_peak_abs_rad_s2": 76.10321807861328,
|
| 272 |
+
"measured_wall_accel_peak_joint": 2,
|
| 273 |
+
"measured_wall_accel_peak_time_s": 10.399184361000152,
|
| 274 |
+
"measured_wall_accel_rms_rad_s2": 2.2376612651874064,
|
| 275 |
+
"measured_wall_jerk_p95_abs_rad_s3": 7.662749290466309,
|
| 276 |
+
"measured_wall_jerk_peak_abs_rad_s3": 1194.617919921875,
|
| 277 |
+
"measured_wall_jerk_peak_joint": 2,
|
| 278 |
+
"measured_wall_jerk_peak_time_s": 10.429386159999922,
|
| 279 |
+
"measured_wall_jerk_rms_rad_s3": 29.00918425786121,
|
| 280 |
+
"measured_wall_smoothness_samples": 1014,
|
| 281 |
+
"measured_wall_velocity_peak_abs_rad_s": 4.747532844543457,
|
| 282 |
+
"measured_wall_velocity_peak_joint": 2,
|
| 283 |
+
"measured_wall_velocity_peak_time_s": 10.36699002899968,
|
| 284 |
+
"measured_wall_velocity_rms_rad_s": 0.1410064504886861,
|
| 285 |
+
"moving_aligned_best_lag_s": 0.0,
|
| 286 |
+
"moving_aligned_max_error_rad": 0.006546199321746826,
|
| 287 |
+
"moving_aligned_p95_error_rad": 0.002161109121516347,
|
| 288 |
+
"moving_aligned_rms_error_rad": 0.0010042801917518162,
|
| 289 |
+
"moving_aligned_samples": 714,
|
| 290 |
+
"moving_aligned_worst_joint": 0,
|
| 291 |
+
"moving_aligned_worst_time_s": 14.563,
|
| 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 |
+
0.006546199321746826,
|
| 302 |
+
0.0062127262353897095,
|
| 303 |
+
0.0058386921882629395,
|
| 304 |
+
0.004446912556886673,
|
| 305 |
+
0.0056549906730651855,
|
| 306 |
+
0.0045043788850307465
|
| 307 |
+
],
|
| 308 |
+
"moving_joint_lag_p95_error_rad": [
|
| 309 |
+
0.002152334898710251,
|
| 310 |
+
0.0024653729051351547,
|
| 311 |
+
0.002456800313666463,
|
| 312 |
+
0.0013817113358527422,
|
| 313 |
+
0.0024849893525242805,
|
| 314 |
+
0.002609562361612916
|
| 315 |
+
],
|
| 316 |
+
"moving_joint_lag_rms_error_rad": [
|
| 317 |
+
0.0010841605523343408,
|
| 318 |
+
0.0011397033626279725,
|
| 319 |
+
0.0011747530030924319,
|
| 320 |
+
0.0007095369987281294,
|
| 321 |
+
0.001111285685897547,
|
| 322 |
+
0.001326190734471499
|
| 323 |
+
],
|
| 324 |
+
"moving_joint_lag_samples": [
|
| 325 |
+
586,
|
| 326 |
+
686,
|
| 327 |
+
618,
|
| 328 |
+
172,
|
| 329 |
+
529,
|
| 330 |
+
487
|
| 331 |
+
],
|
| 332 |
+
"moving_joint_lag_worst_time_s": [
|
| 333 |
+
14.563,
|
| 334 |
+
14.534999999999998,
|
| 335 |
+
14.578999999999999,
|
| 336 |
+
15.559,
|
| 337 |
+
14.534999999999998,
|
| 338 |
+
20.061999999999998
|
| 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": 1.7666043043136597,
|
| 348 |
+
"playback_velocity_rms_rad_s": 0.34560505199202696,
|
| 349 |
+
"rapid_planner_done_timeout_margin_s": 30.0,
|
| 350 |
+
"rapid_planner_done_timeout_s": 71.076,
|
| 351 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 352 |
+
"rapid_planner_duration_s": 20.537999999999997,
|
| 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 |
+
2267,
|
| 357 |
+
4386
|
| 358 |
+
],
|
| 359 |
+
"rapid_planner_event_upload_enabled": true,
|
| 360 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 361 |
+
"rapid_planner_keypoint_error_deg": 0.3911205375370252,
|
| 362 |
+
"rapid_planner_last_state": 6.0,
|
| 363 |
+
"rapid_planner_max_delta_rad": 0.08597370237112045,
|
| 364 |
+
"rapid_planner_max_dt_s": 2.349,
|
| 365 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 366 |
+
"rapid_planner_max_keypoint_error_rad": 0.006826341152191162,
|
| 367 |
+
"rapid_planner_median_dt_s": 0.10149999999999793,
|
| 368 |
+
"rapid_planner_path_max_error_rad": 0.006546199321746826,
|
| 369 |
+
"rapid_planner_path_p95_error_rad": 0.002860561013221738,
|
| 370 |
+
"rapid_planner_path_rms_error_rad": 0.0013947603128637881,
|
| 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 |
+
31,
|
| 376 |
+
63,
|
| 377 |
+
82,
|
| 378 |
+
103,
|
| 379 |
+
124,
|
| 380 |
+
138,
|
| 381 |
+
151,
|
| 382 |
+
160,
|
| 383 |
+
170,
|
| 384 |
+
180,
|
| 385 |
+
190,
|
| 386 |
+
200,
|
| 387 |
+
210,
|
| 388 |
+
220,
|
| 389 |
+
230,
|
| 390 |
+
242,
|
| 391 |
+
254,
|
| 392 |
+
266,
|
| 393 |
+
277,
|
| 394 |
+
290,
|
| 395 |
+
302,
|
| 396 |
+
314,
|
| 397 |
+
326,
|
| 398 |
+
342,
|
| 399 |
+
359,
|
| 400 |
+
378,
|
| 401 |
+
396,
|
| 402 |
+
420,
|
| 403 |
+
444,
|
| 404 |
+
486,
|
| 405 |
+
515,
|
| 406 |
+
591,
|
| 407 |
+
667,
|
| 408 |
+
727,
|
| 409 |
+
839,
|
| 410 |
+
931,
|
| 411 |
+
1021,
|
| 412 |
+
1175,
|
| 413 |
+
1277,
|
| 414 |
+
1621,
|
| 415 |
+
1723,
|
| 416 |
+
2267,
|
| 417 |
+
2854,
|
| 418 |
+
2884,
|
| 419 |
+
2950,
|
| 420 |
+
3000,
|
| 421 |
+
3035,
|
| 422 |
+
3073,
|
| 423 |
+
3096,
|
| 424 |
+
3120,
|
| 425 |
+
3144,
|
| 426 |
+
3168,
|
| 427 |
+
3194,
|
| 428 |
+
3220,
|
| 429 |
+
3236,
|
| 430 |
+
3251,
|
| 431 |
+
3278,
|
| 432 |
+
3306,
|
| 433 |
+
3322,
|
| 434 |
+
3337,
|
| 435 |
+
3368,
|
| 436 |
+
3386,
|
| 437 |
+
3405,
|
| 438 |
+
3418,
|
| 439 |
+
3432,
|
| 440 |
+
3446,
|
| 441 |
+
3460,
|
| 442 |
+
3476,
|
| 443 |
+
3496,
|
| 444 |
+
3523,
|
| 445 |
+
3559,
|
| 446 |
+
3603,
|
| 447 |
+
3678,
|
| 448 |
+
3714,
|
| 449 |
+
3757,
|
| 450 |
+
3799,
|
| 451 |
+
3843,
|
| 452 |
+
3931,
|
| 453 |
+
4261,
|
| 454 |
+
4386,
|
| 455 |
+
4711,
|
| 456 |
+
4750,
|
| 457 |
+
4777,
|
| 458 |
+
4804,
|
| 459 |
+
4830,
|
| 460 |
+
4856,
|
| 461 |
+
4875,
|
| 462 |
+
4894,
|
| 463 |
+
4920,
|
| 464 |
+
4945,
|
| 465 |
+
4970,
|
| 466 |
+
4994,
|
| 467 |
+
5038,
|
| 468 |
+
5082,
|
| 469 |
+
5108,
|
| 470 |
+
5135
|
| 471 |
+
],
|
| 472 |
+
"rapid_planner_selected_max_joint_step_deg": 4.92593029497908,
|
| 473 |
+
"rapid_planner_selected_samples": 97,
|
| 474 |
+
"rapid_planner_service_configured": true,
|
| 475 |
+
"rapid_planner_source_samples": 5136,
|
| 476 |
+
"rapid_planner_state_done": 6.0,
|
| 477 |
+
"rapid_planner_state_error": 7.0,
|
| 478 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 479 |
+
"rapid_planner_tool_command_supported": true,
|
| 480 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 481 |
+
"rapid_planner_tool_io_configured": true,
|
| 482 |
+
"rapid_planner_tool_io_supported": true,
|
| 483 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 484 |
+
"rapid_planner_tool_state_supported": true,
|
| 485 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 486 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 487 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 488 |
+
"rapid_planner_uploaded": true,
|
| 489 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 490 |
+
"rapid_planner_waypoints_uploaded": 97,
|
| 491 |
+
"raw_ramp_max_error_rad": null,
|
| 492 |
+
"raw_replay_max_error_rad": 0.006546199321746826,
|
| 493 |
+
"raw_replay_rms_error_rad": 0.0008502313574153095,
|
| 494 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9911928035588179,
|
| 495 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9818132543288062,
|
| 496 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9918980749890682,
|
| 497 |
+
"replay_smoothing_applied": true,
|
| 498 |
+
"replay_smoothing_blend": 1.0,
|
| 499 |
+
"replay_smoothing_blend_by_joint": [
|
| 500 |
+
1.0,
|
| 501 |
+
1.0,
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0,
|
| 505 |
+
1.0
|
| 506 |
+
],
|
| 507 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 508 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 509 |
+
"replay_smoothing_enabled": true,
|
| 510 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9957333811377864,
|
| 511 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9982273667553124,
|
| 512 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9968234621912557,
|
| 513 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 514 |
+
0.0003414750099182129,
|
| 515 |
+
0.0006173849105834961,
|
| 516 |
+
0.0008468329906463623,
|
| 517 |
+
0.0012377724051475525,
|
| 518 |
+
0.0014537572860717773,
|
| 519 |
+
