derekcai-OT commited on
Commit
e42e31c
·
verified ·
1 Parent(s): d30388b

hub_archive: flex_to_biotek_v2/raw +322 files (2026-09-24)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +76 -0
  2. flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000024_20260921_161753.hdf5 +3 -0
  3. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.json +477 -0
  4. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.npz +3 -0
  5. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.json +488 -0
  6. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.npz +3 -0
  7. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.json +486 -0
  8. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.npz +3 -0
  9. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.json +674 -0
  10. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.npz +3 -0
  11. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.json +676 -0
  12. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.npz +3 -0
  13. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.json +671 -0
  14. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.npz +3 -0
  15. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.json +674 -0
  16. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.npz +3 -0
  17. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.json +669 -0
  18. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.npz +3 -0
  19. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.json +673 -0
  20. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.npz +3 -0
  21. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.json +677 -0
  22. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.npz +3 -0
  23. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.json +662 -0
  24. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.npz +3 -0
  25. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.json +673 -0
  26. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.npz +3 -0
  27. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.json +675 -0
  28. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.npz +3 -0
  29. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.json +670 -0
  30. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.npz +3 -0
  31. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.json +669 -0
  32. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.npz +3 -0
  33. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.json +671 -0
  34. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.npz +3 -0
  35. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.json +668 -0
  36. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.npz +3 -0
  37. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.json +668 -0
  38. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.npz +3 -0
  39. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.json +666 -0
  40. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.npz +3 -0
  41. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.json +659 -0
  42. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.npz +3 -0
  43. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.json +680 -0
  44. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.npz +3 -0
  45. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.json +671 -0
  46. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.npz +3 -0
  47. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.json +672 -0
  48. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.npz +3 -0
  49. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.json +682 -0
  50. flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.npz +3 -0
.gitattributes CHANGED
@@ -878,3 +878,79 @@ flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000020_20260921_160513.hdf5 fi
878
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000021_20260921_160719.hdf5 filter=lfs diff=lfs merge=lfs -text
879
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000022_20260921_160920.hdf5 filter=lfs diff=lfs merge=lfs -text
880
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000023_20260921_161109.hdf5 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
878
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000021_20260921_160719.hdf5 filter=lfs diff=lfs merge=lfs -text
879
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000022_20260921_160920.hdf5 filter=lfs diff=lfs merge=lfs -text
880
  flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000023_20260921_161109.hdf5 filter=lfs diff=lfs merge=lfs -text
881
+ flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000024_20260921_161753.hdf5 filter=lfs diff=lfs merge=lfs -text
882
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000000_20260923_101511.hdf5 filter=lfs diff=lfs merge=lfs -text
883
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000001_20260923_101915.hdf5 filter=lfs diff=lfs merge=lfs -text
884
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000002_20260923_102139.hdf5 filter=lfs diff=lfs merge=lfs -text
885
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000003_20260923_102333.hdf5 filter=lfs diff=lfs merge=lfs -text
886
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000004_20260923_102951.hdf5 filter=lfs diff=lfs merge=lfs -text
887
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000005_20260923_103209.hdf5 filter=lfs diff=lfs merge=lfs -text
888
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000006_20260923_103355.hdf5 filter=lfs diff=lfs merge=lfs -text
889
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000007_20260923_103702.hdf5 filter=lfs diff=lfs merge=lfs -text
890
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000008_20260923_103944.hdf5 filter=lfs diff=lfs merge=lfs -text
891
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000009_20260923_105104.hdf5 filter=lfs diff=lfs merge=lfs -text
892
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000010_20260923_105246.hdf5 filter=lfs diff=lfs merge=lfs -text
893
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000011_20260923_105458.hdf5 filter=lfs diff=lfs merge=lfs -text
894
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000012_20260923_105802.hdf5 filter=lfs diff=lfs merge=lfs -text
895
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000013_20260923_105947.hdf5 filter=lfs diff=lfs merge=lfs -text
896
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000014_20260923_110259.hdf5 filter=lfs diff=lfs merge=lfs -text
897
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000015_20260923_110443.hdf5 filter=lfs diff=lfs merge=lfs -text
898
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000016_20260923_110707.hdf5 filter=lfs diff=lfs merge=lfs -text
899
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000017_20260923_113722.hdf5 filter=lfs diff=lfs merge=lfs -text
900
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000018_20260923_113908.hdf5 filter=lfs diff=lfs merge=lfs -text
901
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000019_20260923_114053.hdf5 filter=lfs diff=lfs merge=lfs -text
902
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000020_20260923_115104.hdf5 filter=lfs diff=lfs merge=lfs -text
903
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000021_20260923_122131.hdf5 filter=lfs diff=lfs merge=lfs -text
904
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000022_20260923_122347.hdf5 filter=lfs diff=lfs merge=lfs -text
905
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000023_20260923_122546.hdf5 filter=lfs diff=lfs merge=lfs -text
906
+ flex_to_biotek_v2/raw/2026-09-23_09-39-46/episode_000024_20260923_122824.hdf5 filter=lfs diff=lfs merge=lfs -text
907
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000000_20260923_123255.hdf5 filter=lfs diff=lfs merge=lfs -text
908
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000001_20260923_123857.hdf5 filter=lfs diff=lfs merge=lfs -text
909
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000002_20260923_124509.hdf5 filter=lfs diff=lfs merge=lfs -text
910
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000003_20260923_124655.hdf5 filter=lfs diff=lfs merge=lfs -text
911
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000004_20260923_124848.hdf5 filter=lfs diff=lfs merge=lfs -text
912
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000005_20260923_125033.hdf5 filter=lfs diff=lfs merge=lfs -text
913
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000006_20260923_125221.hdf5 filter=lfs diff=lfs merge=lfs -text
914
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000007_20260923_125604.hdf5 filter=lfs diff=lfs merge=lfs -text
915
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000008_20260923_125800.hdf5 filter=lfs diff=lfs merge=lfs -text
916
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000009_20260923_130143.hdf5 filter=lfs diff=lfs merge=lfs -text
917
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000010_20260923_130420.hdf5 filter=lfs diff=lfs merge=lfs -text
918
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000011_20260923_130701.hdf5 filter=lfs diff=lfs merge=lfs -text
919
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000012_20260923_131022.hdf5 filter=lfs diff=lfs merge=lfs -text
920
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000013_20260923_131243.hdf5 filter=lfs diff=lfs merge=lfs -text
921
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000014_20260923_131434.hdf5 filter=lfs diff=lfs merge=lfs -text
922
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000015_20260923_131750.hdf5 filter=lfs diff=lfs merge=lfs -text
923
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000016_20260923_131945.hdf5 filter=lfs diff=lfs merge=lfs -text
924
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000017_20260923_132125.hdf5 filter=lfs diff=lfs merge=lfs -text
925
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000018_20260923_132318.hdf5 filter=lfs diff=lfs merge=lfs -text
926
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000019_20260923_132547.hdf5 filter=lfs diff=lfs merge=lfs -text
927
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000020_20260923_135133.hdf5 filter=lfs diff=lfs merge=lfs -text
928
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000021_20260923_135315.hdf5 filter=lfs diff=lfs merge=lfs -text
929
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000022_20260923_135850.hdf5 filter=lfs diff=lfs merge=lfs -text
930
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000023_20260923_140038.hdf5 filter=lfs diff=lfs merge=lfs -text
931
+ flex_to_biotek_v2/raw/2026-09-23_12-30-59/episode_000024_20260923_140220.hdf5 filter=lfs diff=lfs merge=lfs -text
932
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000000_20260923_140716.hdf5 filter=lfs diff=lfs merge=lfs -text
933
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000001_20260923_141332.hdf5 filter=lfs diff=lfs merge=lfs -text
934
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000002_20260923_141507.hdf5 filter=lfs diff=lfs merge=lfs -text
935
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000003_20260923_141701.hdf5 filter=lfs diff=lfs merge=lfs -text
936
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000004_20260923_141838.hdf5 filter=lfs diff=lfs merge=lfs -text
937
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000005_20260923_142056.hdf5 filter=lfs diff=lfs merge=lfs -text
938
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000006_20260923_142240.hdf5 filter=lfs diff=lfs merge=lfs -text
939
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000007_20260923_143258.hdf5 filter=lfs diff=lfs merge=lfs -text
940
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000008_20260923_143538.hdf5 filter=lfs diff=lfs merge=lfs -text
941
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000009_20260923_143738.hdf5 filter=lfs diff=lfs merge=lfs -text
942
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000010_20260923_143915.hdf5 filter=lfs diff=lfs merge=lfs -text
943
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000011_20260923_144226.hdf5 filter=lfs diff=lfs merge=lfs -text
944
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000012_20260923_144509.hdf5 filter=lfs diff=lfs merge=lfs -text
945
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000013_20260923_145128.hdf5 filter=lfs diff=lfs merge=lfs -text
946
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000014_20260923_145418.hdf5 filter=lfs diff=lfs merge=lfs -text
947
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000015_20260923_145612.hdf5 filter=lfs diff=lfs merge=lfs -text
948
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000016_20260923_145912.hdf5 filter=lfs diff=lfs merge=lfs -text
949
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000017_20260923_150105.hdf5 filter=lfs diff=lfs merge=lfs -text
950
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000018_20260923_150319.hdf5 filter=lfs diff=lfs merge=lfs -text
951
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000019_20260923_150455.hdf5 filter=lfs diff=lfs merge=lfs -text
952
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000020_20260923_150737.hdf5 filter=lfs diff=lfs merge=lfs -text
953
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000021_20260923_150918.hdf5 filter=lfs diff=lfs merge=lfs -text
954
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000022_20260923_151057.hdf5 filter=lfs diff=lfs merge=lfs -text
955
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000023_20260923_151239.hdf5 filter=lfs diff=lfs merge=lfs -text
956
+ flex_to_biotek_v2/raw/2026-09-23_14-03-48/episode_000024_20260923_151525.hdf5 filter=lfs diff=lfs merge=lfs -text
flex_to_biotek_v2/raw/2026-09-21_15-15-22/episode_000024_20260921_161753.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2fb2db8026d9ed11b1d1971b35c560accda3aeb506141badf01e82d79f640b7
3
+ size 1335847859
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.json ADDED
@@ -0,0 +1,477 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:13:02",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.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": 596,
20
+ "actual_playback_duration_s": 20.107252857182175,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 596,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 596,
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": 0.9229861306946144,
45
+ "image_frame_counts": {
46
+ "cam_scene": 596,
47
+ "cam_wrist": 596
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": 16,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005983269773423672,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003972681006416678,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004358513979241252,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004739446616731585,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 4373,
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": 0.006019288208335638,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003997716121375561,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0043866771273314955,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004785659145563841,
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": 0.006022011395543814,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999402280896902,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004375534411519766,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004747999794781208,
82
+ "leadthrough_capture_host_receive_gap_warn": false,
83
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
84
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
85
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
86
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
87
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
88
+ "leadthrough_capture_leadthrough_start_joints_deg": [
89
+ 16.926,
90
+ -0.49,
91
+ 52.285,
92
+ 4.341,
93
+ 41.395,
94
+ 7.983
95
+ ],
96
+ "leadthrough_capture_leadthrough_start_joints_rad": [
97
+ 0.295419,
98
+ -0.008551,
99
+ 0.912542,
100
+ 0.075773,
101
+ 0.722472,
102
+ 0.139336
103
+ ],
104
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
105
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
106
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
107
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
108
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
109
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
110
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
111
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
112
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
113
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
114
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
115
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
116
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
117
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
118
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
119
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
120
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
121
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
122
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
123
+ "leadthrough_capture_loop_late_max_s": 0.007852655835449696,
124
+ "leadthrough_capture_loop_late_median_s": 0.003024306381121278,
125
+ "leadthrough_capture_loop_late_p95_s": 0.0033793938113376495,
126
+ "leadthrough_capture_loop_late_p99_s": 0.0037832745816558603,
127
+ "leadthrough_capture_loop_late_warn_count": 56,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.006005486007779837,
130
+ "leadthrough_capture_read_duration_median_s": 0.00398663617670536,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004374647699296475,
132
+ "leadthrough_capture_read_duration_p99_s": 0.004767463700845838,
133
+ "leadthrough_capture_read_duration_warn_count": 4879,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.003999999999999976,
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": 2,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.003635615110397339,
144
+ 0.004349470138549805,
145
+ 0.006596505641937256,
146
+ 0.0006878897547721863,
147
+ 0.0035251379013061523,
148
+ 0.0060610175132751465
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.006596505641937256,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0017145450692623854,
153
+ 0.002528067911043763,
154
+ 0.0035963018890470266,
155
+ 0.00012691025040112436,
156
+ 0.001575808972120285,
157
+ 0.0029671189840883017
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0007073218002915382,
161
+ 0.0010658834362402558,
162
+ 0.0014716146979480982,
163
+ 8.717445598449558e-05,
164
+ 0.0006539745372720063,
165
+ 0.0013576310593634844
166
+ ],
167
+ "leadthrough_delta_samples": 5447,
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": 0.006596505641937256,
172
+ "leadthrough_delta_worst_from_rad": -0.33559751510620117,
173
+ "leadthrough_delta_worst_joint": 2,
174
+ "leadthrough_delta_worst_time_s": 10.139000000000003,
175
+ "leadthrough_delta_worst_to_rad": -0.3290010094642639,
176
+ "leadthrough_duration_s": 21.785,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 5446,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.43200000000000216,
182
+ "leadthrough_final_stillness_removed_samples": 108,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 5447,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 10650,
188
+ "leadthrough_initial_stillness_first_motion_index": 5095,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 20.374,
192
+ "leadthrough_initial_stillness_removed_samples": 5094,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 5094,
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": 0.003999999999997783,
200
+ "leadthrough_sample_gap_warn": false,
201
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
202
+ 0.003635615110397339,
203
+ 0.004349470138549805,
204
+ 0.006596505641937256,
205
+ 0.0006878897547721863,
206
+ 0.0035251379013061523,
207
+ 0.0060610175132751465
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006596505641937256,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.1884352813163943,
212
+ 1.4498233795165467,
213
+ 2.18352675437919,
214
+ 0.22550175587335367,
215
+ 1.1614958445230679,
216
+ 2.020339171091639
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": 73.57,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 21.785,
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
+ 1679,
237
+ 4512
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.44296508843200694,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.0868021547794342,
244
+ "rapid_planner_max_dt_s": 2.2719999999999985,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007731199264526367,
247
+ "rapid_planner_median_dt_s": 0.09199999999999875,
248
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
249
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
250
+ "rapid_planner_selected_indices": [
251
+ 0,
252
+ 52,
253
+ 99,
254
+ 118,
255
+ 134,
256
+ 153,
257
+ 162,
258
+ 170,
259
+ 186,
260
+ 202,
261
+ 218,
262
+ 234,
263
+ 249,
264
+ 258,
265
+ 266,
266
+ 275,
267
+ 284,
268
+ 292,
269
+ 299,
270
+ 306,
271
+ 314,
272
+ 328,
273
+ 343,
274
+ 361,
275
+ 378,
276
+ 392,
277
+ 405,
278
+ 428,
279
+ 452,
280
+ 485,
281
+ 528,
282
+ 550,
283
+ 572,
284
+ 613,
285
+ 680,
286
+ 734,
287
+ 813,
288
+ 924,
289
+ 1111,
290
+ 1679,
291
+ 1952,
292
+ 2032,
293
+ 2279,
294
+ 2349,
295
+ 2426,
296
+ 2457,
297
+ 2482,
298
+ 2499,
299
+ 2508,
300
+ 2516,
301
+ 2528,
302
+ 2539,
303
+ 2550,
304
+ 2562,
305
+ 2576,
306
+ 2591,
307
+ 2608,
308
+ 2624,
309
+ 2650,
310
+ 2675,
311
+ 2699,
312
+ 2723,
313
+ 2766,
314
+ 2808,
315
+ 2853,
316
+ 2877,
317
+ 2913,
318
+ 2936,
319
+ 2958,
320
+ 2988,
321
+ 3003,
322
+ 3018,
323
+ 3046,
324
+ 3073,
325
+ 3107,
326
+ 3139,
327
+ 3224,
328
+ 3291,
329
+ 3363,
330
+ 3471,
331
+ 3577,
332
+ 4074,
333
+ 4512,
334
+ 4768,
335
+ 4826,
336
+ 4869,
337
+ 4890,
338
+ 4911,
339
+ 4934,
340
+ 4957,
341
+ 4974,
342
+ 4990,
343
+ 5014,
344
+ 5038,
345
+ 5065,
346
+ 5080,
347
+ 5096,
348
+ 5118,
349
+ 5138,
350
+ 5157,
351
+ 5187,
352
+ 5220,
353
+ 5248,
354
+ 5277,
355
+ 5372,
356
+ 5447
357
+ ],
358
+ "rapid_planner_selected_max_joint_step_deg": 4.973397121502907,
359
+ "rapid_planner_selected_samples": 106,
360
+ "rapid_planner_service_configured": true,
361
+ "rapid_planner_source_samples": 5448,
362
+ "rapid_planner_state_done": 6.0,
363
+ "rapid_planner_state_error": 7.0,
364
+ "rapid_planner_tool_command_hz": 30.0,
365
+ "rapid_planner_tool_command_supported": true,
366
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
367
+ "rapid_planner_tool_io_configured": true,
368
+ "rapid_planner_tool_io_supported": true,
369
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
370
+ "rapid_planner_tool_state_supported": true,
371
+ "rapid_planner_tool_transition_source_count": 2,
372
+ "rapid_planner_tool_transitions_uploaded": 2,
373
+ "rapid_planner_tool_upload_enabled": true,
374
+ "rapid_planner_uploaded": true,
375
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
376
+ "rapid_planner_waypoints_uploaded": 106,
377
+ "raw_ramp_max_error_rad": null,
378
+ "raw_replay_max_error_rad": 0.4500938355922699,
379
+ "raw_replay_rms_error_rad": 0.015025381744319962,
380
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9990077059857065,
381
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8611908215030507,
382
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9928751203843498,
383
+ "replay_smoothing_applied": true,
384
+ "replay_smoothing_blend": 1.0,
385
+ "replay_smoothing_blend_by_joint": [
386
+ 1.0,
387
+ 1.0,
388
+ 1.0,
389
+ 1.0,
390
+ 1.0,
391
+ 1.0
392
+ ],
393
+ "replay_smoothing_edge_taper_s": 0.2,
394
+ "replay_smoothing_edge_taper_samples": 50,
395
+ "replay_smoothing_enabled": true,
396
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.000340077037324,
397
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8978544381634329,
398
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9962154054473309,
399
+ "replay_smoothing_max_deviation_by_joint_rad": [
400
+ 0.0005826056003570557,
401
+ 0.0006695389747619629,
402
+ 0.0009795427322387695,
403
+ 0.001685597002506256,
404
+ 0.0027371644973754883,
405
+ 0.007102012634277344
406
+ ],
407
+ "replay_smoothing_max_deviation_normalized": 0.8138307062895904,
408
+ "replay_smoothing_max_deviation_rad": 0.007102012634277344,
409
+ "replay_smoothing_method": "scipy_savgol",
410
+ "replay_smoothing_p95_deviation_rad": 0.0017448394792154431,
411
+ "replay_smoothing_passes": 8,
412
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 13.539700508117676,
413
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 73.71035766601562,
414
+ "replay_smoothing_raw_accel_rms_rad_s2": 6.084182549188767,
415
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 3164.494384765625,
416
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20113.740234375,
417
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1557.7582075464366,
418
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.947651982307434,
419
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.26146178078774635,
420
+ "replay_smoothing_rms_deviation_rad": 0.0008273783769776334,
421
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 13.526265144348145,
422
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.47868347167969,
423
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 6.040833480966157,
424
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 3165.570556640625,
425
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18059.2109375,
426
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1551.8627243197807,
427
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.93300199508667,
428
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2607981996755692,
429
+ "replay_smoothing_tolerance_by_joint_rad": [
430
+ 0.03490658476948738,
431
+ 0.03490658476948738,
432
+ 0.02617993950843811,
433
+ 0.008726646192371845,
434
+ 0.008726646192371845,
435
+ 0.008726646192371845
436
+ ],
437
+ "replay_smoothing_tolerance_rad": 0.034906585,
438
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9924781288680702,
439
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.997462033991439,
440
+ "replay_smoothing_window_s": 0.2,
441
+ "replay_smoothing_window_samples": 51,
442
+ "replay_smoothing_within_tolerance": true,
443
+ "replay_smoothing_worst_joint": 5,
444
+ "replay_smoothing_worst_time_s": 1.5070000000000014,
445
+ "replay_smoothing_wrist_max_deviation_rad": 0.007102012634277344,
446
+ "safety_abort": false,
447
+ "safety_path_error_rad": 0.4500938355922699,
448
+ "saved_data_source": "measured_rapid_planner_playback",
449
+ "send_failures": 0,
450
+ "stage_planned_to_measured_max_error_rad": 0.5257177948951721,
451
+ "stage_planned_to_measured_rms_error_rad": 0.01704293189133276,
452
+ "stage_sent_to_measured_max_error_rad": null,
453
+ "stage_sent_to_measured_rms_error_rad": null,
454
+ "stage_sent_to_planned_max_error_rad": null,
455
+ "stage_sent_to_planned_rms_error_rad": null,
456
+ "stage_target_to_sent_max_error_rad": null,
457
+ "stage_target_to_sent_rms_error_rad": null,
458
+ "state_frame_count": 596,
459
+ "stopped_early": true,
460
+ "strict_tracking_pass": false,
461
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
462
+ "tcp_pose_count": 596,
463
+ "timestamp_count": 596,
464
+ "tool_failures": 0,
465
+ "tracking_geometry_pass": false,
466
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
467
+ "tracking_pass": false,
468
+ "tracking_reason": "diagnostics_skipped_operator_stop",
469
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
470
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
471
+ "tracking_threshold_max_lag_s": 0.1,
472
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
473
+ "tracking_timing_pass": false,
474
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
475
+ "window_lag_count": 0
476
+ }
477
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161301.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4c75839aa5beb5c4dd8ef325eaff7b48205e93266c881e2747218dc4eaf3084
3
+ size 60927
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.json ADDED
@@ -0,0 +1,488 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:14:29",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.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": 920,
20
+ "actual_playback_duration_s": 30.746576150413603,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 920,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 920,
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": 1.251234124869312,
45
+ "image_frame_counts": {
46
+ "cam_scene": 920,
47
+ "cam_wrist": 920
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": 17,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005930241197347641,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003969941986724734,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004358183708973229,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004699932746589183,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2784,
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": 0.005980552174150944,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003994771279394627,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004389321897178888,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004735999107360839,
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": 0.005790035706013441,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.0039984979666769505,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004372747242450714,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004706398770213127,
82
+ "leadthrough_capture_host_receive_gap_warn": false,
83
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
84
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
85
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
86
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
87
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
88
+ "leadthrough_capture_leadthrough_start_joints_deg": [
89
+ 16.926,
90
+ -0.49,
91
+ 52.285,
92
+ 4.341,
93
+ 41.395,
94
+ 7.983
95
+ ],
96
+ "leadthrough_capture_leadthrough_start_joints_rad": [
97
+ 0.295419,
98
+ -0.008551,
99
+ 0.912542,
100
+ 0.075773,
101
+ 0.722472,
102
+ 0.139336
103
+ ],
104
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
105
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
106
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
107
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
108
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
109
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
110
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
111
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
112
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
113
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
114
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
115
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
116
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
117
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
118
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
119
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
120
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
121
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
122
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
123
+ "leadthrough_capture_loop_late_max_s": 0.03681024722754955,
124
+ "leadthrough_capture_loop_late_median_s": 0.033516597002744675,
125
+ "leadthrough_capture_loop_late_p95_s": 0.03388805512804538,
126
+ "leadthrough_capture_loop_late_p99_s": 0.0342235392704606,
127
+ "leadthrough_capture_loop_late_warn_count": 6844,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.005962279159575701,
130
+ "leadthrough_capture_read_duration_median_s": 0.003983453381806612,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004376353579573333,
132
+ "leadthrough_capture_read_duration_p99_s": 0.004721657638438043,
133
+ "leadthrough_capture_read_duration_warn_count": 3062,
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": 0,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.004057854413986206,
144
+ 0.004241615533828735,
145
+ 0.005461215972900391,
146
+ 0.0031188949942588806,
147
+ 0.0027371644973754883,
148
+ 0.008002489805221558
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.008002489805221558,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.001520336139947176,
153
+ 0.002275676466524601,
154
+ 0.003478166414424777,
155
+ 0.0003448719799052924,
156
+ 0.0016494394512847066,
157
+ 0.0032569323666393757
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0006871825898997486,
161
+ 0.0010056965984404087,
162
+ 0.0013476198073476553,
163
+ 0.000313777185510844,
164
+ 0.0005804599495604634,
165
+ 0.0013580790255218744
166
+ ],
167
+ "leadthrough_delta_samples": 6144,
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": -0.008002489805221558,
172
+ "leadthrough_delta_worst_from_rad": -0.4928003251552582,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.98,
175
+ "leadthrough_delta_worst_to_rad": -0.5008028149604797,
176