0.0040721893310546875
|
| 520 |
+
],
|
| 521 |
+
"replay_smoothing_max_deviation_normalized": 0.46663852771002434,
|
| 522 |
+
"replay_smoothing_max_deviation_rad": 0.0040721893310546875,
|
| 523 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 524 |
+
"replay_smoothing_p95_deviation_rad": 0.0014891177415847778,
|
| 525 |
+
"replay_smoothing_passes": 8,
|
| 526 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 7.159327983856201,
|
| 527 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 51.65802001953125,
|
| 528 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 3.854327460419421,
|
| 529 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 1709.1656494140625,
|
| 530 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 16133.96875,
|
| 531 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 1051.8729373801525,
|
| 532 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5807652473449707,
|
| 533 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.21708997702453345,
|
| 534 |
+
"replay_smoothing_rms_deviation_rad": 0.000655709588780044,
|
| 535 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.096274375915527,
|
| 536 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 50.718528747558594,
|
| 537 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 3.823099988367528,
|
| 538 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1701.873291015625,
|
| 539 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16105.369140625,
|
| 540 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 1048.5316232245696,
|
| 541 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5534257888793945,
|
| 542 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.21658092440808738,
|
| 543 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 544 |
+
0.03490658476948738,
|
| 545 |
+
0.03490658476948738,
|
| 546 |
+
0.02617993950843811,
|
| 547 |
+
0.008726646192371845,
|
| 548 |
+
0.008726646192371845,
|
| 549 |
+
0.008726646192371845
|
| 550 |
+
],
|
| 551 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 552 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.98270492186522,
|
| 553 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9976551076957895,
|
| 554 |
+
"replay_smoothing_window_s": 0.2,
|
| 555 |
+
"replay_smoothing_window_samples": 51,
|
| 556 |
+
"replay_smoothing_within_tolerance": true,
|
| 557 |
+
"replay_smoothing_worst_joint": 5,
|
| 558 |
+
"replay_smoothing_worst_time_s": 1.6929999999999996,
|
| 559 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.0040721893310546875,
|
| 560 |
+
"return_measured_wall_accel_p95_abs_rad_s2": null,
|
| 561 |
+
"return_measured_wall_accel_peak_abs_rad_s2": null,
|
| 562 |
+
"return_measured_wall_accel_peak_joint": -1,
|
| 563 |
+
"return_measured_wall_accel_peak_time_s": null,
|
| 564 |
+
"return_measured_wall_accel_rms_rad_s2": null,
|
| 565 |
+
"return_measured_wall_jerk_p95_abs_rad_s3": null,
|
| 566 |
+
"return_measured_wall_jerk_peak_abs_rad_s3": null,
|
| 567 |
+
"return_measured_wall_jerk_peak_joint": -1,
|
| 568 |
+
"return_measured_wall_jerk_peak_time_s": null,
|
| 569 |
+
"return_measured_wall_jerk_rms_rad_s3": null,
|
| 570 |
+
"return_measured_wall_smoothness_samples": 0,
|
| 571 |
+
"return_measured_wall_velocity_peak_abs_rad_s": null,
|
| 572 |
+
"return_measured_wall_velocity_peak_joint": -1,
|
| 573 |
+
"return_measured_wall_velocity_peak_time_s": null,
|
| 574 |
+
"return_measured_wall_velocity_rms_rad_s": null,
|
| 575 |
+
"safety_abort": false,
|
| 576 |
+
"safety_path_error_rad": 0.006546199321746826,
|
| 577 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 578 |
+
"send_failures": 0,
|
| 579 |
+
"sent_wall_accel_p95_abs_rad_s2": null,
|
| 580 |
+
"sent_wall_accel_peak_abs_rad_s2": null,
|
| 581 |
+
"sent_wall_accel_peak_joint": -1,
|
| 582 |
+
"sent_wall_accel_peak_time_s": null,
|
| 583 |
+
"sent_wall_accel_rms_rad_s2": null,
|
| 584 |
+
"sent_wall_jerk_p95_abs_rad_s3": null,
|
| 585 |
+
"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 586 |
+
"sent_wall_jerk_peak_joint": -1,
|
| 587 |
+
"sent_wall_jerk_peak_time_s": null,
|
| 588 |
+
"sent_wall_jerk_rms_rad_s3": null,
|
| 589 |
+
"sent_wall_smoothness_samples": 0,
|
| 590 |
+
"sent_wall_velocity_peak_abs_rad_s": null,
|
| 591 |
+
"sent_wall_velocity_peak_joint": -1,
|
| 592 |
+
"sent_wall_velocity_peak_time_s": null,
|
| 593 |
+
"sent_wall_velocity_rms_rad_s": null,
|
| 594 |
+
"stage_planned_to_measured_max_error_rad": 0.15619540214538574,
|
| 595 |
+
"stage_planned_to_measured_rms_error_rad": 0.006489272239883099,
|
| 596 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 597 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 598 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 599 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 600 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 601 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 602 |
+
"state_frame_count": 1014,
|
| 603 |
+
"stopped_early": false,
|
| 604 |
+
"strict_tracking_pass": true,
|
| 605 |
+
"strict_tracking_reason": "ok",
|
| 606 |
+
"target_wall_accel_p95_abs_rad_s2": 0.6849453449249268,
|
| 607 |
+
"target_wall_accel_peak_abs_rad_s2": 69.62694549560547,
|
| 608 |
+
"target_wall_accel_peak_joint": 2,
|
| 609 |
+
"target_wall_accel_peak_time_s": 1.0658000064722728e-05,
|
| 610 |
+
"target_wall_accel_rms_rad_s2": 2.0122261834515975,
|
| 611 |
+
"target_wall_jerk_p95_abs_rad_s3": 15.973669052124023,
|
| 612 |
+
"target_wall_jerk_peak_abs_rad_s3": 1040.79833984375,
|
| 613 |
+
"target_wall_jerk_peak_joint": 2,
|
| 614 |
+
"target_wall_jerk_peak_time_s": 0.06671943599940278,
|
| 615 |
+
"target_wall_jerk_rms_rad_s3": 25.311109547861275,
|
| 616 |
+
"target_wall_smoothness_samples": 1014,
|
| 617 |
+
"target_wall_velocity_peak_abs_rad_s": 4.644728183746338,
|
| 618 |
+
"target_wall_velocity_peak_joint": 2,
|
| 619 |
+
"target_wall_velocity_peak_time_s": 1.0658000064722728e-05,
|
| 620 |
+
"target_wall_velocity_rms_rad_s": 0.13902575040450943,
|
| 621 |
+
"tcp_pose_count": 1014,
|
| 622 |
+
"timestamp_count": 1014,
|
| 623 |
+
"tool_failures": 0,
|
| 624 |
+
"tracking_geometry_pass": true,
|
| 625 |
+
"tracking_geometry_reason": "ok",
|
| 626 |
+
"tracking_pass": true,
|
| 627 |
+
"tracking_reason": "ok",
|
| 628 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 629 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 630 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 631 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 632 |
+
"tracking_timing_pass": true,
|
| 633 |
+
"tracking_timing_reason": "ok",
|
| 634 |
+
"window_lag_best_lag_max_s": 1.9400000000000035,
|
| 635 |
+
"window_lag_best_lag_median_s": 0.0,
|
| 636 |
+
"window_lag_best_lag_min_s": 0.0,
|
| 637 |
+
"window_lag_best_lag_p95_abs_s": 1.6699999999999995,
|
| 638 |
+
"window_lag_count": 25,
|
| 639 |
+
"window_lag_window_s": 1.0,
|
| 640 |
+
"window_lag_worst_best_lag_s": 0.0,
|
| 641 |
+
"window_lag_worst_end_s": 15.5,
|
| 642 |
+
"window_lag_worst_max_error_rad": 0.006546199321746826,
|
| 643 |
+
"window_lag_worst_rms_error_rad": 0.00211339824330403,
|
| 644 |
+
"window_lag_worst_start_s": 14.5,
|
| 645 |
+
"zero_lag_max_error_rad": 0.006546199321746826,
|
| 646 |
+
"zero_lag_p95_error_rad": 0.0018143383786082268,
|
| 647 |
+
"zero_lag_rms_error_rad": 0.0008502313574153095,
|
| 648 |
+
"zero_lag_samples": 1014,
|
| 649 |
+
"zero_lag_worst_joint": 0,
|
| 650 |
+
"zero_lag_worst_time_s": 14.563
|
| 651 |
+
}
|
| 652 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121341.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:091007fc516228c6702c646908dcf81c1fe125cffb570caa2f3d2f936e293db3
|
| 3 |
+
size 105776
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.json
ADDED
|
@@ -0,0 +1,654 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T12:15:28",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.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": 1002,
|
| 20 |
+
"actual_playback_duration_s": 33.41091650399994,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.005312681198120117,
|
| 23 |
+
"aligned_p95_error_rad": 0.0019403960322961211,
|
| 24 |
+
"aligned_rms_error_rad": 0.0008103384392841859,
|
| 25 |
+
"aligned_samples": 1002,
|
| 26 |
+
"aligned_worst_joint": 5,
|
| 27 |
+
"aligned_worst_time_s": 2.736,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1002,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1002,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.5957071594230559,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 1002,
|
| 46 |
+
"cam_wrist": 1002
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.004190653562545776,
|
| 58 |
+
0.0035314743872731924,
|
| 59 |
+
0.00453069806098938,
|
| 60 |
+
0.0038938410580158234,
|
| 61 |
+
0.0053005218505859375,
|
| 62 |
+
0.005312681198120117
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.0018982695182785392,
|
| 66 |
+
0.0016673309728503227,
|
| 67 |
+
0.0016336238477379084,
|
| 68 |
+
0.0009341652039438486,
|
| 69 |
+
0.0023869634605944157,
|
| 70 |
+
0.0022906316444277763
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.0007496892033560514,
|
| 74 |
+
0.0007151993739544702,
|
| 75 |
+
0.0008037635017469698,
|
| 76 |
+
0.0004986166715913632,
|
| 77 |
+
0.0009672642869488375,
|
| 78 |
+
0.0010178859062879497
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
1002,
|
| 82 |
+
1002,
|
| 83 |
+
1002,
|
| 84 |
+
1002,
|
| 85 |
+
1002,
|
| 86 |
+
1002
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
2.8639999999999994,
|
| 90 |
+
14.786,
|
| 91 |
+
2.448,
|
| 92 |
+
4.904,
|
| 93 |
+
2.736,
|
| 94 |
+
2.736
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
+
"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": 19,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.006110875999183918,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003958907999731309,
|
| 111 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004281309450288972,
|
| 112 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.004750469010059534,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2750,
|
| 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": 0.006210450999788009,
|
| 119 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004008935000456404,
|
| 120 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004329600100572861,
|
| 121 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.004817774139592076,
|
| 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": 0.005894743000681046,
|
| 125 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0040081649995045154,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.0043298803998368385,
|
| 127 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.0047555953803203035,
|
| 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_v006",
|
| 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": 0.013229907000095409,
|
| 170 |
+
"leadthrough_capture_loop_late_median_s": 0.009476495541548502,
|
| 171 |
+
"leadthrough_capture_loop_late_p95_s": 0.009759143463861619,
|
| 172 |
+
"leadthrough_capture_loop_late_p99_s": 0.01037280762619048,
|
| 173 |
+
"leadthrough_capture_loop_late_warn_count": 6884,
|
| 174 |
+
"leadthrough_capture_none_reads": 0,
|
| 175 |
+
"leadthrough_capture_read_duration_max_s": 0.0061862510001446935,
|
| 176 |
+
"leadthrough_capture_read_duration_median_s": 0.003987513500305795,
|
| 177 |
+
"leadthrough_capture_read_duration_p95_s": 0.004308998249734941,
|
| 178 |
+
"leadthrough_capture_read_duration_p99_s": 0.004789967830083697,
|
| 179 |
+
"leadthrough_capture_read_duration_warn_count": 3235,
|
| 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": 4,
|
| 187 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 188 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 189 |
+
0.002674482762813568,
|
| 190 |
+
0.0016993582248687744,
|
| 191 |
+
0.003083527088165283,
|
| 192 |
+
0.0008694566786289215,
|
| 193 |
+
0.001919865608215332,
|
| 194 |
+
0.005875870585441589
|
| 195 |
+
],
|
| 196 |
+
"leadthrough_delta_max_abs_rad": 0.005875870585441589,
|
| 197 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 198 |
+
0.0014510124456137419,
|
| 199 |
+
0.0015197120374068618,
|
| 200 |
+
0.002341304672881961,
|
| 201 |
+
0.00036869297036901116,
|
| 202 |
+
0.001282834680750966,
|
| 203 |
+
0.0034614973701536655
|
| 204 |
+
],
|
| 205 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 206 |
+
0.0006290239398367703,
|
| 207 |
+
0.0007600548560731113,
|
| 208 |
+
0.0010231962660327554,
|
| 209 |
+
0.00014117559476289898,
|
| 210 |
+
0.0005135536193847656,
|
| 211 |
+
0.0013421502662822604
|
| 212 |
+
],
|
| 213 |
+
"leadthrough_delta_samples": 5235,
|
| 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": -0.005875870585441589,
|
| 218 |
+
"leadthrough_delta_worst_from_rad": -0.17714722454547882,
|
| 219 |
+
"leadthrough_delta_worst_joint": 5,
|
| 220 |
+
"leadthrough_delta_worst_time_s": 0.5239999999999996,
|
| 221 |
+
"leadthrough_delta_worst_to_rad": -0.1830230951309204,
|
| 222 |
+
"leadthrough_duration_s": 20.938,
|
| 223 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 224 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 225 |
+
"leadthrough_final_stillness_last_motion_index": 5234,
|
| 226 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 227 |
+
"leadthrough_final_stillness_removed_s": 3.9869999999999983,
|
| 228 |
+
"leadthrough_final_stillness_removed_samples": 997,
|
| 229 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 230 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 231 |
+
"leadthrough_final_stillness_trim_end_index": 5235,
|
| 232 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 233 |
+
"leadthrough_frame_count": 6884,
|
| 234 |
+
"leadthrough_initial_stillness_first_motion_index": 652,
|
| 235 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 236 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 237 |
+
"leadthrough_initial_stillness_removed_s": 2.603,
|
| 238 |
+
"leadthrough_initial_stillness_removed_samples": 651,
|
| 239 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 240 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 241 |
+
"leadthrough_initial_stillness_trim_start_index": 651,
|
| 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 |
+
0.002674482762813568,
|
| 249 |
+
0.0016993582248687744,
|
| 250 |
+
0.003083527088165283,
|
| 251 |
+
0.0008694566786289215,
|
| 252 |
+
0.001919865608215332,
|
| 253 |
+
0.005875870585441589
|
| 254 |
+
],
|
| 255 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.005875870585441589,
|
| 256 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 257 |
+
0.6686206907031688,
|
| 258 |
+
0.47151247660317225,
|
| 259 |
+
0.7708817720413201,
|
| 260 |
+
0.28742104768751964,
|
| 261 |
+
0.47996640205367275,
|
| 262 |
+
1.4689676463605592
|
| 263 |
+
],
|
| 264 |
+
"leadthrough_velocity_peak_abs_rad_s": 1.4511253833770752,
|
| 265 |
+
"leadthrough_velocity_rms_rad_s": 0.20656060243627627,
|
| 266 |
+
"leadthrough_wrap_suspect": false,
|
| 267 |
+
"leadthrough_wrap_suspect_count": 0,
|
| 268 |
+
"leadthrough_wrap_threshold_rad": 3.0,
|
| 269 |
+
"max_tracking_error_rad": 0.005312681198120117,
|
| 270 |
+
"measured_wall_accel_p95_abs_rad_s2": 0.38330408930778503,
|
| 271 |
+
"measured_wall_accel_peak_abs_rad_s2": 1.473418951034546,
|
| 272 |
+
"measured_wall_accel_peak_joint": 4,
|
| 273 |
+
"measured_wall_accel_peak_time_s": 43.75973819899991,
|
| 274 |
+