+ "leadthrough_duration_s": 24.573,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6089,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.0,
182
+ "leadthrough_final_stillness_removed_samples": 0,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 6090,
186
+ "leadthrough_final_stillness_trimmed": false,
187
+ "leadthrough_frame_count": 6844,
188
+ "leadthrough_initial_stillness_first_motion_index": 700,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.796,
192
+ "leadthrough_initial_stillness_removed_samples": 699,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 699,
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
+ 0.004057854413986206,
203
+ 0.004241615533828735,
204
+ 0.005461215972900391,
205
+ 0.0031188949942588806,
206
+ 0.0027371644973754883,
207
+ 0.008002489805221558
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008002489805221558,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.3502240180968728,
212
+ 1.363669832547454,
213
+ 1.365303993225248,
214
+ 1.0336401561895614,
215
+ 0.9100039800007793,
216
+ 2.0006224513053876
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": 79.146,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 24.573,
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
+ 1735,
237
+ 5079
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.44428160739452693,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08507031202316284,
244
+ "rapid_planner_max_dt_s": 2.6999999999999993,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.00775417685508728,
247
+ "rapid_planner_median_dt_s": 0.07599999999999962,
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
+ 40,
253
+ 75,
254
+ 100,
255
+ 125,
256
+ 142,
257
+ 159,
258
+ 170,
259
+ 180,
260
+ 192,
261
+ 203,
262
+ 214,
263
+ 220,
264
+ 226,
265
+ 232,
266
+ 238,
267
+ 244,
268
+ 250,
269
+ 256,
270
+ 262,
271
+ 268,
272
+ 274,
273
+ 281,
274
+ 288,
275
+ 296,
276
+ 303,
277
+ 311,
278
+ 319,
279
+ 335,
280
+ 347,
281
+ 358,
282
+ 376,
283
+ 390,
284
+ 405,
285
+ 420,
286
+ 434,
287
+ 450,
288
+ 467,
289
+ 489,
290
+ 511,
291
+ 566,
292
+ 617,
293
+ 661,
294
+ 850,
295
+ 1060,
296
+ 1735,
297
+ 2017,
298
+ 2089,
299
+ 2417,
300
+ 2476,
301
+ 2543,
302
+ 2619,
303
+ 2649,
304
+ 2677,
305
+ 2688,
306
+ 2698,
307
+ 2712,
308
+ 2727,
309
+ 2742,
310
+ 2758,
311
+ 2774,
312
+ 2789,
313
+ 2803,
314
+ 2817,
315
+ 2832,
316
+ 2846,
317
+ 2871,
318
+ 2896,
319
+ 2926,
320
+ 2955,
321
+ 3002,
322
+ 3055,
323
+ 3089,
324
+ 3108,
325
+ 3128,
326
+ 3148,
327
+ 3168,
328
+ 3192,
329
+ 3211,
330
+ 3230,
331
+ 3251,
332
+ 3278,
333
+ 3304,
334
+ 3343,
335
+ 3398,
336
+ 3467,
337
+ 3501,
338
+ 3590,
339
+ 3686,
340
+ 3818,
341
+ 4227,
342
+ 4379,
343
+ 4555,
344
+ 5079,
345
+ 5371,
346
+ 5419,
347
+ 5436,
348
+ 5448,
349
+ 5464,
350
+ 5480,
351
+ 5502,
352
+ 5521,
353
+ 5544,
354
+ 5564,
355
+ 5581,
356
+ 5594,
357
+ 5606,
358
+ 5628,
359
+ 5651,
360
+ 5665,
361
+ 5679,
362
+ 5694,
363
+ 5708,
364
+ 5728,
365
+ 5752,
366
+ 5780,
367
+ 6144
368
+ ],
369
+ "rapid_planner_selected_max_joint_step_deg": 4.874169840788254,
370
+ "rapid_planner_selected_samples": 117,
371
+ "rapid_planner_service_configured": true,
372
+ "rapid_planner_source_samples": 6145,
373
+ "rapid_planner_state_done": 6.0,
374
+ "rapid_planner_state_error": 7.0,
375
+ "rapid_planner_tool_command_hz": 30.0,
376
+ "rapid_planner_tool_command_supported": true,
377
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
378
+ "rapid_planner_tool_io_configured": true,
379
+ "rapid_planner_tool_io_supported": true,
380
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
381
+ "rapid_planner_tool_state_supported": true,
382
+ "rapid_planner_tool_transition_source_count": 2,
383
+ "rapid_planner_tool_transitions_uploaded": 2,
384
+ "rapid_planner_tool_upload_enabled": true,
385
+ "rapid_planner_uploaded": true,
386
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
387
+ "rapid_planner_waypoints_uploaded": 117,
388
+ "raw_ramp_max_error_rad": null,
389
+ "raw_replay_max_error_rad": 0.006840050220489502,
390
+ "raw_replay_rms_error_rad": 0.0008096211562505512,
391
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9268356154463752,
392
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9683984698339764,
393
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9657771110064813,
394
+ "replay_smoothing_applied": true,
395
+ "replay_smoothing_blend": 0.910635769367218,
396
+ "replay_smoothing_blend_by_joint": [
397
+ 1.0,
398
+ 1.0,
399
+ 1.0,
400
+ 1.0,
401
+ 1.0,
402
+ 0.910635769367218
403
+ ],
404
+ "replay_smoothing_edge_taper_s": 0.2,
405
+ "replay_smoothing_edge_taper_samples": 50,
406
+ "replay_smoothing_enabled": true,
407
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8978410059103613,
408
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9690164608815603,
409
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9778856210317957,
410
+ "replay_smoothing_max_deviation_by_joint_rad": [
411
+ 0.0006517469882965088,
412
+ 0.0009322166442871094,
413
+ 0.0009079277515411377,
414
+ 0.002374805510044098,
415
+ 0.0031419992446899414,
416
+ 0.008726641535758972
417
+ ],
418
+ "replay_smoothing_max_deviation_normalized": 0.999999466391467,
419
+ "replay_smoothing_max_deviation_rad": 0.008726641535758972,
420
+ "replay_smoothing_method": "scipy_savgol",
421
+ "replay_smoothing_p95_deviation_rad": 0.0018029031343758106,
422
+ "replay_smoothing_passes": 8,
423
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.644082546234131,
424
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.974449157714844,
425
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.6807094031497525,
426
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1308.943359375,
427
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12500.873046875,
428
+ "replay_smoothing_raw_jerk_rms_rad_s3": 919.4511907803505,
429
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9994192123413086,
430
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2445667518997311,
431
+ "replay_smoothing_rms_deviation_rad": 0.0009675571911516895,
432
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.15797233581543,
433
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 42.58478927612305,
434
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.5547448938283583,
435
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1175.2230224609375,
436
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12113.5517578125,
437
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 899.1180987046671,
438
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9793659448623657,
439
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24358301814260536,
440
+ "replay_smoothing_tolerance_by_joint_rad": [
441
+ 0.03490658476948738,
442
+ 0.03490658476948738,
443
+ 0.02617993950843811,
444
+ 0.008726646192371845,
445
+ 0.008726646192371845,
446
+ 0.008726646192371845
447
+ ],
448
+ "replay_smoothing_tolerance_rad": 0.034906585,
449
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9899704537421842,
450
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959776472088526,
451
+ "replay_smoothing_window_s": 0.2,
452
+ "replay_smoothing_window_samples": 51,
453
+ "replay_smoothing_within_tolerance": true,
454
+ "replay_smoothing_worst_joint": 5,
455
+ "replay_smoothing_worst_time_s": 21.773,
456
+ "replay_smoothing_wrist_max_deviation_rad": 0.008726641535758972,
457
+ "safety_abort": false,
458
+ "safety_path_error_rad": 0.006840050220489502,
459
+ "saved_data_source": "measured_rapid_planner_playback",
460
+ "send_failures": 0,
461
+ "stage_planned_to_measured_max_error_rad": 0.03463369607925415,
462
+ "stage_planned_to_measured_rms_error_rad": 0.006438154289529852,
463
+ "stage_sent_to_measured_max_error_rad": null,
464
+ "stage_sent_to_measured_rms_error_rad": null,
465
+ "stage_sent_to_planned_max_error_rad": null,
466
+ "stage_sent_to_planned_rms_error_rad": null,
467
+ "stage_target_to_sent_max_error_rad": null,
468
+ "stage_target_to_sent_rms_error_rad": null,
469
+ "state_frame_count": 920,
470
+ "stopped_early": true,
471
+ "strict_tracking_pass": false,
472
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
473
+ "tcp_pose_count": 920,
474
+ "timestamp_count": 920,
475
+ "tool_failures": 0,
476
+ "tracking_geometry_pass": false,
477
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
478
+ "tracking_pass": false,
479
+ "tracking_reason": "diagnostics_skipped_operator_stop",
480
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
481
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
482
+ "tracking_threshold_max_lag_s": 0.1,
483
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
484
+ "tracking_timing_pass": false,
485
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
486
+ "window_lag_count": 0
487
+ }
488
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161428.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fca58e8ba584b417d285b4fdbc9eca112f430b47dc0642b3fc19d002f308b0d
3
+ size 92672
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.json ADDED
@@ -0,0 +1,486 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:15:56",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.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": 565,
20
+ "actual_playback_duration_s": 19.07662714784965,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 565,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 565,
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": 0.5896583564493585,
45
+ "image_frame_counts": {
46
+ "cam_scene": 565,
47
+ "cam_wrist": 565
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": 2,
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": 0,
61
+ "leadthrough_capture_egm_drained_packet_max": 1,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.00700072618201375,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003992755897343159,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004222892131656409,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004418045496568083,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 4557,
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": 0.0500808572396636,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.004017118364572525,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004250202537514269,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004476121016778052,
76
+ "leadthrough_capture_host_loop_gap_warn": true,
77
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
78
+ "leadthrough_capture_host_receive_dt_max_s": 0.00611598277464509,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.00401812931522727,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0042402127524837855,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004432770228013396,
82
+ "leadthrough_capture_host_receive_gap_warn": false,
83
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
84
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
85
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
86
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
87
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
88
+ "leadthrough_capture_leadthrough_start_joints_deg": [
89
+ 16.926,
90
+ -0.49,
91
+ 52.285,
92
+ 4.341,
93
+ 41.395,
94
+ 7.983
95
+ ],
96
+ "leadthrough_capture_leadthrough_start_joints_rad": [
97
+ 0.295419,
98
+ -0.008551,
99
+ 0.912542,
100
+ 0.075773,
101
+ 0.722472,
102
+ 0.139336
103
+ ],
104
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
105
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
106
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
107
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
108
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
109
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
110
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
111
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
112
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
113
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
114
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
115
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
116
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
117
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
118
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
119
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
120
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
121
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
122
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
123
+ "leadthrough_capture_loop_late_max_s": 0.10510233463719487,
124
+ "leadthrough_capture_loop_late_median_s": 0.1027090223506093,
125
+ "leadthrough_capture_loop_late_p95_s": 0.10296190297231078,
126
+ "leadthrough_capture_loop_late_p99_s": 0.10323250511661172,
127
+ "leadthrough_capture_loop_late_warn_count": 9645,
128
+ "leadthrough_capture_none_reads": 2,
129
+ "leadthrough_capture_read_duration_max_s": 0.05007715430110693,
130
+ "leadthrough_capture_read_duration_median_s": 0.0040067280642688274,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004237137082964182,
132
+ "leadthrough_capture_read_duration_p99_s": 0.00445489641278982,
133
+ "leadthrough_capture_read_duration_warn_count": 5033,
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": 2,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.002966891974210739,
144
+ 0.0032333433628082275,
145
+ 0.004364669322967529,
146
+ 0.0013620071113109589,
147
+ 0.002684473991394043,
148
+ 0.008016884326934814
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.008016884326934814,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0011846007546409965,
153
+ 0.0020963596180081367,
154
+ 0.0031584622338414192,
155
+ 0.00019150717707816511,
156
+ 0.00129708054009825,
157
+ 0.002243187977001071
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0005072836065664887,
161
+ 0.000833452504593879,
162
+ 0.0011322163045406342,
163
+ 0.0001315158442594111,
164
+ 0.0004923654487356544,
165
+ 0.0011227874783799052
166
+ ],
167
+ "leadthrough_delta_samples": 8089,
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": -0.008016884326934814,
172
+ "leadthrough_delta_worst_from_rad": -0.5670515894889832,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 7.923,
175
+ "leadthrough_delta_worst_to_rad": -0.575068473815918,
176
+ "leadthrough_duration_s": 32.352000000000004,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 8083,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.0,
182
+ "leadthrough_final_stillness_removed_samples": 0,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 8084,
186
+ "leadthrough_final_stillness_trimmed": false,
187
+ "leadthrough_frame_count": 9643,
188
+ "leadthrough_initial_stillness_first_motion_index": 1554,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 6.211,
192
+ "leadthrough_initial_stillness_removed_samples": 1553,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 1553,
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
+ 0.002966891974210739,
203
+ 0.0032333433628082275,
204
+ 0.004364669322967529,
205
+ 0.0013620071113109589,
206
+ 0.002684473991394043,
207
+ 0.008016884326934814
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008016884326934814,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 0.9863028923670077,
212
+ 1.077781120936035,
213
+ 1.1996229489643915,
214
+ 0.34050177782777724,
215
+ 0.6711184978488827,
216
+ 2.0042210817339243
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": 94.70400000000001,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 32.352000000000004,
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
+ 3783,
237
+ 6951
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.44997969270961,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08624279499053955,
244
+ "rapid_planner_max_dt_s": 6.839,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.00785362720489502,
247
+ "rapid_planner_median_dt_s": 0.10950000000000149,
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
+ 1710,
253
+ 1801,
254
+ 1825,
255
+ 1851,
256
+ 1867,
257
+ 1883,
258
+ 1896,
259
+ 1910,
260
+ 1919,
261
+ 1928,
262
+ 1937,
263
+ 1946,
264
+ 1956,
265
+ 1965,
266
+ 1974,
267
+ 1984,
268
+ 1994,
269
+ 2004,
270
+ 2016,
271
+ 2027,
272
+ 2036,
273
+ 2045,
274
+ 2064,
275
+ 2080,
276
+ 2094,
277
+ 2115,
278
+ 2132,
279
+ 2150,
280
+ 2168,
281
+ 2186,
282
+ 2213,
283
+ 2245,
284
+ 2285,
285
+ 2325,
286
+ 2362,
287
+ 2453,
288
+ 2492,
289
+ 2556,
290
+ 2621,
291
+ 2664,
292
+ 2874,
293
+ 3275,
294
+ 3783,
295
+ 4042,
296
+ 4117,
297
+ 4468,
298
+ 4704,
299
+ 4733,
300
+ 4762,
301
+ 4782,
302
+ 4803,
303
+ 4814,
304
+ 4824,
305
+ 4836,
306
+ 4849,
307
+ 4872,
308
+ 4896,
309
+ 4912,
310
+ 4929,
311
+ 4946,
312
+ 4962,
313
+ 4980,
314
+ 4998,
315
+ 5026,
316
+ 5054,
317
+ 5088,
318
+ 5140,
319
+ 5179,
320
+ 5218,
321
+ 5247,
322
+ 5284,
323
+ 5320,
324
+ 5356,
325
+ 5391,
326
+ 5423,
327
+ 5455,
328
+ 5485,
329
+ 5515,
330
+ 5556,
331
+ 5610,
332
+ 5645,
333
+ 5706,
334
+ 5754,
335
+ 5776,
336
+ 5875,
337
+ 6084,
338
+ 6349,
339
+ 6680,
340
+ 6782,
341
+ 6951,
342
+ 7292,
343
+ 7341,
344
+ 7372,
345
+ 7401,
346
+ 7426,
347
+ 7451,
348
+ 7471,
349
+ 7491,
350
+ 7506,
351
+ 7521,
352
+ 7551,
353
+ 7579,
354
+ 7607,
355
+ 7629,
356
+ 7651,
357
+ 7664,
358
+ 7678,
359
+ 7705,
360
+ 7725,
361
+ 7745,
362
+ 7787,
363
+ 7838,
364
+ 7898,
365
+ 8089
366
+ ],
367
+ "rapid_planner_selected_max_joint_step_deg": 4.941348166369915,
368
+ "rapid_planner_selected_samples": 115,
369
+ "rapid_planner_service_configured": true,
370
+ "rapid_planner_source_samples": 8090,
371
+ "rapid_planner_state_done": 6.0,
372
+ "rapid_planner_state_error": 7.0,
373
+ "rapid_planner_tool_command_hz": 30.0,
374
+ "rapid_planner_tool_command_supported": true,
375
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
376
+ "rapid_planner_tool_io_configured": true,
377
+ "rapid_planner_tool_io_supported": true,
378
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
379
+ "rapid_planner_tool_state_supported": true,
380
+ "rapid_planner_tool_transition_source_count": 2,
381
+ "rapid_planner_tool_transitions_uploaded": 2,
382
+ "rapid_planner_tool_upload_enabled": true,
383
+ "rapid_planner_uploaded": true,
384
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
385
+ "rapid_planner_waypoints_uploaded": 115,
386
+ "raw_ramp_max_error_rad": null,
387
+ "raw_replay_max_error_rad": 0.4904274642467499,
388
+ "raw_replay_rms_error_rad": 0.016698841844449044,
389
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9702049894423495,
390
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8639193927101196,
391
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9796512790263149,
392
+ "replay_smoothing_applied": true,
393
+ "replay_smoothing_blend": 1.0,
394
+ "replay_smoothing_blend_by_joint": [
395
+ 1.0,
396
+ 1.0,
397
+ 1.0,
398
+ 1.0,
399
+ 1.0,
400
+ 1.0
401
+ ],
402
+ "replay_smoothing_edge_taper_s": 0.2,
403
+ "replay_smoothing_edge_taper_samples": 50,
404
+ "replay_smoothing_enabled": true,
405
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.976716225300956,
406
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8913080103889922,
407
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9867170697612161,
408
+ "replay_smoothing_max_deviation_by_joint_rad": [
409
+ 0.0005798935890197754,
410
+ 0.00045233964920043945,
411
+ 0.0007044076919555664,
412
+ 0.0026966631412506104,
413
+ 0.002341628074645996,
414
+ 0.0039293766021728516
415
+ ],
416
+ "replay_smoothing_max_deviation_normalized": 0.45027339433190344,
417
+ "replay_smoothing_max_deviation_rad": 0.0039293766021728516,
418
+ "replay_smoothing_method": "scipy_savgol",
419
+ "replay_smoothing_p95_deviation_rad": 0.0014557704562321305,
420
+ "replay_smoothing_passes": 8,
421
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.632085800170898,
422
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 39.134307861328125,
423
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.0114387083762386,
424
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1025.195556640625,
425
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10897.201171875,
426
+ "replay_smoothing_raw_jerk_rms_rad_s3": 765.8440501706151,
427
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0038411617279053,
428
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.20083868802831728,
429
+ "replay_smoothing_rms_deviation_rad": 0.0005846452570867065,
430
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.464277744293213,
431
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 33.80888748168945,
432
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.950159782370136,
433
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1001.3251342773438,
434
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 9712.7626953125,
435
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 755.6713970784111,
436
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9759610891342163,
437
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20040195617954693,
438
+ "replay_smoothing_tolerance_by_joint_rad": [
439
+ 0.03490658476948738,
440
+ 0.03490658476948738,
441
+ 0.02617993950843811,
442
+ 0.008726646192371845,
443
+ 0.008726646192371845,
444
+ 0.008726646192371845
445
+ ],
446
+ "replay_smoothing_tolerance_rad": 0.034906585,
447
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9860866853490283,
448
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9978254595613133,
449
+ "replay_smoothing_window_s": 0.2,
450
+ "replay_smoothing_window_samples": 51,
451
+ "replay_smoothing_within_tolerance": true,
452
+ "replay_smoothing_worst_joint": 5,
453
+ "replay_smoothing_worst_time_s": 8.371,
454
+ "replay_smoothing_wrist_max_deviation_rad": 0.0039293766021728516,
455
+ "safety_abort": false,
456
+ "safety_path_error_rad": 0.4904274642467499,
457
+ "saved_data_source": "measured_rapid_planner_playback",
458
+ "send_failures": 0,
459
+ "stage_planned_to_measured_max_error_rad": 0.665209174156189,
460
+ "stage_planned_to_measured_rms_error_rad": 0.019296053447468566,
461
+ "stage_sent_to_measured_max_error_rad": null,
462
+ "stage_sent_to_measured_rms_error_rad": null,
463
+ "stage_sent_to_planned_max_error_rad": null,
464
+ "stage_sent_to_planned_rms_error_rad": null,
465
+ "stage_target_to_sent_max_error_rad": null,
466
+ "stage_target_to_sent_rms_error_rad": null,
467
+ "state_frame_count": 565,
468
+ "stopped_early": true,
469
+ "strict_tracking_pass": false,
470
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
471
+ "tcp_pose_count": 565,
472
+ "timestamp_count": 565,
473
+ "tool_failures": 0,
474
+ "tracking_geometry_pass": false,
475
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
476
+ "tracking_pass": false,
477
+ "tracking_reason": "diagnostics_skipped_operator_stop",
478
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
479
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
480
+ "tracking_threshold_max_lag_s": 0.1,
481
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
482
+ "tracking_timing_pass": false,
483
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
484
+ "window_lag_count": 0
485
+ }
486
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_operator_stop_20260921_161555.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:156695491cdab58d43b810c5cdd6e8c31335dc539971b6a2d849ff3f69ab12f6
3
+ size 58291
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.json ADDED
@@ -0,0 +1,674 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:17:42",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.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": 1182,
20
+ "actual_playback_duration_s": 39.410963321104646,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005693674087524414,
23
+ "aligned_p95_error_rad": 0.0020302538760006428,
24
+ "aligned_rms_error_rad": 0.0008679211385362397,
25
+ "aligned_samples": 1182,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 1.602999999999998,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1182,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1182,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6282157951292973,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1182,
46
+ "cam_wrist": 1182
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
+ 0.0041436851024627686,
58
+ 0.004910647869110107,
59
+ 0.004495859146118164,
60
+ 0.004323311150074005,
61
+ 0.005693674087524414,
62
+ 0.0055272579193115234
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016791028901934624,
66
+ 0.0019931585993617773,
67
+ 0.0022783279418945312,
68
+ 0.0013134824112057686,
69
+ 0.00170593848451972,
70
+ 0.002366013592109084
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007127558496876544,
74
+ 0.0009245377120064525,
75
+ 0.0010447861542163444,
76
+ 0.0006212100461646667,
77
+ 0.0007985793607114396,
78
+ 0.0010206481809466868
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1182,
82
+ 1182,
83
+ 1182,
84
+ 1182,
85
+ 1182,
86
+ 1182
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 22.188999999999997,
90
+ 9.977999999999998,
91
+ 9.977999999999998,
92
+ 2.2830000000000013,
93
+ 1.602999999999998,
94
+ 1.602999999999998
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": 7,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006395093165338039,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003985425923019648,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043138587847352024,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004546103030443189,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 4799,
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": 0.006446010898798704,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004011276410892606,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004340934939682484,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0045878350222483275,
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": 0.0064316559582948685,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004013887606561184,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043351870030164715,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004542207834310829,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.016611690632998943,
170
+ "leadthrough_capture_loop_late_median_s": 0.012826685328036547,
171
+ "leadthrough_capture_loop_late_p95_s": 0.013118907995522022,
172
+ "leadthrough_capture_loop_late_p99_s": 0.013478966644033788,
173
+ "leadthrough_capture_loop_late_warn_count": 10719,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006425824016332626,
176
+ "leadthrough_capture_read_duration_median_s": 0.0039993938989937305,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004329249588772654,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004573947750031947,
179
+ "leadthrough_capture_read_duration_warn_count": 5337,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
181
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.003999999999999976,
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": 9,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004506468772888184,
190
+ 0.005014605820178986,
191
+ 0.006247788667678833,
192
+ 0.001372791826725006,
193
+ 0.0035406947135925293,
194
+ 0.006286323070526123
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006286323070526123,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0013925244566053152,
199
+ 0.0025652346666902304,
200
+ 0.003739851526916027,
201
+ 0.0005279053002595901,
202
+ 0.0012894868850708008,
203
+ 0.003596673719584942
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0006923486944288015,
207
+ 0.0010675531812012196,
208
+ 0.0013689100742340088,
209
+ 0.0001982651010621339,
210
+ 0.0005770547431893647,
211
+ 0.0013187519507482648
212
+ ],
213
+ "leadthrough_delta_samples": 6052,
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": -0.006286323070526123,
218
+ "leadthrough_delta_worst_from_rad": -0.6404819488525391,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0549999999999997,
221
+ "leadthrough_delta_worst_to_rad": -0.6467682719230652,
222
+ "leadthrough_duration_s": 24.205000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6043,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6044,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 10719,
234
+ "leadthrough_initial_stillness_first_motion_index": 4667,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 18.663,
238
+ "leadthrough_initial_stillness_removed_samples": 4666,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 4666,
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": 0.003999999999997783,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.004506468772888184,
249
+ 0.005014605820178986,
250
+ 0.006247788667678833,
251
+ 0.001372791826725006,
252
+ 0.0035406947135925293,
253
+ 0.006286323070526123
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006286323070526123,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.1266171932226703,
258
+ 1.6427710652350758,
259
+ 1.6327897707620638,
260
+ 0.447012484073622,
261
+ 0.8851736783986229,
262
+ 1.5715807676310058
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.5629605054855347,
265
+ "leadthrough_velocity_rms_rad_s": 0.24151890354851452,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005693674087524414,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.48775625228881836,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.397672176361084,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 40.24920274410397,
274
+ "measured_wall_accel_rms_rad_s2": 0.2646057885271806,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.4912109375,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 68.76045989990234,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 23.848020758014172,
279
+ "measured_wall_jerk_rms_rad_s3": 4.638183949406898,
280
+ "measured_wall_smoothness_samples": 1182,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.5669648051261902,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 40.31563846115023,
284
+ "measured_wall_velocity_rms_rad_s": 0.09861058603091485,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005693674087524414,
287
+ "moving_aligned_p95_error_rad": 0.0022350549697875977,
288
+ "moving_aligned_rms_error_rad": 0.0009863114665077618,
289
+ "moving_aligned_samples": 886,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 1.602999999999998,
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
+ 0.0041436851024627686,
302
+ 0.004910647869110107,
303
+ 0.004241764545440674,
304
+ 0.004323311150074005,
305
+ 0.005693674087524414,
306
+ 0.0055272579193115234
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002064581261947751,
310
+ 0.0023104208521544933,
311
+ 0.002460425952449441,
312
+ 0.0021136070135980844,
313
+ 0.002265834016725421,
314
+ 0.0027673542499542236
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009238519693643257,
318
+ 0.0010882926365097848,
319
+ 0.0012354308422097057,
320
+ 0.000983996855785666,
321
+ 0.0010682749868068592,
322
+ 0.0014262748030092931
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 652,
326
+ 793,
327
+ 758,
328
+ 292,
329
+ 543,
330
+ 491
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.188999999999997,
334
+ 9.977999999999998,
335
+ 22.197,
336
+ 2.2830000000000013,
337
+ 1.602999999999998,
338
+ 1.602999999999998
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": 2.4161412715911865,
348
+ "playback_velocity_rms_rad_s": 0.5098292424241213,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 78.41,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.205000000000002,
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
+ 1857,
357
+ 5036
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4074276141804306,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08464790880680084,
364
+ "rapid_planner_max_dt_s": 2.2119999999999997,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007110953330993652,
367
+ "rapid_planner_median_dt_s": 0.09200000000000585,
368
+ "rapid_planner_path_max_error_rad": 0.005693674087524414,
369
+ "rapid_planner_path_p95_error_rad": 0.003030335903167726,
370
+ "rapid_planner_path_rms_error_rad": 0.0014815583629708311,
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
+ 58,
376
+ 95,
377
+ 114,
378
+ 132,
379
+ 146,
380
+ 160,
381
+ 170,
382
+ 180,
383
+ 190,
384
+ 200,
385
+ 212,
386
+ 224,
387
+ 236,
388
+ 247,
389
+ 258,
390
+ 270,
391
+ 282,
392
+ 293,
393
+ 304,
394
+ 316,
395
+ 326,
396
+ 336,
397
+ 355,
398
+ 371,
399
+ 386,
400
+ 420,
401
+ 448,
402
+ 477,
403
+ 500,
404
+ 544,
405
+ 612,
406
+ 670,
407
+ 714,
408
+ 752,
409
+ 811,
410
+ 970,
411
+ 1142,
412
+ 1215,
413
+ 1402,
414
+ 1857,
415
+ 2410,
416
+ 2460,
417
+ 2516,
418
+ 2534,
419
+ 2553,
420
+ 2564,
421
+ 2574,
422
+ 2583,
423
+ 2592,
424
+ 2602,
425
+ 2613,
426
+ 2624,
427
+ 2634,
428
+ 2644,
429
+ 2654,
430
+ 2664,
431
+ 2675,
432
+ 2695,
433
+ 2715,
434
+ 2736,
435
+ 2758,
436
+ 2788,
437
+ 2819,
438
+ 2860,
439
+ 2902,
440
+ 2950,
441
+ 2997,
442
+ 3029,
443
+ 3070,
444
+ 3099,
445
+ 3132,
446
+ 3164,
447
+ 3206,
448
+ 3249,
449
+ 3284,
450
+ 3318,
451
+ 3344,
452
+ 3394,
453
+ 3441,
454
+ 3503,
455
+ 3572,
456
+ 3612,
457
+ 3679,
458
+ 3727,
459
+ 3811,
460
+ 3887,
461
+ 3951,
462
+ 4368,
463
+ 4497,
464
+ 4590,
465
+ 4712,
466
+ 4846,
467
+ 5036,
468
+ 5317,
469
+ 5353,
470
+ 5380,
471