"measured_wall_accel_rms_rad_s2": 0.17232661941260985,
|
| 275 |
+
"measured_wall_jerk_p95_abs_rad_s3": 6.8615403175354,
|
| 276 |
+
"measured_wall_jerk_peak_abs_rad_s3": 25.07696533203125,
|
| 277 |
+
"measured_wall_jerk_peak_joint": 2,
|
| 278 |
+
"measured_wall_jerk_peak_time_s": 17.459284104999824,
|
| 279 |
+
"measured_wall_jerk_rms_rad_s3": 3.0482311893125886,
|
| 280 |
+
"measured_wall_smoothness_samples": 1002,
|
| 281 |
+
"measured_wall_velocity_peak_abs_rad_s": 0.5362762808799744,
|
| 282 |
+
"measured_wall_velocity_peak_joint": 5,
|
| 283 |
+
"measured_wall_velocity_peak_time_s": 13.959942016999776,
|
| 284 |
+
"measured_wall_velocity_rms_rad_s": 0.09825960124519284,
|
| 285 |
+
"moving_aligned_best_lag_s": 0.0,
|
| 286 |
+
"moving_aligned_max_error_rad": 0.005312681198120117,
|
| 287 |
+
"moving_aligned_p95_error_rad": 0.0022321611177176237,
|
| 288 |
+
"moving_aligned_rms_error_rad": 0.0009601752675566981,
|
| 289 |
+
"moving_aligned_samples": 704,
|
| 290 |
+
"moving_aligned_worst_joint": 5,
|
| 291 |
+
"moving_aligned_worst_time_s": 2.736,
|
| 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 |
+
0.004190653562545776,
|
| 302 |
+
0.0035314743872731924,
|
| 303 |
+
0.00453069806098938,
|
| 304 |
+
0.003507344052195549,
|
| 305 |
+
0.004776477813720703,
|
| 306 |
+
0.005312681198120117
|
| 307 |
+
],
|
| 308 |
+
"moving_joint_lag_p95_error_rad": [
|
| 309 |
+
0.0021712295711040497,
|
| 310 |
+
0.0019252896308898926,
|
| 311 |
+
0.0019456269219517708,
|
| 312 |
+
0.002849987708032131,
|
| 313 |
+
0.0028669473249465227,
|
| 314 |
+
0.0028031948022544384
|
| 315 |
+
],
|
| 316 |
+
"moving_joint_lag_rms_error_rad": [
|
| 317 |
+
0.0009241536718105079,
|
| 318 |
+
0.0008261267174470387,
|
| 319 |
+
0.0009856410736636045,
|
| 320 |
+
0.0009770909171349508,
|
| 321 |
+
0.0012254878268875978,
|
| 322 |
+
0.001422470935757462
|
| 323 |
+
],
|
| 324 |
+
"moving_joint_lag_samples": [
|
| 325 |
+
606,
|
| 326 |
+
681,
|
| 327 |
+
597,
|
| 328 |
+
171,
|
| 329 |
+
503,
|
| 330 |
+
448
|
| 331 |
+
],
|
| 332 |
+
"moving_joint_lag_worst_time_s": [
|
| 333 |
+
2.8639999999999994,
|
| 334 |
+
14.786,
|
| 335 |
+
2.448,
|
| 336 |
+
5.004,
|
| 337 |
+
2.416,
|
| 338 |
+
2.736
|
| 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": 2.192049026489258,
|
| 348 |
+
"playback_velocity_rms_rad_s": 0.3353284248529578,
|
| 349 |
+
"rapid_planner_done_timeout_margin_s": 30.0,
|
| 350 |
+
"rapid_planner_done_timeout_s": 71.876,
|
| 351 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 352 |
+
"rapid_planner_duration_s": 20.938,
|
| 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 |
+
1951,
|
| 357 |
+
4246
|
| 358 |
+
],
|
| 359 |
+
"rapid_planner_event_upload_enabled": true,
|
| 360 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 361 |
+
"rapid_planner_keypoint_error_deg": 0.3983639531518237,
|
| 362 |
+
"rapid_planner_last_state": 6.0,
|
| 363 |
+
"rapid_planner_max_delta_rad": 0.08670133352279663,
|
| 364 |
+
"rapid_planner_max_dt_s": 2.107000000000001,
|
| 365 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 366 |
+
"rapid_planner_max_keypoint_error_rad": 0.006952762603759766,
|
| 367 |
+
"rapid_planner_median_dt_s": 0.11050000000000004,
|
| 368 |
+
"rapid_planner_path_max_error_rad": 0.005312681198120117,
|
| 369 |
+
"rapid_planner_path_p95_error_rad": 0.003012287616729734,
|
| 370 |
+
"rapid_planner_path_rms_error_rad": 0.001389299165034612,
|
| 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 |
+
27,
|
| 376 |
+
52,
|
| 377 |
+
69,
|
| 378 |
+
85,
|
| 379 |
+
96,
|
| 380 |
+
107,
|
| 381 |
+
120,
|
| 382 |
+
133,
|
| 383 |
+
146,
|
| 384 |
+
159,
|
| 385 |
+
170,
|
| 386 |
+
180,
|
| 387 |
+
191,
|
| 388 |
+
202,
|
| 389 |
+
212,
|
| 390 |
+
223,
|
| 391 |
+
234,
|
| 392 |
+
244,
|
| 393 |
+
255,
|
| 394 |
+
266,
|
| 395 |
+
276,
|
| 396 |
+
287,
|
| 397 |
+
298,
|
| 398 |
+
308,
|
| 399 |
+
319,
|
| 400 |
+
330,
|
| 401 |
+
347,
|
| 402 |
+
363,
|
| 403 |
+
382,
|
| 404 |
+
408,
|
| 405 |
+
431,
|
| 406 |
+
470,
|
| 407 |
+
509,
|
| 408 |
+
563,
|
| 409 |
+
647,
|
| 410 |
+
746,
|
| 411 |
+
851,
|
| 412 |
+
1081,
|
| 413 |
+
1424,
|
| 414 |
+
1951,
|
| 415 |
+
2459,
|
| 416 |
+
2571,
|
| 417 |
+
2603,
|
| 418 |
+
2645,
|
| 419 |
+
2717,
|
| 420 |
+
2747,
|
| 421 |
+
2775,
|
| 422 |
+
2811,
|
| 423 |
+
2835,
|
| 424 |
+
2859,
|
| 425 |
+
2882,
|
| 426 |
+
2904,
|
| 427 |
+
2926,
|
| 428 |
+
2948,
|
| 429 |
+
2988,
|
| 430 |
+
3036,
|
| 431 |
+
3083,
|
| 432 |
+
3124,
|
| 433 |
+
3165,
|
| 434 |
+
3194,
|
| 435 |
+
3224,
|
| 436 |
+
3254,
|
| 437 |
+
3283,
|
| 438 |
+
3309,
|
| 439 |
+
3335,
|
| 440 |
+
3360,
|
| 441 |
+
3385,
|
| 442 |
+
3421,
|
| 443 |
+
3454,
|
| 444 |
+
3495,
|
| 445 |
+
3537,
|
| 446 |
+
3571,
|
| 447 |
+
3605,
|
| 448 |
+
3652,
|
| 449 |
+
3718,
|
| 450 |
+
3768,
|
| 451 |
+
3823,
|
| 452 |
+
3912,
|
| 453 |
+
4081,
|
| 454 |
+
4246,
|
| 455 |
+
4469,
|
| 456 |
+
4515,
|
| 457 |
+
4549,
|
| 458 |
+
4576,
|
| 459 |
+
4607,
|
| 460 |
+
4638,
|
| 461 |
+
4658,
|
| 462 |
+
4676,
|
| 463 |
+
4695,
|
| 464 |
+
4714,
|
| 465 |
+
4732,
|
| 466 |
+
4756,
|
| 467 |
+
4779,
|
| 468 |
+
4807,
|
| 469 |
+
4843,
|
| 470 |
+
4887,
|
| 471 |
+
4942,
|
| 472 |
+
5235
|
| 473 |
+
],
|
| 474 |
+
"rapid_planner_selected_max_joint_step_deg": 4.9676204890123685,
|
| 475 |
+
"rapid_planner_selected_samples": 99,
|
| 476 |
+
"rapid_planner_service_configured": true,
|
| 477 |
+
"rapid_planner_source_samples": 5236,
|
| 478 |
+
"rapid_planner_state_done": 6.0,
|
| 479 |
+
"rapid_planner_state_error": 7.0,
|
| 480 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 481 |
+
"rapid_planner_tool_command_supported": true,
|
| 482 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 483 |
+
"rapid_planner_tool_io_configured": true,
|
| 484 |
+
"rapid_planner_tool_io_supported": true,
|
| 485 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 486 |
+
"rapid_planner_tool_state_supported": true,
|
| 487 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 488 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 489 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 490 |
+
"rapid_planner_uploaded": true,
|
| 491 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 492 |
+
"rapid_planner_waypoints_uploaded": 99,
|
| 493 |
+
"raw_ramp_max_error_rad": null,
|
| 494 |
+
"raw_replay_max_error_rad": 0.005312681198120117,
|
| 495 |
+
"raw_replay_rms_error_rad": 0.0008103384392841859,
|
| 496 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8472643077917535,
|
| 497 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9354859323675684,
|
| 498 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.9078774604947092,
|
| 499 |
+
"replay_smoothing_applied": true,
|
| 500 |
+
"replay_smoothing_blend": 1.0,
|
| 501 |
+
"replay_smoothing_blend_by_joint": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0
|
| 508 |
+
],
|
| 509 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 510 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 511 |
+
"replay_smoothing_enabled": true,
|
| 512 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.326356527456232,
|
| 513 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9731789350632324,
|
| 514 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9584893980841593,
|
| 515 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 516 |
+
0.0003362242132425308,
|
| 517 |
+
0.00042057037353515625,
|
| 518 |
+
0.0005154013633728027,
|
| 519 |
+
0.0016013719141483307,
|
| 520 |
+
0.00135040283203125,
|
| 521 |
+
0.00436711311340332
|
| 522 |
+
],
|
| 523 |
+
"replay_smoothing_max_deviation_normalized": 0.5004343039850419,
|
| 524 |
+
"replay_smoothing_max_deviation_rad": 0.00436711311340332,
|
| 525 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 526 |