+ 5402,
472
+ 5417,
473
+ 5435,
474
+ 5452,
475
+ 5464,
476
+ 5476,
477
+ 5486,
478
+ 5497,
479
+ 5516,
480
+ 5535,
481
+ 5558,
482
+ 5577,
483
+ 5587,
484
+ 5597,
485
+ 5614,
486
+ 5631,
487
+ 5655,
488
+ 5674,
489
+ 5697,
490
+ 5739,
491
+ 5896,
492
+ 6052
493
+ ],
494
+ "rapid_planner_selected_max_joint_step_deg": 4.849967919237961,
495
+ "rapid_planner_selected_samples": 119,
496
+ "rapid_planner_service_configured": true,
497
+ "rapid_planner_source_samples": 6053,
498
+ "rapid_planner_state_done": 6.0,
499
+ "rapid_planner_state_error": 7.0,
500
+ "rapid_planner_tool_command_hz": 30.0,
501
+ "rapid_planner_tool_command_supported": true,
502
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
503
+ "rapid_planner_tool_io_configured": true,
504
+ "rapid_planner_tool_io_supported": true,
505
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
506
+ "rapid_planner_tool_state_supported": true,
507
+ "rapid_planner_tool_transition_source_count": 2,
508
+ "rapid_planner_tool_transitions_uploaded": 2,
509
+ "rapid_planner_tool_upload_enabled": true,
510
+ "rapid_planner_uploaded": true,
511
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
512
+ "rapid_planner_waypoints_uploaded": 119,
513
+ "raw_ramp_max_error_rad": null,
514
+ "raw_replay_max_error_rad": 0.005693674087524414,
515
+ "raw_replay_rms_error_rad": 0.0008679211385362397,
516
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7382563911034906,
517
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8942018381857355,
518
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.8766979111553255,
519
+ "replay_smoothing_applied": true,
520
+ "replay_smoothing_blend": 1.0,
521
+ "replay_smoothing_blend_by_joint": [
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0,
527
+ 1.0
528
+ ],
529
+ "replay_smoothing_edge_taper_s": 0.2,
530
+ "replay_smoothing_edge_taper_samples": 50,
531
+ "replay_smoothing_enabled": true,
532
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.41770233827473846,
533
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8923657886708739,
534
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.923859639046047,
535
+ "replay_smoothing_max_deviation_by_joint_rad": [
536
+ 0.000865451991558075,
537
+ 0.0014403164386749268,
538
+ 0.0018710270524024963,
539
+ 0.0025543347001075745,
540
+ 0.0021632909774780273,
541
+ 0.008239269256591797
542
+ ],
543
+ "replay_smoothing_max_deviation_normalized": 0.9441507166629403,
544
+ "replay_smoothing_max_deviation_rad": 0.008239269256591797,
545
+ "replay_smoothing_method": "scipy_savgol",
546
+ "replay_smoothing_p95_deviation_rad": 0.001983403693884611,
547
+ "replay_smoothing_passes": 8,
548
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.8088152408599854,
549
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 42.0806999206543,
550
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.736714877519341,
551
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 314.6060485839844,
552
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12231.5224609375,
553
+ "replay_smoothing_raw_jerk_rms_rad_s3": 405.0471347492306,
554
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5708281993865967,
555
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.24257560651071597,
556
+ "replay_smoothing_rms_deviation_rad": 0.0010111427468552404,
557
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0736258029937744,
558
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 37.628639221191406,
559
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.5225743053935832,
560
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 131.41168212890625,
561
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10914.9921875,
562
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 374.20669970605974,
563
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5629605054855347,
564
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24151890354851452,
565
+ "replay_smoothing_tolerance_by_joint_rad": [
566
+ 0.03490658476948738,
567
+ 0.03490658476948738,
568
+ 0.02617993950843811,
569
+ 0.008726646192371845,
570
+ 0.008726646192371845,
571
+ 0.008726646192371845
572
+ ],
573
+ "replay_smoothing_tolerance_rad": 0.034906585,
574
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9949913721283242,
575
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956438201787831,
576
+ "replay_smoothing_window_s": 0.2,
577
+ "replay_smoothing_window_samples": 51,
578
+ "replay_smoothing_within_tolerance": true,
579
+ "replay_smoothing_worst_joint": 5,
580
+ "replay_smoothing_worst_time_s": 10.302,
581
+ "replay_smoothing_wrist_max_deviation_rad": 0.008239269256591797,
582
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
583
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
584
+ "return_measured_wall_accel_peak_joint": -1,
585
+ "return_measured_wall_accel_peak_time_s": null,
586
+ "return_measured_wall_accel_rms_rad_s2": null,
587
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
588
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
589
+ "return_measured_wall_jerk_peak_joint": -1,
590
+ "return_measured_wall_jerk_peak_time_s": null,
591
+ "return_measured_wall_jerk_rms_rad_s3": null,
592
+ "return_measured_wall_smoothness_samples": 0,
593
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
594
+ "return_measured_wall_velocity_peak_joint": -1,
595
+ "return_measured_wall_velocity_peak_time_s": null,
596
+ "return_measured_wall_velocity_rms_rad_s": null,
597
+ "safety_abort": false,
598
+ "safety_path_error_rad": 0.005693674087524414,
599
+ "saved_data_source": "measured_rapid_planner_playback",
600
+ "send_failures": 0,
601
+ "sent_wall_accel_p95_abs_rad_s2": null,
602
+ "sent_wall_accel_peak_abs_rad_s2": null,
603
+ "sent_wall_accel_peak_joint": -1,
604
+ "sent_wall_accel_peak_time_s": null,
605
+ "sent_wall_accel_rms_rad_s2": null,
606
+ "sent_wall_jerk_p95_abs_rad_s3": null,
607
+ "sent_wall_jerk_peak_abs_rad_s3": null,
608
+ "sent_wall_jerk_peak_joint": -1,
609
+ "sent_wall_jerk_peak_time_s": null,
610
+ "sent_wall_jerk_rms_rad_s3": null,
611
+ "sent_wall_smoothness_samples": 0,
612
+ "sent_wall_velocity_peak_abs_rad_s": null,
613
+ "sent_wall_velocity_peak_joint": -1,
614
+ "sent_wall_velocity_peak_time_s": null,
615
+ "sent_wall_velocity_rms_rad_s": null,
616
+ "stage_planned_to_measured_max_error_rad": 0.03374296426773071,
617
+ "stage_planned_to_measured_rms_error_rad": 0.005846948124913744,
618
+ "stage_sent_to_measured_max_error_rad": null,
619
+ "stage_sent_to_measured_rms_error_rad": null,
620
+ "stage_sent_to_planned_max_error_rad": null,
621
+ "stage_sent_to_planned_rms_error_rad": null,
622
+ "stage_target_to_sent_max_error_rad": null,
623
+ "stage_target_to_sent_rms_error_rad": null,
624
+ "state_frame_count": 1182,
625
+ "stopped_early": false,
626
+ "strict_tracking_pass": true,
627
+ "strict_tracking_reason": "ok",
628
+ "target_wall_accel_p95_abs_rad_s2": 0.941108226776123,
629
+ "target_wall_accel_peak_abs_rad_s2": 3.831671953201294,
630
+ "target_wall_accel_peak_joint": 5,
631
+ "target_wall_accel_peak_time_s": 8.666721577756107,
632
+ "target_wall_accel_rms_rad_s2": 0.39301457209011376,
633
+ "target_wall_jerk_p95_abs_rad_s3": 21.152469635009766,
634
+ "target_wall_jerk_peak_abs_rad_s3": 105.65471649169922,
635
+ "target_wall_jerk_peak_joint": 5,
636
+ "target_wall_jerk_peak_time_s": 8.633415979798883,
637
+ "target_wall_jerk_rms_rad_s3": 9.029019502342928,
638
+ "target_wall_smoothness_samples": 1182,
639
+ "target_wall_velocity_peak_abs_rad_s": 0.5959553718566895,
640
+ "target_wall_velocity_peak_joint": 5,
641
+ "target_wall_velocity_peak_time_s": 25.10005688900128,
642
+ "target_wall_velocity_rms_rad_s": 0.09966481039696454,
643
+ "tcp_pose_count": 1182,
644
+ "timestamp_count": 1182,
645
+ "tool_failures": 0,
646
+ "tracking_geometry_pass": true,
647
+ "tracking_geometry_reason": "ok",
648
+ "tracking_pass": true,
649
+ "tracking_reason": "ok",
650
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
651
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
652
+ "tracking_threshold_max_lag_s": 0.1,
653
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
654
+ "tracking_timing_pass": true,
655
+ "tracking_timing_reason": "ok",
656
+ "window_lag_best_lag_max_s": 0.8100000000000023,
657
+ "window_lag_best_lag_median_s": 0.0,
658
+ "window_lag_best_lag_min_s": -1.1999999999999993,
659
+ "window_lag_best_lag_p95_abs_s": 1.0635,
660
+ "window_lag_count": 28,
661
+ "window_lag_window_s": 1.0,
662
+ "window_lag_worst_best_lag_s": -0.009999999999998233,
663
+ "window_lag_worst_end_s": 10.0,
664
+ "window_lag_worst_max_error_rad": 0.0050811767578125,
665
+ "window_lag_worst_rms_error_rad": 0.001704711545600475,
666
+ "window_lag_worst_start_s": 9.0,
667
+ "zero_lag_max_error_rad": 0.005693674087524414,
668
+ "zero_lag_p95_error_rad": 0.0020302538760006428,
669
+ "zero_lag_rms_error_rad": 0.0008679211385362397,
670
+ "zero_lag_samples": 1182,
671
+ "zero_lag_worst_joint": 4,
672
+ "zero_lag_worst_time_s": 1.602999999999998
673
+ }
674
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151741.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:efeee54befe778eb5239f7f2324dafe50af5c97080362d9514a1a29fd2967000
3
+ size 124004
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.json ADDED
@@ -0,0 +1,676 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:19:56",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.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": 1190,
20
+ "actual_playback_duration_s": 39.679438502993435,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005458112806081772,
23
+ "aligned_p95_error_rad": 0.0019098129123449326,
24
+ "aligned_rms_error_rad": 0.0008221792450424301,
25
+ "aligned_samples": 1190,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 13.43,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1190,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1190,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6637778734116078,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1190,
46
+ "cam_wrist": 1190
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
+ 0.0038315653800964355,
58
+ 0.004781484603881836,
59
+ 0.003929615020751953,
60
+ 0.005458112806081772,
61
+ 0.005405247211456299,
62
+ 0.005124539136886597
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001635624677874148,
66
+ 0.0017870267620310187,
67
+ 0.0020024566911160946,
68
+ 0.0015402332646772265,
69
+ 0.0019231655169278383,
70
+ 0.0024275542236864567
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007085976991727486,
74
+ 0.0008467435881321947,
75
+ 0.0008838622329488018,
76
+ 0.0006551329079336911,
77
+ 0.000796434041718726,
78
+ 0.0009960261572147706
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1190,
82
+ 1190,
83
+ 1190,
84
+ 1190,
85
+ 1190,
86
+ 1190
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 21.981,
90
+ 3.664,
91
+ 0.3639999999999999,
92
+ 13.43,
93
+ 13.43,
94
+ 13.474
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": 2,
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": 0,
107
+ "leadthrough_capture_egm_drained_packet_max": 1,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.007044331170618534,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003974865656346083,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004365956503897905,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.0048966766288504006,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2753,
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": 0.05007888097316027,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.00400007888674736,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004397809691727162,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004935531504452223,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.007057495880872011,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004002363421022892,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004378904355689883,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004886826500296593,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10086097940802574,
170
+ "leadthrough_capture_loop_late_median_s": 0.0977105493657291,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09807292302139103,
172
+ "leadthrough_capture_loop_late_p99_s": 0.09867601982317865,
173
+ "leadthrough_capture_loop_late_warn_count": 6554,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.05007332097738981,
176
+ "leadthrough_capture_read_duration_median_s": 0.00398857262916863,
177
+ "leadthrough_capture_read_duration_p95_s": 0.00438376294914633,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004920300375670197,
179
+ "leadthrough_capture_read_duration_warn_count": 3040,
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": 3,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0037466734647750854,
190
+ 0.004510849714279175,
191
+ 0.00604403018951416,
192
+ 0.0021943114697933197,
193
+ 0.0023351311683654785,
194
+ 0.00676804780960083
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.00676804780960083,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0017742224736139178,
199
+ 0.002720701275393367,
200
+ 0.0036524413153529167,
201
+ 0.0006078401929698884,
202
+ 0.0016316771507263184,
203
+ 0.0027739370707422495
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007068917620927095,
207
+ 0.0010964339599013329,
208
+ 0.0014179506106302142,
209
+ 0.000305100460536778,
210
+ 0.0006031084340065718,
211
+ 0.0012671077856794
212
+ ],
213
+ "leadthrough_delta_samples": 5963,
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": -0.00676804780960083,
218
+ "leadthrough_delta_worst_from_rad": -0.7862730622291565,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.1399999999999997,
221
+ "leadthrough_delta_worst_to_rad": -0.7930411100387573,
222
+ "leadthrough_duration_s": 23.849,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5962,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.2970000000000006,
228
+ "leadthrough_final_stillness_removed_samples": 74,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5963,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6552,
234
+ "leadthrough_initial_stillness_first_motion_index": 515,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.055,
238
+ "leadthrough_initial_stillness_removed_samples": 514,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 514,
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
+ 0.0037466734647750854,
249
+ 0.004510849714279175,
250
+ 0.00604403018951416,
251
+ 0.0021943114697933197,
252
+ 0.0023351311683654785,
253
+ 0.00676804780960083
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.00676804780960083,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.231445930898143,
258
+ 1.4595439036686662,
259
+ 1.5110075473787064,
260
+ 0.6932877004146313,
261
+ 0.775973002115856,
262
+ 1.692011952400206
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6600265502929688,
265
+ "leadthrough_velocity_rms_rad_s": 0.2475117622994899,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005458112806081772,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4481760859489441,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.3525149822235107,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 24.685362488031387,
274
+ "measured_wall_accel_rms_rad_s2": 0.2149893600487475,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.715320587158203,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 50.56333923339844,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 24.7168987239711,
279
+ "measured_wall_jerk_rms_rad_s3": 3.7663209036618754,
280
+ "measured_wall_smoothness_samples": 1190,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.3973509967327118,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 17.05024949926883,
284
+ "measured_wall_velocity_rms_rad_s": 0.09800884085916549,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005458112806081772,
287
+ "moving_aligned_p95_error_rad": 0.0021311796735972166,
288
+ "moving_aligned_rms_error_rad": 0.0009398901752393573,
289
+ "moving_aligned_samples": 892,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 13.43,
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
+ 0.0038315653800964355,
302
+ 0.0031009316444396973,
303
+ 0.003929615020751953,
304
+ 0.005458112806081772,
305
+ 0.005405247211456299,
306
+ 0.005124539136886597
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002031475305557251,
310
+ 0.001949574681930244,
311
+ 0.002204286865890026,
312
+ 0.002518881345167756,
313
+ 0.0024683712981641293,
314
+ 0.0027601479087024927
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008885262962647062,
318
+ 0.0009772810317468434,
319
+ 0.0010892204716503532,
320
+ 0.0012575229019266099,
321
+ 0.0011048925341373625,
322
+ 0.0013583628032104295
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 702,
326
+ 820,
327
+ 759,
328
+ 259,
329
+ 519,
330
+ 565
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 21.981,
334
+ 2.1439999999999997,
335
+ 0.3639999999999999,
336
+ 13.43,
337
+ 13.43,
338
+ 13.474
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": 2.5245771408081055,
348
+ "playback_velocity_rms_rad_s": 0.5088957636983809,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.69800000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.849,
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
+ 1996,
357
+ 4922
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.43874360463811596,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08681774139404297,
364
+ "rapid_planner_max_dt_s": 2.308,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.0076575204730033875,
367
+ "rapid_planner_median_dt_s": 0.09600000000000009,
368
+ "rapid_planner_path_max_error_rad": 0.005458112806081772,
369
+ "rapid_planner_path_p95_error_rad": 0.0027937451377511024,
370
+ "rapid_planner_path_rms_error_rad": 0.0013689043473596421,
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
+ 43,
376
+ 74,
377
+ 111,
378
+ 134,
379
+ 144,
380
+ 155,
381
+ 162,
382
+ 170,
383
+ 177,
384
+ 184,
385
+ 198,
386
+ 212,
387
+ 222,
388
+ 232,
389
+ 242,
390
+ 251,
391
+ 258,
392
+ 265,
393
+ 272,
394
+ 279,
395
+ 286,
396
+ 293,
397
+ 307,
398
+ 326,
399
+ 348,
400
+ 376,
401
+ 400,
402
+ 426,
403
+ 451,
404
+ 471,
405
+ 491,
406
+ 550,
407
+ 612,
408
+ 644,
409
+ 677,
410
+ 722,
411
+ 767,
412
+ 812,
413
+ 851,
414
+ 995,
415
+ 1214,
416
+ 1282,
417
+ 1410,
418
+ 1475,
419
+ 1996,
420
+ 2573,
421
+ 2628,
422
+ 2676,
423
+ 2701,
424
+ 2725,
425
+ 2742,
426
+ 2753,
427
+ 2764,
428
+ 2776,
429
+ 2789,
430
+ 2798,
431
+ 2808,
432
+ 2820,
433
+ 2832,
434
+ 2848,
435
+ 2864,
436
+ 2888,
437
+ 2913,
438
+ 2944,
439
+ 2976,
440
+ 2999,
441
+ 3022,
442
+ 3062,
443
+ 3087,
444
+ 3126,
445
+ 3160,
446
+ 3187,
447
+ 3214,
448
+ 3238,
449
+ 3261,
450
+ 3280,
451
+ 3300,
452
+ 3333,
453
+ 3387,
454
+ 3435,
455
+ 3496,
456
+ 3576,
457
+ 3657,
458
+ 3778,
459
+ 3834,
460
+ 3888,
461
+ 4077,
462
+ 4124,
463
+ 4212,
464
+ 4295,
465
+ 4548,
466
+ 4605,
467
+ 4691,
468
+ 4734,
469
+ 4922,
470
+ 5216,
471
+ 5266,
472
+ 5293,
473
+ 5310,
474
+ 5325,
475
+ 5354,
476
+ 5375,
477
+ 5390,
478
+ 5404,
479
+ 5423,
480
+ 5442,
481
+ 5454,
482
+ 5467,
483
+ 5486,
484
+ 5509,
485
+ 5531,
486
+ 5549,
487
+ 5567,
488
+ 5584,
489
+ 5602,
490
+ 5625,
491
+ 5645,
492
+ 5691,
493
+ 5826,
494
+ 5963
495
+ ],
496
+ "rapid_planner_selected_max_joint_step_deg": 4.974290168736887,
497
+ "rapid_planner_selected_samples": 121,
498
+ "rapid_planner_service_configured": true,
499
+ "rapid_planner_source_samples": 5964,
500
+ "rapid_planner_state_done": 6.0,
501
+ "rapid_planner_state_error": 7.0,
502
+ "rapid_planner_tool_command_hz": 30.0,
503
+ "rapid_planner_tool_command_supported": true,
504
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
505
+ "rapid_planner_tool_io_configured": true,
506
+ "rapid_planner_tool_io_supported": true,
507
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
508
+ "rapid_planner_tool_state_supported": true,
509
+ "rapid_planner_tool_transition_source_count": 2,
510
+ "rapid_planner_tool_transitions_uploaded": 2,
511
+ "rapid_planner_tool_upload_enabled": true,
512
+ "rapid_planner_uploaded": true,
513
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
514
+ "rapid_planner_waypoints_uploaded": 121,
515
+ "raw_ramp_max_error_rad": null,
516
+ "raw_replay_max_error_rad": 0.005458112806081772,
517
+ "raw_replay_rms_error_rad": 0.0008221792450424301,
518
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8997202397003354,
519
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0197737802753242,
520
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9778135196304876,
521
+ "replay_smoothing_applied": true,
522
+ "replay_smoothing_blend": 1.0,
523
+ "replay_smoothing_blend_by_joint": [
524
+ 1.0,
525
+ 1.0,
526
+ 1.0,
527
+ 1.0,
528
+ 1.0,
529
+ 1.0
530
+ ],
531
+ "replay_smoothing_edge_taper_s": 0.2,
532
+ "replay_smoothing_edge_taper_samples": 50,
533
+ "replay_smoothing_enabled": true,
534
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8611067927950958,
535
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9729318202415601,
536
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9912425093405943,
537
+ "replay_smoothing_max_deviation_by_joint_rad": [
538
+ 0.0008110702037811279,
539
+ 0.001718670129776001,
540
+ 0.0021400973200798035,
541
+ 0.004090942442417145,
542
+ 0.003445267677307129,
543
+ 0.00467836856842041
544
+ ],
545
+ "replay_smoothing_max_deviation_normalized": 0.5361015521071401,
546
+ "replay_smoothing_max_deviation_rad": 0.00467836856842041,
547
+ "replay_smoothing_method": "scipy_savgol",
548
+ "replay_smoothing_p95_deviation_rad": 0.001950846635736525,
549
+ "replay_smoothing_passes": 8,
550
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.842510223388672,
551
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 43.79909133911133,
552
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.4749864255995937,
553
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1033.353759765625,
554
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13049.0439453125,
555
+ "replay_smoothing_raw_jerk_rms_rad_s3": 868.2392751140293,
556
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6917214393615723,
557
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2483999248389439,
558
+ "replay_smoothing_rms_deviation_rad": 0.0008793977378693124,
559
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.256624698638916,
560
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.665164947509766,
561
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.3978887074837063,
562
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 889.8279418945312,
563
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12695.830078125,
564
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 860.635677772089,
565
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6600265502929688,
566
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2475117622994899,
567
+ "replay_smoothing_tolerance_by_joint_rad": [
568
+ 0.03490658476948738,
569
+ 0.03490658476948738,
570
+ 0.02617993950843811,
571
+ 0.008726646192371845,
572
+ 0.008726646192371845,
573
+ 0.008726646192371845
574
+ ],
575
+ "replay_smoothing_tolerance_rad": 0.034906585,
576
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9812647115942654,
577
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964244653454308,
578
+ "replay_smoothing_window_s": 0.2,
579
+ "replay_smoothing_window_samples": 51,
580
+ "replay_smoothing_within_tolerance": true,
581
+ "replay_smoothing_worst_joint": 5,
582
+ "replay_smoothing_worst_time_s": 2.132,
583
+ "replay_smoothing_wrist_max_deviation_rad": 0.00467836856842041,
584
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
585
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
586
+ "return_measured_wall_accel_peak_joint": -1,
587
+ "return_measured_wall_accel_peak_time_s": null,
588
+ "return_measured_wall_accel_rms_rad_s2": null,
589
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
590
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
591
+ "return_measured_wall_jerk_peak_joint": -1,
592
+ "return_measured_wall_jerk_peak_time_s": null,
593
+ "return_measured_wall_jerk_rms_rad_s3": null,
594
+ "return_measured_wall_smoothness_samples": 0,
595
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
596
+ "return_measured_wall_velocity_peak_joint": -1,
597
+ "return_measured_wall_velocity_peak_time_s": null,
598
+ "return_measured_wall_velocity_rms_rad_s": null,
599
+ "safety_abort": false,
600
+ "safety_path_error_rad": 0.005458112806081772,
601
+ "saved_data_source": "measured_rapid_planner_playback",
602
+ "send_failures": 0,
603
+ "sent_wall_accel_p95_abs_rad_s2": null,
604
+ "sent_wall_accel_peak_abs_rad_s2": null,
605
+ "sent_wall_accel_peak_joint": -1,
606
+ "sent_wall_accel_peak_time_s": null,
607
+ "sent_wall_accel_rms_rad_s2": null,
608
+ "sent_wall_jerk_p95_abs_rad_s3": null,
609
+ "sent_wall_jerk_peak_abs_rad_s3": null,
610
+ "sent_wall_jerk_peak_joint": -1,
611
+ "sent_wall_jerk_peak_time_s": null,
612
+ "sent_wall_jerk_rms_rad_s3": null,
613
+ "sent_wall_smoothness_samples": 0,
614
+ "sent_wall_velocity_peak_abs_rad_s": null,
615
+ "sent_wall_velocity_peak_joint": -1,
616
+ "sent_wall_velocity_peak_time_s": null,
617
+ "sent_wall_velocity_rms_rad_s": null,
618
+ "stage_planned_to_measured_max_error_rad": 0.023434139788150787,
619
+ "stage_planned_to_measured_rms_error_rad": 0.005813911374163225,
620
+ "stage_sent_to_measured_max_error_rad": null,
621
+ "stage_sent_to_measured_rms_error_rad": null,
622
+ "stage_sent_to_planned_max_error_rad": null,
623
+ "stage_sent_to_planned_rms_error_rad": null,
624
+ "stage_target_to_sent_max_error_rad": null,
625
+ "stage_target_to_sent_rms_error_rad": null,
626
+ "state_frame_count": 1190,
627
+ "stopped_early": false,
628
+ "strict_tracking_pass": true,
629
+ "strict_tracking_reason": "ok",
630
+ "target_wall_accel_p95_abs_rad_s2": 0.7892585396766663,
631
+ "target_wall_accel_peak_abs_rad_s2": 6.5361647605896,
632
+ "target_wall_accel_peak_joint": 2,
633
+ "target_wall_accel_peak_time_s": 8.509039266966283,
634
+ "target_wall_accel_rms_rad_s2": 0.37286200287037297,
635
+ "target_wall_jerk_p95_abs_rad_s3": 18.176973342895508,
636
+ "target_wall_jerk_peak_abs_rad_s3": 178.5637969970703,
637
+ "target_wall_jerk_peak_joint": 2,
638
+ "target_wall_jerk_peak_time_s": 8.494669118896127,
639
+ "target_wall_jerk_rms_rad_s3": 8.88578607561028,
640
+ "target_wall_smoothness_samples": 1190,
641
+ "target_wall_velocity_peak_abs_rad_s": 0.4718642830848694,
642
+ "target_wall_velocity_peak_joint": 5,
643
+ "target_wall_velocity_peak_time_s": 1.5667232880368829,
644
+ "target_wall_velocity_rms_rad_s": 0.09920458141601958,
645
+ "tcp_pose_count": 1190,
646
+ "timestamp_count": 1190,
647
+ "tool_failures": 0,
648
+ "tracking_geometry_pass": true,
649
+ "tracking_geometry_reason": "ok",
650
+ "tracking_pass": true,
651
+ "tracking_reason": "ok",
652
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
653
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
654
+ "tracking_threshold_max_lag_s": 0.1,
655
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
656
+ "tracking_timing_pass": true,
657
+ "tracking_timing_reason": "ok",
658
+ "window_lag_best_lag_max_s": 0.7000000000000024,
659
+ "window_lag_best_lag_median_s": 0.0,
660
+ "window_lag_best_lag_min_s": 0.0,
661
+ "window_lag_best_lag_p95_abs_s": 0.5599999999999999,
662
+ "window_lag_count": 25,
663
+ "window_lag_window_s": 1.0,
664
+ "window_lag_worst_best_lag_s": 0.0,
665
+ "window_lag_worst_end_s": 14.0,
666
+ "window_lag_worst_max_error_rad": 0.005458112806081772,
667
+ "window_lag_worst_rms_error_rad": 0.0013610773400613656,
668
+ "window_lag_worst_start_s": 13.0,
669
+ "zero_lag_max_error_rad": 0.005458112806081772,
670
+ "zero_lag_p95_error_rad": 0.0019098129123449326,
671
+ "zero_lag_rms_error_rad": 0.0008221792450424301,
672
+ "zero_lag_samples": 1190,
673
+ "zero_lag_worst_joint": 3,
674
+ "zero_lag_worst_time_s": 13.43
675
+ }
676
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_151955.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aafbb448934da091597e0d6f108adc0ea35541fcf680fadad303790b3a73ec98
3
+ size 124940
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.json ADDED
@@ -0,0 +1,671 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:22:29",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.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": 1136,
20
+ "actual_playback_duration_s": 37.87718105968088,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004345059394836426,
23
+ "aligned_p95_error_rad": 0.0018559545278549194,
24
+ "aligned_rms_error_rad": 0.0007954358047708652,
25
+ "aligned_samples": 1136,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 2.14,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1136,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1136,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6559778367368023,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1136,
46
+ "cam_wrist": 1136
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
+ 0.003940895199775696,
58
+ 0.004345059394836426,
59
+ 0.0035759620368480682,
60
+ 0.0036542676389217377,
61
+ 0.004267096519470215,
62
+ 0.004073428921401501
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001963116228580475,
66
+ 0.0019065644592046738,
67
+ 0.0018968794029206038,
68
+ 0.0008767899125814438,
69
+ 0.002005070447921753,
70
+ 0.002025309717282653
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008226240066572777,
74
+ 0.0008848985462918183,
75
+ 0.0008470010287290796,
76
+ 0.000390697880594837,
77
+ 0.0008429936253095359,
78
+ 0.0008694016302196973
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1136,
82
+ 1136,
83
+ 1136,
84
+ 1136,
85
+ 1136,
86
+ 1136
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 12.415000000000001,
90
+ 2.14,
91
+ 1.4,
92
+ 15.001999999999999,
93
+ 2.155,
94
+ 20.449
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": 7,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.0063855648040771484,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003961662529036403,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043579041957855225,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005114550259895629,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2521,
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": 0.00642098905518651,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039871991612017155,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004385541472584009,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005160959986969821,
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": 0.006409619003534317,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003990159835666418,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043798338156193495,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005139871826395388,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.016354253981262445,
170
+ "leadthrough_capture_loop_late_median_s": 0.010946986498311162,
171
+ "leadthrough_capture_loop_late_p95_s": 0.011272260383702814,
172
+ "leadthrough_capture_loop_late_p99_s": 0.012189900609664621,
173
+ "leadthrough_capture_loop_late_warn_count": 6600,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.00640594307333231,
176
+ "leadthrough_capture_read_duration_median_s": 0.003975312924012542,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004373020818457007,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005134305800311274,
179
+ "leadthrough_capture_read_duration_warn_count": 2753,
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": 7,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0033384039998054504,
190
+ 0.004185676574707031,
191
+ 0.006201833486557007,
192
+ 0.0014962255954742432,
193
+ 0.00221407413482666,
194
+ 0.00593036413192749
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006201833486557007,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0016246989835053682,
199
+ 0.0023374678567051888,
200
+ 0.003293472807854414,
201
+ 0.00037810206413269043,
202
+ 0.0013189972378313541,
203
+ 0.0029915638733655214
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.000685082224663347,
207
+ 0.0009615434682928026,
208
+ 0.0013138208305463195,
209
+ 0.00019424995116423815,
210
+ 0.0005389734287746251,
211
+ 0.001248329528607428
212
+ ],
213
+ "leadthrough_delta_samples": 5719,
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": 0.006201833486557007,
218
+ "leadthrough_delta_worst_from_rad": -0.43817809224128723,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 10.663,
221
+ "leadthrough_delta_worst_to_rad": -0.4319762587547302,
222
+ "leadthrough_duration_s": 22.873,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5690,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5691,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6600,
234
+ "leadthrough_initial_stillness_first_motion_index": 881,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.52,
238
+ "leadthrough_initial_stillness_removed_samples": 880,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 880,
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
+ 0.0033384039998054504,