+
"replay_smoothing_p95_deviation_rad": 0.0016420998144894838,
|
| 527 |
+
"replay_smoothing_passes": 8,
|
| 528 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 1.7601122856140137,
|
| 529 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 15.669872283935547,
|
| 530 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 1.0164870022466321,
|
| 531 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 170.07159423828125,
|
| 532 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 4454.2880859375,
|
| 533 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 220.72480107524876,
|
| 534 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.4681425094604492,
|
| 535 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.20710788915843611,
|
| 536 |
+
"replay_smoothing_rms_deviation_rad": 0.0006632467782796898,
|
| 537 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.4912803173065186,
|
| 538 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 14.658945083618164,
|
| 539 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 0.9228456382255521,
|
| 540 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 55.50397491455078,
|
| 541 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 4334.8193359375,
|
| 542 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 211.56238172486098,
|
| 543 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.4511253833770752,
|
| 544 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.20656060243627627,
|
| 545 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 546 |
+
0.03490658476948738,
|
| 547 |
+
0.03490658476948738,
|
| 548 |
+
0.02617993950843811,
|
| 549 |
+
0.008726646192371845,
|
| 550 |
+
0.008726646192371845,
|
| 551 |
+
0.008726646192371845
|
| 552 |
+
],
|
| 553 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 554 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9884090774746194,
|
| 555 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9973574800825614,
|
| 556 |
+
"replay_smoothing_window_s": 0.2,
|
| 557 |
+
"replay_smoothing_window_samples": 51,
|
| 558 |
+
"replay_smoothing_within_tolerance": true,
|
| 559 |
+
"replay_smoothing_worst_joint": 5,
|
| 560 |
+
"replay_smoothing_worst_time_s": 1.4359999999999995,
|
| 561 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.00436711311340332,
|
| 562 |
+
"return_measured_wall_accel_p95_abs_rad_s2": null,
|
| 563 |
+
"return_measured_wall_accel_peak_abs_rad_s2": null,
|
| 564 |
+
"return_measured_wall_accel_peak_joint": -1,
|
| 565 |
+
"return_measured_wall_accel_peak_time_s": null,
|
| 566 |
+
"return_measured_wall_accel_rms_rad_s2": null,
|
| 567 |
+
"return_measured_wall_jerk_p95_abs_rad_s3": null,
|
| 568 |
+
"return_measured_wall_jerk_peak_abs_rad_s3": null,
|
| 569 |
+
"return_measured_wall_jerk_peak_joint": -1,
|
| 570 |
+
"return_measured_wall_jerk_peak_time_s": null,
|
| 571 |
+
"return_measured_wall_jerk_rms_rad_s3": null,
|
| 572 |
+
"return_measured_wall_smoothness_samples": 0,
|
| 573 |
+
"return_measured_wall_velocity_peak_abs_rad_s": null,
|
| 574 |
+
"return_measured_wall_velocity_peak_joint": -1,
|
| 575 |
+
"return_measured_wall_velocity_peak_time_s": null,
|
| 576 |
+
"return_measured_wall_velocity_rms_rad_s": null,
|
| 577 |
+
"safety_abort": false,
|
| 578 |
+
"safety_path_error_rad": 0.005312681198120117,
|
| 579 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 580 |
+
"send_failures": 0,
|
| 581 |
+
"sent_wall_accel_p95_abs_rad_s2": null,
|
| 582 |
+
"sent_wall_accel_peak_abs_rad_s2": null,
|
| 583 |
+
"sent_wall_accel_peak_joint": -1,
|
| 584 |
+
"sent_wall_accel_peak_time_s": null,
|
| 585 |
+
"sent_wall_accel_rms_rad_s2": null,
|
| 586 |
+
"sent_wall_jerk_p95_abs_rad_s3": null,
|
| 587 |
+
"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 588 |
+
"sent_wall_jerk_peak_joint": -1,
|
| 589 |
+
"sent_wall_jerk_peak_time_s": null,
|
| 590 |
+
"sent_wall_jerk_rms_rad_s3": null,
|
| 591 |
+
"sent_wall_smoothness_samples": 0,
|
| 592 |
+
"sent_wall_velocity_peak_abs_rad_s": null,
|
| 593 |
+
"sent_wall_velocity_peak_joint": -1,
|
| 594 |
+
"sent_wall_velocity_peak_time_s": null,
|
| 595 |
+
"sent_wall_velocity_rms_rad_s": null,
|
| 596 |
+
"stage_planned_to_measured_max_error_rad": 0.031131863594055176,
|
| 597 |
+
"stage_planned_to_measured_rms_error_rad": 0.005826381178261483,
|
| 598 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 599 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 600 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 601 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 602 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 603 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 604 |
+
"state_frame_count": 1002,
|
| 605 |
+
"stopped_early": false,
|
| 606 |
+
"strict_tracking_pass": true,
|
| 607 |
+
"strict_tracking_reason": "ok",
|
| 608 |
+
"target_wall_accel_p95_abs_rad_s2": 0.6317760348320007,
|
| 609 |
+
"target_wall_accel_peak_abs_rad_s2": 3.9001688957214355,
|
| 610 |
+
"target_wall_accel_peak_joint": 5,
|
| 611 |
+
"target_wall_accel_peak_time_s": 3.0000748580005165,
|
| 612 |
+
"target_wall_accel_rms_rad_s2": 0.30055435397456604,
|
| 613 |
+
"target_wall_jerk_p95_abs_rad_s3": 15.186943054199219,
|
| 614 |
+
"target_wall_jerk_peak_abs_rad_s3": 109.97337341308594,
|
| 615 |
+
"target_wall_jerk_peak_joint": 5,
|
| 616 |
+
"target_wall_jerk_peak_time_s": 2.9668335380001736,
|
| 617 |
+
"target_wall_jerk_rms_rad_s3": 7.3482908129356,
|
| 618 |
+
"target_wall_smoothness_samples": 1002,
|
| 619 |
+
"target_wall_velocity_peak_abs_rad_s": 0.5982747077941895,
|
| 620 |
+
"target_wall_velocity_peak_joint": 5,
|
| 621 |
+
"target_wall_velocity_peak_time_s": 3.133388465999815,
|
| 622 |
+
"target_wall_velocity_rms_rad_s": 0.09910097085447794,
|
| 623 |
+
"tcp_pose_count": 1002,
|
| 624 |
+
"timestamp_count": 1002,
|
| 625 |
+
"tool_failures": 0,
|
| 626 |
+
"tracking_geometry_pass": true,
|
| 627 |
+
"tracking_geometry_reason": "ok",
|
| 628 |
+
"tracking_pass": true,
|
| 629 |
+
"tracking_reason": "ok",
|
| 630 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 631 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 632 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 633 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 634 |
+
"tracking_timing_pass": true,
|
| 635 |
+
"tracking_timing_reason": "ok",
|
| 636 |
+
"window_lag_best_lag_max_s": 0.7700000000000022,
|
| 637 |
+
"window_lag_best_lag_median_s": 0.0,
|
| 638 |
+
"window_lag_best_lag_min_s": -0.9699999999999991,
|
| 639 |
+
"window_lag_best_lag_p95_abs_s": 0.7475000000000023,
|
| 640 |
+
"window_lag_count": 26,
|
| 641 |
+
"window_lag_window_s": 1.0,
|
| 642 |
+
"window_lag_worst_best_lag_s": 0.0,
|
| 643 |
+
"window_lag_worst_end_s": 3.0,
|
| 644 |
+
"window_lag_worst_max_error_rad": 0.005312681198120117,
|
| 645 |
+
"window_lag_worst_rms_error_rad": 0.0019489525759142658,
|
| 646 |
+
"window_lag_worst_start_s": 2.0,
|
| 647 |
+
"zero_lag_max_error_rad": 0.005312681198120117,
|
| 648 |
+
"zero_lag_p95_error_rad": 0.0019403960322961211,
|
| 649 |
+
"zero_lag_rms_error_rad": 0.0008103384392841859,
|
| 650 |
+
"zero_lag_samples": 1002,
|
| 651 |
+
"zero_lag_worst_joint": 5,
|
| 652 |
+
"zero_lag_worst_time_s": 2.736
|
| 653 |
+
}
|
| 654 |
+
}
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121527.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e460a22499f73774df4c27b86b99a6affd5f26392f34a01fe5234fee4e928da
|
| 3 |
+
size 105390
|
flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121656.json
ADDED
|
@@ -0,0 +1,653 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-08-06T12:16:57",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121656.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": 993,
|
| 20 |
+
"actual_playback_duration_s": 33.12041023199981,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.007744014263153076,
|
| 23 |
+
"aligned_p95_error_rad": 0.0018450981006026268,
|
| 24 |
+
"aligned_rms_error_rad": 0.0008833396613660903,
|
| 25 |
+
"aligned_samples": 993,
|
| 26 |
+
"aligned_worst_joint": 5,
|
| 27 |
+
"aligned_worst_time_s": 14.334000000000001,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121656.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek_v2/raw/2026-08-06_12-09-15/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260806_121656.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 993,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 993,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.733145485714276,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 993,
|
| 46 |
+
"cam_wrist": 993
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.005970120429992676,
|
| 58 |
+
0.007069720886647701,
|
| 59 |
+
0.004173755645751953,
|
| 60 |
+
0.004880407825112343,
|
| 61 |
+
0.007363736629486084,
|
| 62 |
+
0.007744014263153076
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.0017310440307483077,
|
| 66 |
+
0.0019994466565549374,
|
| 67 |
+
0.0019463050412014127,
|
| 68 |
+
0.0008137116092257202,
|
| 69 |
+
0.001786470296792686,
|
| 70 |
+
0.0022582330275326967
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.000764443307911539,
|
| 74 |
+
0.0010016380759836187,
|
| 75 |
+
0.0009057446201886613,
|
| 76 |
+
0.000502220960311296,
|
| 77 |
+
0.0008840140374332663,
|
| 78 |
+
0.0011135534605161467
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
993,
|
| 82 |
+
993,
|
| 83 |
+
993,
|
| 84 |
+
993,
|
| 85 |
+
993,
|
| 86 |
+
993
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
4.383,
|
| 90 |
+
14.334000000000001,
|
| 91 |
+
2.439,
|
| 92 |
+
2.4110000000000005,
|
| 93 |
+
14.293999999999999,
|
| 94 |
+
14.334000000000001
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.005000000353902578,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.004000000189989805,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000353902578,
|
| 100 |
+
"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": 10,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.007228049999866926,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.003936223999517097,
|
| 111 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004271845399853191,
|
| 112 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.00493422721980096,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2532,
|
| 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": 0.007321799999772338,
|
| 119 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.0040123085000232095,
|
| 120 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004343227949493667,
|
| 121 |
+
"leadthrough_capture_host_loop_dt_p99_s": 0.005010207689820165,
|
| 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": 0.007270891999723972,
|
| 125 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.0040120800003933255,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004334591200313298,
|
| 127 |
+
"leadthrough_capture_host_receive_dt_p99_s": 0.004964479919945008,
|
| 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_v006",
|
| 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": 0.012535982000372314,
|
| 170 |
+
"leadthrough_capture_loop_late_median_s": 0.007536139212788839,
|
| 171 |
+
"leadthrough_capture_loop_late_p95_s": 0.007810975854044955,
|
| 172 |
+
"leadthrough_capture_loop_late_p99_s": 0.008608811294470798,
|
| 173 |
+
"leadthrough_capture_loop_late_warn_count": 6755,
|
| 174 |
+
"leadthrough_capture_none_reads": 0,
|
| 175 |
+
"leadthrough_capture_read_duration_max_s": 0.007284794999577571,
|
| 176 |
+
"leadthrough_capture_read_duration_median_s": 0.00398212800064357,
|
| 177 |
+
"leadthrough_capture_read_duration_p95_s": 0.004311696300192125,
|
| 178 |
+
"leadthrough_capture_read_duration_p99_s": 0.0049899300399556526,
|
| 179 |
+
"leadthrough_capture_read_duration_warn_count": 3072,
|
| 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": 0.005000000000000782,
|
| 184 |
+
"leadthrough_capture_recorded_timestamp_gap_warn": false,
|
| 185 |
+
"leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
|
| 186 |
+
"leadthrough_capture_slow_ticks": 9,
|
| 187 |
+
"leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
|
| 188 |
+
"leadthrough_delta_max_abs_by_joint_rad": [
|
| 189 |
+
0.003848135471343994,
|
| 190 |
+
0.0022718310356140137,
|
| 191 |
+
0.002855440601706505,
|
| 192 |
+
0.0010719895362854004,
|
| 193 |
+
0.0019240379333496094,
|
| 194 |
+
0.006548777222633362
|
| 195 |
+
],
|
| 196 |
+
"leadthrough_delta_max_abs_rad": 0.006548777222633362,
|
| 197 |
+
"leadthrough_delta_p95_abs_by_joint_rad": [
|
| 198 |
+
0.0014837696217000484,
|
| 199 |
+
0.0018207472749054432,
|
| 200 |
+
0.002624395303428173,
|
| 201 |
+
0.00034032142139039934,
|
| 202 |
+
0.0011985182063654065,
|
| 203 |
+
0.0037806937471032143
|
| 204 |
+
],
|
| 205 |
+
"leadthrough_delta_rms_by_joint_rad": [
|
| 206 |
+
0.0007714415551163256,
|
| 207 |
+
0.0007879846380092204,
|
| 208 |
+
0.0010587695287540555,
|
| 209 |
+
0.00016341492300853133,
|
| 210 |
+
0.0005399450310505927,
|
| 211 |
+
0.0015336883952841163
|
| 212 |
+
],
|
| 213 |
+
"leadthrough_delta_samples": 4778,
|
| 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": -0.006548777222633362,
|
| 218 |
+
"leadthrough_delta_worst_from_rad": -0.17653483152389526,
|
| 219 |
+
"leadthrough_delta_worst_joint": 5,
|
| 220 |
+
"leadthrough_delta_worst_time_s": 0.552,
|
| 221 |
+
"leadthrough_delta_worst_to_rad": -0.18308360874652863,
|
| 222 |
+
"leadthrough_duration_s": 19.11,
|
| 223 |
+
"leadthrough_expected_dt_s": 0.004,
|
| 224 |
+
"leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
|
| 225 |
+
"leadthrough_final_stillness_last_motion_index": 4777,
|
| 226 |
+
"leadthrough_final_stillness_min_trim_s": 0.25,
|
| 227 |
+
"leadthrough_final_stillness_removed_s": 4.579000000000001,
|
| 228 |
+
"leadthrough_final_stillness_removed_samples": 1145,
|
| 229 |
+
"leadthrough_final_stillness_tool_tol": 0.005,
|
| 230 |
+
"leadthrough_final_stillness_trim_enabled": true,
|
| 231 |
+
"leadthrough_final_stillness_trim_end_index": 4778,
|
| 232 |
+
"leadthrough_final_stillness_trimmed": true,
|
| 233 |
+
"leadthrough_frame_count": 6755,
|
| 234 |
+
"leadthrough_initial_stillness_first_motion_index": 832,
|
| 235 |
+
"leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
|
| 236 |
+
"leadthrough_initial_stillness_min_trim_s": 0.25,
|
| 237 |
+
"leadthrough_initial_stillness_removed_s": 3.324,
|
| 238 |
+
"leadthrough_initial_stillness_removed_samples": 831,
|
| 239 |
+
"leadthrough_initial_stillness_tool_tol": 0.005,
|
| 240 |
+
"leadthrough_initial_stillness_trim_enabled": true,
|
| 241 |
+
"leadthrough_initial_stillness_trim_start_index": 831,
|
| 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 |
+
0.003848135471343994,
|
| 249 |
+
0.0022718310356140137,
|
| 250 |
+
0.002855440601706505,
|
| 251 |
+
0.0010719895362854004,
|
| 252 |
+
0.0019240379333496094,
|
| 253 |
+
0.006548777222633362
|
| 254 |
+
],
|
| 255 |
+
"leadthrough_unwrapped_delta_max_abs_rad": 0.006548777222633362,
|
| 256 |
+
"leadthrough_velocity_max_abs_by_joint_rad_s": [
|
| 257 |
+
1.2827118237812827,
|
| 258 |
+
0.7530053456624064,
|
| 259 |
+
0.9508817456662294,
|
| 260 |
+
0.35732984542845325,
|
| 261 |
+
0.640153884887671,
|
| 262 |
+
2.179130911827005
|
| 263 |
+
],
|
| 264 |
+
"leadthrough_velocity_peak_abs_rad_s": 1.9490842819213867,
|
| 265 |
+
"leadthrough_velocity_rms_rad_s": 0.2375222626465615,
|
| 266 |
+
"leadthrough_wrap_suspect": false,
|
| 267 |
+
"leadthrough_wrap_suspect_count": 0,