249
+ 0.004185676574707031,
250
+ 0.006201833486557007,
251
+ 0.0014962255954742432,
252
+ 0.00221407413482666,
253
+ 0.00593036413192749
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006201833486557007,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.097887754440266,
258
+ 1.3777812321980272,
259
+ 2.0238657792408494,
260
+ 0.4631901780764086,
261
+ 0.7346471150715868,
262
+ 1.971999804178799
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.7704992294311523,
265
+ "leadthrough_velocity_rms_rad_s": 0.23569471155355343,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004345059394836426,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4430736303329468,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.228612184524536,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 40.351519875228405,
274
+ "measured_wall_accel_rms_rad_s2": 0.24507764309421912,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.489691734313965,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 56.45635223388672,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 30.019806223921478,
279
+ "measured_wall_jerk_rms_rad_s3": 4.185129669067952,
280
+ "measured_wall_smoothness_samples": 1136,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7010906338691711,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 40.25062130903825,
284
+ "measured_wall_velocity_rms_rad_s": 0.09953880629437815,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004345059394836426,
287
+ "moving_aligned_p95_error_rad": 0.0020466737914830446,
288
+ "moving_aligned_rms_error_rad": 0.0009212199655419087,
289
+ "moving_aligned_samples": 829,
290
+ "moving_aligned_worst_joint": 1,
291
+ "moving_aligned_worst_time_s": 2.14,
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
+ 0.003940895199775696,
302
+ 0.004345059394836426,
303
+ 0.0035759620368480682,
304
+ 0.0036542676389217377,
305
+ 0.004267096519470215,
306
+ 0.004073428921401501
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.00212285784073174,
310
+ 0.0021338369697332382,
311
+ 0.0020606510806828737,
312
+ 0.001944924471899867,
313
+ 0.002732217311859131,
314
+ 0.0025761628057807684
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.000942972544505235,
318
+ 0.0010396359927294307,
319
+ 0.0010388397315802252,
320
+ 0.0009785582760592911,
321
+ 0.001134244231390215,
322
+ 0.001328675529620297
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 699,
326
+ 776,
327
+ 689,
328
+ 142,
329
+ 519,
330
+ 460
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 12.415000000000001,
334
+ 2.14,
335
+ 1.4,
336
+ 15.001999999999999,
337
+ 2.155,
338
+ 20.449
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": 2.688742160797119,
348
+ "playback_velocity_rms_rad_s": 0.4301849294231135,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.74600000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.873,
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
+ 1858,
357
+ 4666
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4233008137289816,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08514171838760376,
364
+ "rapid_planner_max_dt_s": 1.572000000000001,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007387992925941944,
367
+ "rapid_planner_median_dt_s": 0.10299999999999976,
368
+ "rapid_planner_path_max_error_rad": 0.004345059394836426,
369
+ "rapid_planner_path_p95_error_rad": 0.002754718065261841,
370
+ "rapid_planner_path_rms_error_rad": 0.0013631988013215973,
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
+ 51,
376
+ 67,
377
+ 82,
378
+ 99,
379
+ 108,
380
+ 117,
381
+ 126,
382
+ 135,
383
+ 144,
384
+ 154,
385
+ 164,
386
+ 174,
387
+ 193,
388
+ 202,
389
+ 212,
390
+ 222,
391
+ 232,
392
+ 242,
393
+ 253,
394
+ 264,
395
+ 274,
396
+ 284,
397
+ 294,
398
+ 305,
399
+ 316,
400
+ 337,
401
+ 364,
402
+ 390,
403
+ 416,
404
+ 442,
405
+ 467,
406
+ 510,
407
+ 570,
408
+ 631,
409
+ 672,
410
+ 712,
411
+ 750,
412
+ 785,
413
+ 876,
414
+ 1091,
415
+ 1484,
416
+ 1858,
417
+ 2117,
418
+ 2196,
419
+ 2459,
420
+ 2515,
421
+ 2587,
422
+ 2611,
423
+ 2631,
424
+ 2641,
425
+ 2651,
426
+ 2660,
427
+ 2668,
428
+ 2678,
429
+ 2687,
430
+ 2696,
431
+ 2706,
432
+ 2717,
433
+ 2728,
434
+ 2749,
435
+ 2774,
436
+ 2800,
437
+ 2839,
438
+ 2878,
439
+ 2926,
440
+ 2958,
441
+ 2991,
442
+ 3035,
443
+ 3079,
444
+ 3128,
445
+ 3168,
446
+ 3213,
447
+ 3262,
448
+ 3284,
449
+ 3307,
450
+ 3332,
451
+ 3357,
452
+ 3388,
453
+ 3420,
454
+ 3457,
455
+ 3494,
456
+ 3521,
457
+ 3618,
458
+ 3677,
459
+ 3812,
460
+ 3877,
461
+ 3966,
462
+ 4083,
463
+ 4192,
464
+ 4323,
465
+ 4385,
466
+ 4666,
467
+ 4928,
468
+ 4977,
469
+ 5006,
470
+ 5035,
471
+ 5061,
472
+ 5082,
473
+ 5103,
474
+ 5129,
475
+ 5142,
476
+ 5156,
477
+ 5178,
478
+ 5199,
479
+ 5221,
480
+ 5244,
481
+ 5265,
482
+ 5286,
483
+ 5305,
484
+ 5324,
485
+ 5353,
486
+ 5385,
487
+ 5433,
488
+ 5608,
489
+ 5719
490
+ ],
491
+ "rapid_planner_selected_max_joint_step_deg": 4.878261124101092,
492
+ "rapid_planner_selected_samples": 116,
493
+ "rapid_planner_service_configured": true,
494
+ "rapid_planner_source_samples": 5720,
495
+ "rapid_planner_state_done": 6.0,
496
+ "rapid_planner_state_error": 7.0,
497
+ "rapid_planner_tool_command_hz": 30.0,
498
+ "rapid_planner_tool_command_supported": true,
499
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
500
+ "rapid_planner_tool_io_configured": true,
501
+ "rapid_planner_tool_io_supported": true,
502
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
503
+ "rapid_planner_tool_state_supported": true,
504
+ "rapid_planner_tool_transition_source_count": 2,
505
+ "rapid_planner_tool_transitions_uploaded": 2,
506
+ "rapid_planner_tool_upload_enabled": true,
507
+ "rapid_planner_uploaded": true,
508
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
509
+ "rapid_planner_waypoints_uploaded": 116,
510
+ "raw_ramp_max_error_rad": null,
511
+ "raw_replay_max_error_rad": 0.004345059394836426,
512
+ "raw_replay_rms_error_rad": 0.0007954358047708652,
513
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9886282105334343,
514
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9009952663726125,
515
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9875496152818535,
516
+ "replay_smoothing_applied": true,
517
+ "replay_smoothing_blend": 1.0,
518
+ "replay_smoothing_blend_by_joint": [
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0
525
+ ],
526
+ "replay_smoothing_edge_taper_s": 0.2,
527
+ "replay_smoothing_edge_taper_samples": 50,
528
+ "replay_smoothing_enabled": true,
529
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9932430340912217,
530
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8402445125705317,
531
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9924365733929479,
532
+ "replay_smoothing_max_deviation_by_joint_rad": [
533
+ 0.0009305179119110107,
534
+ 0.0010052323341369629,
535
+ 0.0017955303192138672,
536
+ 0.004441261291503906,
537
+ 0.002534151077270508,
538
+ 0.0061806440353393555
539
+ ],
540
+ "replay_smoothing_max_deviation_normalized": 0.7082496412816637,
541
+ "replay_smoothing_max_deviation_rad": 0.0061806440353393555,
542
+ "replay_smoothing_method": "scipy_savgol",
543
+ "replay_smoothing_p95_deviation_rad": 0.001854240195825696,
544
+ "replay_smoothing_passes": 8,
545
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 10.830425262451172,
546
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 64.2844009399414,
547
+ "replay_smoothing_raw_accel_rms_rad_s2": 5.2396066892201825,
548
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2555.4140625,
549
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19706.6171875,
550
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1340.5128928397467,
551
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8175538778305054,
552
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.23652091918623572,
553
+ "replay_smoothing_rms_deviation_rad": 0.0008499102999003226,
554
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 10.707263946533203,
555
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 57.91994094848633,
556
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 5.174371570167617,
557
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2538.147216796875,
558
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16558.376953125,
559
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1330.374021958946,
560
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7704992294311523,
561
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23569471155355343,
562
+ "replay_smoothing_tolerance_by_joint_rad": [
563
+ 0.03490658476948738,
564
+ 0.03490658476948738,
565
+ 0.02617993950843811,
566
+ 0.008726646192371845,
567
+ 0.008726646192371845,
568
+ 0.008726646192371845
569
+ ],
570
+ "replay_smoothing_tolerance_rad": 0.034906585,
571
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9741110021698399,
572
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965068306197824,
573
+ "replay_smoothing_window_s": 0.2,
574
+ "replay_smoothing_window_samples": 51,
575
+ "replay_smoothing_within_tolerance": true,
576
+ "replay_smoothing_worst_joint": 5,
577
+ "replay_smoothing_worst_time_s": 10.619,
578
+ "replay_smoothing_wrist_max_deviation_rad": 0.0061806440353393555,
579
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
580
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
581
+ "return_measured_wall_accel_peak_joint": -1,
582
+ "return_measured_wall_accel_peak_time_s": null,
583
+ "return_measured_wall_accel_rms_rad_s2": null,
584
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
585
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
586
+ "return_measured_wall_jerk_peak_joint": -1,
587
+ "return_measured_wall_jerk_peak_time_s": null,
588
+ "return_measured_wall_jerk_rms_rad_s3": null,
589
+ "return_measured_wall_smoothness_samples": 0,
590
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
591
+ "return_measured_wall_velocity_peak_joint": -1,
592
+ "return_measured_wall_velocity_peak_time_s": null,
593
+ "return_measured_wall_velocity_rms_rad_s": null,
594
+ "safety_abort": false,
595
+ "safety_path_error_rad": 0.004345059394836426,
596
+ "saved_data_source": "measured_rapid_planner_playback",
597
+ "send_failures": 0,
598
+ "sent_wall_accel_p95_abs_rad_s2": null,
599
+ "sent_wall_accel_peak_abs_rad_s2": null,
600
+ "sent_wall_accel_peak_joint": -1,
601
+ "sent_wall_accel_peak_time_s": null,
602
+ "sent_wall_accel_rms_rad_s2": null,
603
+ "sent_wall_jerk_p95_abs_rad_s3": null,
604
+ "sent_wall_jerk_peak_abs_rad_s3": null,
605
+ "sent_wall_jerk_peak_joint": -1,
606
+ "sent_wall_jerk_peak_time_s": null,
607
+ "sent_wall_jerk_rms_rad_s3": null,
608
+ "sent_wall_smoothness_samples": 0,
609
+ "sent_wall_velocity_peak_abs_rad_s": null,
610
+ "sent_wall_velocity_peak_joint": -1,
611
+ "sent_wall_velocity_peak_time_s": null,
612
+ "sent_wall_velocity_rms_rad_s": null,
613
+ "stage_planned_to_measured_max_error_rad": 0.041200846433639526,
614
+ "stage_planned_to_measured_rms_error_rad": 0.0059031026210207855,
615
+ "stage_sent_to_measured_max_error_rad": null,
616
+ "stage_sent_to_measured_rms_error_rad": null,
617
+ "stage_sent_to_planned_max_error_rad": null,
618
+ "stage_sent_to_planned_rms_error_rad": null,
619
+ "stage_target_to_sent_max_error_rad": null,
620
+ "stage_target_to_sent_rms_error_rad": null,
621
+ "state_frame_count": 1136,
622
+ "stopped_early": false,
623
+ "strict_tracking_pass": true,
624
+ "strict_tracking_reason": "ok",
625
+ "target_wall_accel_p95_abs_rad_s2": 0.749738335609436,
626
+ "target_wall_accel_peak_abs_rad_s2": 3.331486940383911,
627
+ "target_wall_accel_peak_joint": 1,
628
+ "target_wall_accel_peak_time_s": 15.574286490678787,
629
+ "target_wall_accel_rms_rad_s2": 0.3561335575522125,
630
+ "target_wall_jerk_p95_abs_rad_s3": 18.231786727905273,
631
+ "target_wall_jerk_peak_abs_rad_s3": 106.05957794189453,
632
+ "target_wall_jerk_peak_joint": 1,
633
+ "target_wall_jerk_peak_time_s": 15.600058789830655,
634
+ "target_wall_jerk_rms_rad_s3": 8.085083535174162,
635
+ "target_wall_smoothness_samples": 1136,
636
+ "target_wall_velocity_peak_abs_rad_s": 0.7175194621086121,
637
+ "target_wall_velocity_peak_joint": 5,
638
+ "target_wall_velocity_peak_time_s": 25.266735075972974,
639
+ "target_wall_velocity_rms_rad_s": 0.10028777822887942,
640
+ "tcp_pose_count": 1136,
641
+ "timestamp_count": 1136,
642
+ "tool_failures": 0,
643
+ "tracking_geometry_pass": true,
644
+ "tracking_geometry_reason": "ok",
645
+ "tracking_pass": true,
646
+ "tracking_reason": "ok",
647
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
648
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
649
+ "tracking_threshold_max_lag_s": 0.1,
650
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
651
+ "tracking_timing_pass": true,
652
+ "tracking_timing_reason": "ok",
653
+ "window_lag_best_lag_max_s": 1.1800000000000028,
654
+ "window_lag_best_lag_median_s": 0.0,
655
+ "window_lag_best_lag_min_s": -1.0799999999999992,
656
+ "window_lag_best_lag_p95_abs_s": 1.1500000000000017,
657
+ "window_lag_count": 27,
658
+ "window_lag_window_s": 1.0,
659
+ "window_lag_worst_best_lag_s": 0.0,
660
+ "window_lag_worst_end_s": 3.0,
661
+ "window_lag_worst_max_error_rad": 0.004345059394836426,
662
+ "window_lag_worst_rms_error_rad": 0.0012862780243056305,
663
+ "window_lag_worst_start_s": 2.0,
664
+ "zero_lag_max_error_rad": 0.004345059394836426,
665
+ "zero_lag_p95_error_rad": 0.0018559545278549194,
666
+ "zero_lag_rms_error_rad": 0.0007954358047708652,
667
+ "zero_lag_samples": 1136,
668
+ "zero_lag_worst_joint": 1,
669
+ "zero_lag_worst_time_s": 2.14
670
+ }
671
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152228.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4316c2ac67460214b6ad83fa37b1e3e04d8f22cd9b4cbffaf3e7a2e14f4ecf0
3
+ size 118253
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.json ADDED
@@ -0,0 +1,674 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:24:41",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.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": 1170,
20
+ "actual_playback_duration_s": 39.01156363543123,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005213797092437744,
23
+ "aligned_p95_error_rad": 0.0018023463198915124,
24
+ "aligned_rms_error_rad": 0.0007948667057551196,
25
+ "aligned_samples": 1170,
26
+ "aligned_worst_joint": 2,
27
+ "aligned_worst_time_s": 5.827,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1170,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1170,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.4855322963874655,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1170,
46
+ "cam_wrist": 1170
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
+ 0.0041387081146240234,
58
+ 0.004711508750915527,
59
+ 0.005213797092437744,
60
+ 0.004722295328974724,
61
+ 0.005153536796569824,
62
+ 0.004907727241516113
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0017473286716267467,
66
+ 0.0018588650273159146,
67
+ 0.001798198907636106,
68
+ 0.001321163377724588,
69
+ 0.0014182118466123939,
70
+ 0.002192234853282571
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007411628532916674,
74
+ 0.0008792775350302915,
75
+ 0.0008485393549626267,
76
+ 0.00057884801053275,
77
+ 0.0006732814578885867,
78
+ 0.0009798138308091439
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1170,
82
+ 1170,
83
+ 1170,
84
+ 1170,
85
+ 1170,
86
+ 1170
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 25.869,
90
+ 7.106999999999999,
91
+ 5.827,
92
+ 7.106999999999999,
93
+ 5.827,
94
+ 20.593
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.007999999914318323,
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": 2,
107
+ "leadthrough_capture_egm_drained_packet_max": 5,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.008320892695337534,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003988509997725487,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004242015350610018,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005272746225818993,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3494,
114
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
115
+ "leadthrough_capture_egm_recorded_seqno_step_max": 2,
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": 0.008397532161325216,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004015519050881267,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004274509986862541,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0052978894440457195,
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": 0.008368975948542356,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004017252940684557,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004257525689899922,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00529755532275885,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