|
| 268 |
+
"leadthrough_wrap_threshold_rad": 3.0,
|
| 269 |
+
"max_tracking_error_rad": 0.007744014263153076,
|
| 270 |
+
"measured_wall_accel_p95_abs_rad_s2": 0.47282686829566956,
|
| 271 |
+
"measured_wall_accel_peak_abs_rad_s2": 1.9967329502105713,
|
| 272 |
+
"measured_wall_accel_peak_joint": 5,
|
| 273 |
+
"measured_wall_accel_peak_time_s": 16.669459144999564,
|
| 274 |
+
"measured_wall_accel_rms_rad_s2": 0.20953292905640397,
|
| 275 |
+
"measured_wall_jerk_p95_abs_rad_s3": 8.00141429901123,
|
| 276 |
+
"measured_wall_jerk_peak_abs_rad_s3": 46.86261749267578,
|
| 277 |
+
"measured_wall_jerk_peak_joint": 4,
|
| 278 |
+
"measured_wall_jerk_peak_time_s": 18.33446902199921,
|
| 279 |
+
"measured_wall_jerk_rms_rad_s3": 3.6562556413107954,
|
| 280 |
+
"measured_wall_smoothness_samples": 993,
|
| 281 |
+
"measured_wall_velocity_peak_abs_rad_s": 0.5712171196937561,
|
| 282 |
+
"measured_wall_velocity_peak_joint": 5,
|
| 283 |
+
"measured_wall_velocity_peak_time_s": 11.766849115999321,
|
| 284 |
+
"measured_wall_velocity_rms_rad_s": 0.09951788041993048,
|
| 285 |
+
"moving_aligned_best_lag_s": 0.0,
|
| 286 |
+
"moving_aligned_max_error_rad": 0.007744014263153076,
|
| 287 |
+
"moving_aligned_p95_error_rad": 0.002175933448597789,
|
| 288 |
+
"moving_aligned_rms_error_rad": 0.001046817906725785,
|
| 289 |
+
"moving_aligned_samples": 700,
|
| 290 |
+
"moving_aligned_worst_joint": 5,
|
| 291 |
+
"moving_aligned_worst_time_s": 14.334000000000001,
|
| 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 |
+
0.004708439111709595,
|
| 302 |
+
0.007069720886647701,
|
| 303 |
+
0.004173755645751953,
|
| 304 |
+
0.004880407825112343,
|
| 305 |
+
0.007119238376617432,
|
| 306 |
+
0.007744014263153076
|
| 307 |
+
],
|
| 308 |
+
"moving_joint_lag_p95_error_rad": [
|
| 309 |
+
0.001835560891777277,
|
| 310 |
+
0.0024612925481051207,
|
| 311 |
+
0.0025508394464850426,
|
| 312 |
+
0.00182874477468431,
|
| 313 |
+
0.0019431114196777344,
|
| 314 |
+
0.0025699613615870476
|
| 315 |
+
],
|
| 316 |
+
"moving_joint_lag_rms_error_rad": [
|
| 317 |
+
0.0008443393361770893,
|
| 318 |
+
0.0011833495827891754,
|
| 319 |
+
0.0011182647739105401,
|
| 320 |
+
0.0010087511957207877,
|
| 321 |
+
0.001007647519783454,
|
| 322 |
+
0.0014457049724939202
|
| 323 |
+
],
|
| 324 |
+
"moving_joint_lag_samples": [
|
| 325 |
+
602,
|
| 326 |
+
642,
|
| 327 |
+
594,
|
| 328 |
+
182,
|
| 329 |
+
541,
|
| 330 |
+
475
|
| 331 |
+
],
|
| 332 |
+
"moving_joint_lag_worst_time_s": [
|
| 333 |
+
4.275,
|
| 334 |
+
14.334000000000001,
|
| 335 |
+
2.439,
|
| 336 |
+
2.4110000000000005,
|
| 337 |
+
14.238000000000001,
|
| 338 |
+
14.334000000000001
|
| 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": 2.0151917934417725,
|
| 348 |
+
"playback_velocity_rms_rad_s": 0.4024237124863333,
|
| 349 |
+
"rapid_planner_done_timeout_margin_s": 30.0,
|
| 350 |
+
"rapid_planner_done_timeout_s": 68.22,
|
| 351 |
+
"rapid_planner_done_timeout_scale": 2.0,
|
| 352 |
+
"rapid_planner_duration_s": 19.11,
|
| 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 |
+
2041,
|
| 357 |
+
4129
|
| 358 |
+
],
|
| 359 |
+
"rapid_planner_event_upload_enabled": true,
|
| 360 |
+
"rapid_planner_event_wait_s": 0.2,
|
| 361 |
+
"rapid_planner_keypoint_error_deg": 0.44380349415262604,
|
| 362 |
+
"rapid_planner_last_state": 6.0,
|
| 363 |
+
"rapid_planner_max_delta_rad": 0.08723793923854828,
|
| 364 |
+
"rapid_planner_max_dt_s": 2.42,
|
| 365 |
+
"rapid_planner_max_joint_step_deg": 5.0,
|
| 366 |
+
"rapid_planner_max_keypoint_error_rad": 0.007745832204818726,
|
| 367 |
+
"rapid_planner_median_dt_s": 0.09199999999999875,
|
| 368 |
+
"rapid_planner_path_max_error_rad": 0.007744014263153076,
|
| 369 |
+
"rapid_planner_path_p95_error_rad": 0.0027689725160598756,
|
| 370 |
+
"rapid_planner_path_rms_error_rad": 0.0014311813331327695,
|
| 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 |
+
32,
|
| 376 |
+
62,
|
| 377 |
+
79,
|
| 378 |
+
95,
|
| 379 |
+
107,
|
| 380 |
+
119,
|
| 381 |
+
130,
|
| 382 |
+
142,
|
| 383 |
+
154,
|
| 384 |
+
165,
|
| 385 |
+
172,
|
| 386 |
+
180,
|
| 387 |
+
195,
|
| 388 |
+
204,
|
| 389 |
+
212,
|
| 390 |
+
220,
|
| 391 |
+
228,
|
| 392 |
+
236,
|
| 393 |
+
244,
|
| 394 |
+
252,
|
| 395 |
+
261,
|
| 396 |
+
270,
|
| 397 |
+
279,
|
| 398 |
+
288,
|
| 399 |
+
297,
|
| 400 |
+
312,
|
| 401 |
+
328,
|
| 402 |
+
353,
|
| 403 |
+
372,
|
| 404 |
+
395,
|
| 405 |
+
424,
|
| 406 |
+
453,
|
| 407 |
+
495,
|
| 408 |
+
559,
|
| 409 |
+
636,
|
| 410 |
+
697,
|
| 411 |
+
756,
|
| 412 |
+
824,
|
| 413 |
+
922,
|
| 414 |
+
1002,
|
| 415 |
+
1152,
|
| 416 |
+
1262,
|
| 417 |
+
1328,
|
| 418 |
+
1436,
|
| 419 |
+
2041,
|
| 420 |
+
2618,
|
| 421 |
+
2660,
|
| 422 |
+
2724,
|
| 423 |
+
2767,
|
| 424 |
+
2797,
|
| 425 |
+
2828,
|
| 426 |
+
2861,
|
| 427 |
+
2878,
|
| 428 |
+
2894,
|
| 429 |
+
2916,
|
| 430 |
+
2938,
|
| 431 |
+
2960,
|
| 432 |
+
2983,
|
| 433 |
+
3009,
|
| 434 |
+
3035,
|
| 435 |
+
3063,
|
| 436 |
+
3094,
|
| 437 |
+
3124,
|
| 438 |
+
3157,
|
| 439 |
+
3190,
|
| 440 |
+
3212,
|
| 441 |
+
3234,
|
| 442 |
+
3254,
|
| 443 |
+
3275,
|
| 444 |
+
3297,
|
| 445 |
+
3327,
|
| 446 |
+
3380,
|
| 447 |
+
3438,
|
| 448 |
+
3479,
|
| 449 |
+
3527,
|
| 450 |
+
3647,
|
| 451 |
+
3756,
|
| 452 |
+
4036,
|
| 453 |
+
4129,
|
| 454 |
+
4422,
|
| 455 |
+
4446,
|
| 456 |
+
4470,
|
| 457 |
+
4487,
|
| 458 |
+
4507,
|
| 459 |
+
4526,
|
| 460 |
+
4545,
|
| 461 |
+
4558,
|
| 462 |
+
4570,
|
| 463 |
+
4582,
|
| 464 |
+
4594,
|
| 465 |
+
4615,
|
| 466 |
+
4636,
|
| 467 |
+
4661,
|
| 468 |
+
4680,
|
| 469 |
+
4698,
|
| 470 |
+
4728,
|
| 471 |
+
4778
|
| 472 |
+
],
|
| 473 |
+
"rapid_planner_selected_max_joint_step_deg": 4.998365731787535,
|
| 474 |
+
"rapid_planner_selected_samples": 98,
|
| 475 |
+
"rapid_planner_service_configured": true,
|
| 476 |
+
"rapid_planner_source_samples": 4779,
|
| 477 |
+
"rapid_planner_state_done": 6.0,
|
| 478 |
+
"rapid_planner_state_error": 7.0,
|
| 479 |
+
"rapid_planner_tool_command_hz": 30.0,
|
| 480 |
+
"rapid_planner_tool_command_supported": true,
|
| 481 |
+
"rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
|
| 482 |
+
"rapid_planner_tool_io_configured": true,
|
| 483 |
+
"rapid_planner_tool_io_supported": true,
|
| 484 |
+
"rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
|
| 485 |
+
"rapid_planner_tool_state_supported": true,
|
| 486 |
+
"rapid_planner_tool_transition_source_count": 2,
|
| 487 |
+
"rapid_planner_tool_transitions_uploaded": 2,
|
| 488 |
+
"rapid_planner_tool_upload_enabled": true,
|
| 489 |
+
"rapid_planner_uploaded": true,
|
| 490 |
+
"rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
|
| 491 |
+
"rapid_planner_waypoints_uploaded": 98,
|
| 492 |
+
"raw_ramp_max_error_rad": null,
|
| 493 |
+
"raw_replay_max_error_rad": 0.007744014263153076,
|
| 494 |
+
"raw_replay_rms_error_rad": 0.0008833396613660903,
|
| 495 |
+
"replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.981255454610995,
|
| 496 |
+
"replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0037990032911197,
|
| 497 |
+
"replay_smoothing_accel_rms_rad_s2_ratio": 0.991554432511209,
|
| 498 |
+
"replay_smoothing_applied": true,
|
| 499 |
+
"replay_smoothing_blend": 1.0,
|
| 500 |
+
"replay_smoothing_blend_by_joint": [
|
| 501 |
+
1.0,
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0
|
| 507 |
+
],
|
| 508 |
+
"replay_smoothing_edge_taper_s": 0.2,
|
| 509 |
+
"replay_smoothing_edge_taper_samples": 50,
|
| 510 |
+
"replay_smoothing_enabled": true,
|
| 511 |
+
"replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9914970801126478,
|
| 512 |
+
"replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.009591230159955,
|
| 513 |
+
"replay_smoothing_jerk_rms_rad_s3_ratio": 0.9952862335067442,
|
| 514 |
+
"replay_smoothing_max_deviation_by_joint_rad": [
|
| 515 |
+
0.0004395097494125366,
|
| 516 |
+
0.0005420446395874023,
|
| 517 |
+
0.0009893476963043213,
|
| 518 |
+
0.0013793371617794037,
|
| 519 |
+
0.0023465752601623535,
|
| 520 |
+
0.00360146164894104
|
| 521 |
+
],
|
| 522 |
+
"replay_smoothing_max_deviation_normalized": 0.4126971083219986,
|
| 523 |
+
"replay_smoothing_max_deviation_rad": 0.00360146164894104,
|
| 524 |
+
"replay_smoothing_method": "scipy_savgol",
|
| 525 |
+
"replay_smoothing_p95_deviation_rad": 0.0015980274183675647,
|
| 526 |
+
"replay_smoothing_passes": 8,
|
| 527 |
+
"replay_smoothing_raw_accel_p95_abs_rad_s2": 9.40520191192627,
|
| 528 |
+
"replay_smoothing_raw_accel_peak_abs_rad_s2": 63.490203857421875,
|
| 529 |
+
"replay_smoothing_raw_accel_rms_rad_s2": 4.837337295001557,
|
| 530 |
+
"replay_smoothing_raw_jerk_p95_abs_rad_s3": 2282.677490234375,
|
| 531 |
+
"replay_smoothing_raw_jerk_peak_abs_rad_s3": 18098.60546875,
|
| 532 |
+
"replay_smoothing_raw_jerk_rms_rad_s3": 1315.3296851988189,
|
| 533 |
+
"replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9462305307388306,
|
| 534 |
+
"replay_smoothing_raw_velocity_rms_rad_s": 0.23809077290450295,
|
| 535 |
+
"replay_smoothing_rms_deviation_rad": 0.0006892260089459863,
|
| 536 |
+
"replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.22890567779541,
|
| 537 |
+
"replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.73140335083008,
|
| 538 |
+
"replay_smoothing_smoothed_accel_rms_rad_s2": 4.796483236410576,
|
| 539 |
+
"replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2263.26806640625,
|
| 540 |
+
"replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18272.193359375,
|
| 541 |
+
"replay_smoothing_smoothed_jerk_rms_rad_s3": 1309.129528201144,
|
| 542 |
+
"replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9490842819213867,
|
| 543 |
+
"replay_smoothing_smoothed_velocity_rms_rad_s": 0.2375222626465615,
|
| 544 |
+
"replay_smoothing_tolerance_by_joint_rad": [
|
| 545 |
+
0.03490658476948738,
|
| 546 |
+
0.03490658476948738,
|
| 547 |
+
0.02617993950843811,
|
| 548 |
+
0.008726646192371845,
|
| 549 |
+
0.008726646192371845,
|
| 550 |
+
0.008726646192371845
|
| 551 |
+
],
|
| 552 |
+
"replay_smoothing_tolerance_rad": 0.034906585,
|
| 553 |
+
"replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.0014662965858792,
|
| 554 |
+
"replay_smoothing_velocity_rms_rad_s_ratio": 0.9976122121365473,
|
| 555 |
+
"replay_smoothing_window_s": 0.2,
|
| 556 |
+
"replay_smoothing_window_samples": 51,
|
| 557 |
+
"replay_smoothing_within_tolerance": true,
|
| 558 |
+
"replay_smoothing_worst_joint": 5,
|
| 559 |
+
"replay_smoothing_worst_time_s": 17.901000000000003,
|
| 560 |
+
"replay_smoothing_wrist_max_deviation_rad": 0.00360146164894104,
|
| 561 |
+
"return_measured_wall_accel_p95_abs_rad_s2": null,
|
| 562 |
+
"return_measured_wall_accel_peak_abs_rad_s2": null,
|
| 563 |
+
"return_measured_wall_accel_peak_joint": -1,
|
| 564 |
+
"return_measured_wall_accel_peak_time_s": null,
|
| 565 |
+
"return_measured_wall_accel_rms_rad_s2": null,
|
| 566 |
+
"return_measured_wall_jerk_p95_abs_rad_s3": null,
|
| 567 |
+
"return_measured_wall_jerk_peak_abs_rad_s3": null,
|
| 568 |
+
"return_measured_wall_jerk_peak_joint": -1,
|
| 569 |
+
"return_measured_wall_jerk_peak_time_s": null,
|
| 570 |
+
"return_measured_wall_jerk_rms_rad_s3": null,
|
| 571 |
+
"return_measured_wall_smoothness_samples": 0,
|
| 572 |
+
"return_measured_wall_velocity_peak_abs_rad_s": null,
|
| 573 |
+
"return_measured_wall_velocity_peak_joint": -1,
|
| 574 |
+
"return_measured_wall_velocity_peak_time_s": null,
|
| 575 |
+
"return_measured_wall_velocity_rms_rad_s": null,
|
| 576 |
+
"safety_abort": false,
|
| 577 |
+
"safety_path_error_rad": 0.007744014263153076,
|
| 578 |
+
"saved_data_source": "measured_rapid_planner_playback",
|
| 579 |
+
"send_failures": 0,
|
| 580 |
+
"sent_wall_accel_p95_abs_rad_s2": null,
|
| 581 |
+
"sent_wall_accel_peak_abs_rad_s2": null,
|
| 582 |
+
"sent_wall_accel_peak_joint": -1,
|
| 583 |
+
"sent_wall_accel_peak_time_s": null,
|
| 584 |
+
"sent_wall_accel_rms_rad_s2": null,
|
| 585 |
+
"sent_wall_jerk_p95_abs_rad_s3": null,
|
| 586 |
+
"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 587 |
+
"sent_wall_jerk_peak_joint": -1,
|
| 588 |
+
"sent_wall_jerk_peak_time_s": null,
|
| 589 |
+
"sent_wall_jerk_rms_rad_s3": null,
|
| 590 |
+
"sent_wall_smoothness_samples": 0,
|
| 591 |
+
"sent_wall_velocity_peak_abs_rad_s": null,
|
| 592 |
+
"sent_wall_velocity_peak_joint": -1,
|
| 593 |
+
"sent_wall_velocity_peak_time_s": null,
|
| 594 |
+
"sent_wall_velocity_rms_rad_s": null,
|
| 595 |
+
"stage_planned_to_measured_max_error_rad": 0.03247781842947006,
|
| 596 |
+
"stage_planned_to_measured_rms_error_rad": 0.005895770890955424,
|
| 597 |
+
"stage_sent_to_measured_max_error_rad": null,
|
| 598 |
+
"stage_sent_to_measured_rms_error_rad": null,
|
| 599 |
+
"stage_sent_to_planned_max_error_rad": null,
|
| 600 |
+
"stage_sent_to_planned_rms_error_rad": null,
|
| 601 |
+
"stage_target_to_sent_max_error_rad": null,
|
| 602 |
+
"stage_target_to_sent_rms_error_rad": null,
|
| 603 |
+
"state_frame_count": 993,
|
| 604 |
+
"stopped_early": false,
|
| 605 |
+
"strict_tracking_pass": true,
|
| 606 |
+
"strict_tracking_reason": "ok",
|
| 607 |
+
"target_wall_accel_p95_abs_rad_s2": 0.6921278238296509,
|
| 608 |
+
"target_wall_accel_peak_abs_rad_s2": 2.8512372970581055,
|
| 609 |
+
"target_wall_accel_peak_joint": 4,
|
| 610 |
+
"target_wall_accel_peak_time_s": 7.233484354000211,
|
| 611 |
+
"target_wall_accel_rms_rad_s2": 0.3354029638726335,
|
| 612 |
+
"target_wall_jerk_p95_abs_rad_s3": 16.83009147644043,
|
| 613 |
+
"target_wall_jerk_peak_abs_rad_s3": 81.62671661376953,
|
| 614 |
+
"target_wall_jerk_peak_joint": 4,
|
| 615 |
+
"target_wall_jerk_peak_time_s": 7.666762447999645,
|
| 616 |
+
"target_wall_jerk_rms_rad_s3": 7.748255983916131,
|
| 617 |
+
"target_wall_smoothness_samples": 993,
|
| 618 |
+
"target_wall_velocity_peak_abs_rad_s": 0.6523902416229248,
|
| 619 |
+
"target_wall_velocity_peak_joint": 5,
|
| 620 |
+
"target_wall_velocity_peak_time_s": 1.1001532209993456,
|
| 621 |
+
"target_wall_velocity_rms_rad_s": 0.10037052439905189,
|
| 622 |
+
"tcp_pose_count": 993,
|
| 623 |
+
"timestamp_count": 993,
|
| 624 |
+
"tool_failures": 0,
|
| 625 |
+
"tracking_geometry_pass": true,
|
| 626 |
+
"tracking_geometry_reason": "ok",
|
| 627 |
+
"tracking_pass": true,
|
| 628 |
+
"tracking_reason": "ok",
|
| 629 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 630 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 631 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 632 |
+
"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 633 |
+
"tracking_timing_pass": true,
|
| 634 |
+
"tracking_timing_reason": "ok",
|
| 635 |
+
"window_lag_best_lag_max_s": 1.3900000000000032,
|
| 636 |
+
"window_lag_best_lag_median_s": 0.0,
|
| 637 |
+
"window_lag_best_lag_min_s": -1.1999999999999993,
|
| 638 |
+
"window_lag_best_lag_p95_abs_s": 1.1999999999999993,
|
| 639 |
+
"window_lag_count": 28,
|
| 640 |
+
"window_lag_window_s": 1.0,
|
| 641 |
+
"window_lag_worst_best_lag_s": 1.3900000000000032,
|
| 642 |
+
"window_lag_worst_end_s": 17.5,
|
| 643 |
+
"window_lag_worst_max_error_rad": 0.0158817321062088,
|
| 644 |
+
"window_lag_worst_rms_error_rad": 0.007613768094967823,
|
| 645 |
+
"window_lag_worst_start_s": 16.5,
|
| 646 |
+
"zero_lag_max_error_rad": 0.007744014263153076,
|
| 647 |
+
"zero_lag_p95_error_rad": 0.0018450981006026268,
|
| 648 |
+
"zero_lag_rms_error_rad": 0.0008833396613660903,
|
| 649 |
+
"zero_lag_samples": 993,
|
| 650 |
+
"zero_lag_worst_joint": 5,
|
| 651 |
+
"zero_lag_worst_time_s": 14.334000000000001
|
| 652 |
+
}
|
| 653 |
+
}
|