169
+ "leadthrough_capture_loop_late_max_s": 0.021041468251496553,
170
+ "leadthrough_capture_loop_late_median_s": 0.015095703769475222,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01897419076412916,
172
+ "leadthrough_capture_loop_late_p99_s": 0.019243525732308628,
173
+ "leadthrough_capture_loop_late_warn_count": 7683,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.008362153079360723,
176
+ "leadthrough_capture_read_duration_median_s": 0.0040026321075856686,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004259212547913193,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005285883387550714,
179
+ "leadthrough_capture_read_duration_warn_count": 3924,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.008000000000002672,
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": 12,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.005904629826545715,
190
+ 0.004663065075874329,
191
+ 0.005960553884506226,
192
+ 0.0024975165724754333,
193
+ 0.0027251839637756348,
194
+ 0.006774678826332092
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006774678826332092,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.001292058965191245,
199
+ 0.0024826466105878353,
200
+ 0.0029994964133948088,
201
+ 0.0005481601692736149,
202
+ 0.0013278484111651778,
203
+ 0.003115298692137003
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0006392699433490634,
207
+ 0.0010202564299106598,
208
+ 0.0012741300743073225,
209
+ 0.00028504550573416054,
210
+ 0.0005469960160553455,
211
+ 0.0011530477786436677
212
+ ],
213
+ "leadthrough_delta_samples": 6565,
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": -0.006774678826332092,
218
+ "leadthrough_delta_worst_from_rad": -0.14485932886600494,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.9399999999999995,
221
+ "leadthrough_delta_worst_to_rad": -0.15163400769233704,
222
+ "leadthrough_duration_s": 26.261,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6564,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.4039999999999999,
228
+ "leadthrough_final_stillness_removed_samples": 101,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6565,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7683,
234
+ "leadthrough_initial_stillness_first_motion_index": 1017,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 4.064,
238
+ "leadthrough_initial_stillness_removed_samples": 1016,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1016,
242
+ "leadthrough_initial_stillness_trimmed": true,
243
+ "leadthrough_reference_hz": 250.0,
244
+ "leadthrough_sample_dt_max_s": 0.008000000000002672,
245
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.005904629826545715,
249
+ 0.004663065075874329,
250
+ 0.005960553884506226,
251
+ 0.0024975165724754333,
252
+ 0.0027251839637756348,
253
+ 0.006774678826332092
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006774678826332092,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0048765689131243,
258
+ 1.165766268968193,
259
+ 1.4901384711260588,
260
+ 0.6205833827455604,
261
+ 0.6812959909442863,
262
+ 2.255432307720099
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9123996496200562,
265
+ "leadthrough_velocity_rms_rad_s": 0.22515021655485964,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005213797092437744,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.490703821182251,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.814713954925537,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 42.47386819589883,
274
+ "measured_wall_accel_rms_rad_s2": 0.25007821775107897,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.362764358520508,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 57.61754608154297,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 31.04167624982074,
279
+ "measured_wall_jerk_rms_rad_s3": 4.426412625715893,
280
+ "measured_wall_smoothness_samples": 1170,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6584621667861938,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.640477478969842,
284
+ "measured_wall_velocity_rms_rad_s": 0.10108226195001621,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005213797092437744,
287
+ "moving_aligned_p95_error_rad": 0.0019979416392743587,
288
+ "moving_aligned_rms_error_rad": 0.000905594551071273,
289
+ "moving_aligned_samples": 868,
290
+ "moving_aligned_worst_joint": 2,
291
+ "moving_aligned_worst_time_s": 5.827,
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
+ 0.0034656040370464325,
302
+ 0.004107922315597534,
303
+ 0.0034881234169006348,
304
+ 0.004722295328974724,
305
+ 0.005153536796569824,
306
+ 0.004237063229084015
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0018497823039069772,
310
+ 0.001982333604246378,
311
+ 0.002000868320465088,
312
+ 0.002191535895690322,
313
+ 0.001701265573501587,
314
+ 0.002721501747146249
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0007956275978004239,
318
+ 0.0009892294875314248,
319
+ 0.0010011239461659466,
320
+ 0.0009939167330854353,
321
+ 0.0008407179525169686,
322
+ 0.001359144114279153
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 670,
326
+ 812,
327
+ 721,
328
+ 302,
329
+ 596,
330
+ 542
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 16.374,
334
+ 17.71,
335
+ 16.554,
336
+ 7.106999999999999,
337
+ 5.827,
338
+ 1.6440000000000001
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": 2.049952745437622,
348
+ "playback_velocity_rms_rad_s": 0.46079933004625534,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 82.52199999999999,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 26.261,
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
+ 2939,
357
+ 5657
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4444950508060898,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08718207478523254,
364
+ "rapid_planner_max_dt_s": 3.0280000000000005,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007757902145385742,
367
+ "rapid_planner_median_dt_s": 0.09600000000000009,
368
+ "rapid_planner_path_max_error_rad": 0.005213797092437744,
369
+ "rapid_planner_path_p95_error_rad": 0.002651392668485641,
370
+ "rapid_planner_path_rms_error_rad": 0.0013329212564397951,
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
+ 347,
376
+ 384,
377
+ 426,
378
+ 442,
379
+ 456,
380
+ 470,
381
+ 477,
382
+ 484,
383
+ 491,
384
+ 498,
385
+ 513,
386
+ 524,
387
+ 534,
388
+ 544,
389
+ 554,
390
+ 564,
391
+ 573,
392
+ 592,
393
+ 610,
394
+ 628,
395
+ 646,
396
+ 664,
397
+ 688,
398
+ 710,
399
+ 735,
400
+ 760,
401
+ 794,
402
+ 827,
403
+ 846,
404
+ 874,
405
+ 895,
406
+ 919,
407
+ 945,
408
+ 984,
409
+ 1022,
410
+ 1061,
411
+ 1100,
412
+ 1136,
413
+ 1260,
414
+ 1358,
415
+ 1424,
416
+ 1614,
417
+ 1701,
418
+ 1892,
419
+ 2000,
420
+ 2090,
421
+ 2182,
422
+ 2939,
423
+ 3200,
424
+ 3285,
425
+ 3504,
426
+ 3553,
427
+ 3597,
428
+ 3620,
429
+ 3640,
430
+ 3656,
431
+ 3668,
432
+ 3679,
433
+ 3690,
434
+ 3701,
435
+ 3718,
436
+ 3734,
437
+ 3754,
438
+ 3773,
439
+ 3790,
440
+ 3806,
441
+ 3838,
442
+ 3868,
443
+ 3897,
444
+ 3939,
445
+ 3960,
446
+ 3981,
447
+ 4001,
448
+ 4021,
449
+ 4047,
450
+ 4073,
451
+ 4112,
452
+ 4150,
453
+ 4171,
454
+ 4200,
455
+ 4225,
456
+ 4250,
457
+ 4286,
458
+ 4342,
459
+ 4376,
460
+ 4409,
461
+ 4482,
462
+ 4545,
463
+ 4682,
464
+ 4909,
465
+ 5248,
466
+ 5333,
467
+ 5442,
468
+ 5657,
469
+ 5929,
470
+ 5964,
471
+ 5985,
472
+ 6000,
473
+ 6014,
474
+ 6028,
475
+ 6044,
476
+ 6060,
477
+ 6079,
478
+ 6097,
479
+ 6113,
480
+ 6129,
481
+ 6146,
482
+ 6165,
483
+ 6184,
484
+ 6203,
485
+ 6221,
486
+ 6239,
487
+ 6254,
488
+ 6269,
489
+ 6301,
490
+ 6327,
491
+ 6355,
492
+ 6565
493
+ ],
494
+ "rapid_planner_selected_max_joint_step_deg": 4.995164934387738,
495
+ "rapid_planner_selected_samples": 119,
496
+ "rapid_planner_service_configured": true,
497
+ "rapid_planner_source_samples": 6566,
498
+ "rapid_planner_state_done": 6.0,
499
+ "rapid_planner_state_error": 7.0,
500
+ "rapid_planner_tool_command_hz": 30.0,
501
+ "rapid_planner_tool_command_supported": true,
502
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
503
+ "rapid_planner_tool_io_configured": true,
504
+ "rapid_planner_tool_io_supported": true,
505
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
506
+ "rapid_planner_tool_state_supported": true,
507
+ "rapid_planner_tool_transition_source_count": 2,
508
+ "rapid_planner_tool_transitions_uploaded": 2,
509
+ "rapid_planner_tool_upload_enabled": true,
510
+ "rapid_planner_uploaded": true,
511
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
512
+ "rapid_planner_waypoints_uploaded": 119,
513
+ "raw_ramp_max_error_rad": null,
514
+ "raw_replay_max_error_rad": 0.005213797092437744,
515
+ "raw_replay_rms_error_rad": 0.0007948667057551196,
516
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8700583253292199,
517
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9267805004844265,
518
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9673217141161653,
519
+ "replay_smoothing_applied": true,
520
+ "replay_smoothing_blend": 1.0,
521
+ "replay_smoothing_blend_by_joint": [
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0,
527
+ 1.0
528
+ ],
529
+ "replay_smoothing_edge_taper_s": 0.2,
530
+ "replay_smoothing_edge_taper_samples": 50,
531
+ "replay_smoothing_enabled": true,
532
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.7912648042977866,
533
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9533608663672682,
534
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9778818076112886,
535
+ "replay_smoothing_max_deviation_by_joint_rad": [
536
+ 0.001992270350456238,
537
+ 0.0013142228126525879,
538
+ 0.00209885835647583,
539
+ 0.0032515674829483032,
540
+ 0.002857685089111328,
541
+ 0.007953181862831116
542
+ ],
543
+ "replay_smoothing_max_deviation_normalized": 0.9113675159402209,
544
+ "replay_smoothing_max_deviation_rad": 0.007953181862831116,
545
+ "replay_smoothing_method": "scipy_savgol",
546
+ "replay_smoothing_p95_deviation_rad": 0.002165868878364563,
547
+ "replay_smoothing_passes": 8,
548
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.579106330871582,
549
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 68.35997772216797,
550
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.472214076893571,
551
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 917.8280029296875,
552
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18826.81640625,
553
+ "replay_smoothing_raw_jerk_rms_rad_s3": 862.496876170712,
554
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0145483016967773,
555
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2263486526893695,
556
+ "replay_smoothing_rms_deviation_rad": 0.0010850228348535079,
557
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.854147911071777,
558
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.35469436645508,
559
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.358748072638968,
560
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 726.2449951171875,
561
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17948.75,
562
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 843.4200043289056,
563
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9123996496200562,
564
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22515021655485964,
565
+ "replay_smoothing_tolerance_by_joint_rad": [
566
+ 0.03490658476948738,
567
+ 0.03490658476948738,
568
+ 0.02617993950843811,
569
+ 0.008726646192371845,
570
+ 0.008726646192371845,
571
+ 0.008726646192371845
572
+ ],
573
+ "replay_smoothing_tolerance_rad": 0.034906585,
574
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9492945133205865,
575
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9947053533552306,
576
+ "replay_smoothing_window_s": 0.2,
577
+ "replay_smoothing_window_samples": 51,
578
+ "replay_smoothing_within_tolerance": true,
579
+ "replay_smoothing_worst_joint": 5,
580
+ "replay_smoothing_worst_time_s": 24.417,
581
+ "replay_smoothing_wrist_max_deviation_rad": 0.007953181862831116,
582
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
583
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
584
+ "return_measured_wall_accel_peak_joint": -1,
585
+ "return_measured_wall_accel_peak_time_s": null,
586
+ "return_measured_wall_accel_rms_rad_s2": null,
587
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
588
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
589
+ "return_measured_wall_jerk_peak_joint": -1,
590
+ "return_measured_wall_jerk_peak_time_s": null,
591
+ "return_measured_wall_jerk_rms_rad_s3": null,
592
+ "return_measured_wall_smoothness_samples": 0,
593
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
594
+ "return_measured_wall_velocity_peak_joint": -1,
595
+ "return_measured_wall_velocity_peak_time_s": null,
596
+ "return_measured_wall_velocity_rms_rad_s": null,
597
+ "safety_abort": false,
598
+ "safety_path_error_rad": 0.005213797092437744,
599
+ "saved_data_source": "measured_rapid_planner_playback",
600
+ "send_failures": 0,
601
+ "sent_wall_accel_p95_abs_rad_s2": null,
602
+ "sent_wall_accel_peak_abs_rad_s2": null,
603
+ "sent_wall_accel_peak_joint": -1,
604
+ "sent_wall_accel_peak_time_s": null,
605
+ "sent_wall_accel_rms_rad_s2": null,
606
+ "sent_wall_jerk_p95_abs_rad_s3": null,
607
+ "sent_wall_jerk_peak_abs_rad_s3": null,
608
+ "sent_wall_jerk_peak_joint": -1,
609
+ "sent_wall_jerk_peak_time_s": null,
610
+ "sent_wall_jerk_rms_rad_s3": null,
611
+ "sent_wall_smoothness_samples": 0,
612
+ "sent_wall_velocity_peak_abs_rad_s": null,
613
+ "sent_wall_velocity_peak_joint": -1,
614
+ "sent_wall_velocity_peak_time_s": null,
615
+ "sent_wall_velocity_rms_rad_s": null,
616
+ "stage_planned_to_measured_max_error_rad": 0.039090000092983246,
617
+ "stage_planned_to_measured_rms_error_rad": 0.005995932210833007,
618
+ "stage_sent_to_measured_max_error_rad": null,
619
+ "stage_sent_to_measured_rms_error_rad": null,
620
+ "stage_sent_to_planned_max_error_rad": null,
621
+ "stage_sent_to_planned_rms_error_rad": null,
622
+ "stage_target_to_sent_max_error_rad": null,
623
+ "stage_target_to_sent_rms_error_rad": null,
624
+ "state_frame_count": 1170,
625
+ "stopped_early": false,
626
+ "strict_tracking_pass": true,
627
+ "strict_tracking_reason": "ok",
628
+ "target_wall_accel_p95_abs_rad_s2": 0.8882384896278381,
629
+ "target_wall_accel_peak_abs_rad_s2": 4.051656723022461,
630
+ "target_wall_accel_peak_joint": 5,
631
+ "target_wall_accel_peak_time_s": 27.066744138021022,
632
+ "target_wall_accel_rms_rad_s2": 0.37359723308965825,
633
+ "target_wall_jerk_p95_abs_rad_s3": 19.841453552246094,
634
+ "target_wall_jerk_peak_abs_rad_s3": 106.65319061279297,
635
+ "target_wall_jerk_peak_joint": 5,
636
+ "target_wall_jerk_peak_time_s": 27.13340788614005,
637
+ "target_wall_jerk_rms_rad_s3": 8.520696560182317,
638
+ "target_wall_smoothness_samples": 1170,
639
+ "target_wall_velocity_peak_abs_rad_s": 0.6752122640609741,
640
+ "target_wall_velocity_peak_joint": 5,
641
+ "target_wall_velocity_peak_time_s": 1.2333870762959123,
642
+ "target_wall_velocity_rms_rad_s": 0.10207996347718595,
643
+ "tcp_pose_count": 1170,
644
+ "timestamp_count": 1170,
645
+ "tool_failures": 0,
646
+ "tracking_geometry_pass": true,
647
+ "tracking_geometry_reason": "ok",
648
+ "tracking_pass": true,
649
+ "tracking_reason": "ok",
650
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
651
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
652
+ "tracking_threshold_max_lag_s": 0.1,
653
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
654
+ "tracking_timing_pass": true,
655
+ "tracking_timing_reason": "ok",
656
+ "window_lag_best_lag_max_s": 0.9000000000000026,
657
+ "window_lag_best_lag_median_s": 0.0,
658
+ "window_lag_best_lag_min_s": -1.0899999999999992,
659
+ "window_lag_best_lag_p95_abs_s": 0.9950000000000009,
660
+ "window_lag_count": 31,
661
+ "window_lag_window_s": 1.0,
662
+ "window_lag_worst_best_lag_s": -0.009999999999998233,
663
+ "window_lag_worst_end_s": 6.5,
664
+ "window_lag_worst_max_error_rad": 0.004983305931091309,
665
+ "window_lag_worst_rms_error_rad": 0.0017981098249194162,
666
+ "window_lag_worst_start_s": 5.5,
667
+ "zero_lag_max_error_rad": 0.005213797092437744,
668
+ "zero_lag_p95_error_rad": 0.0018023463198915124,
669
+ "zero_lag_rms_error_rad": 0.0007948667057551196,
670
+ "zero_lag_samples": 1170,
671
+ "zero_lag_worst_joint": 2,
672
+ "zero_lag_worst_time_s": 5.827
673
+ }
674
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152440.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c23e10de42c6ba14a1402d546a1f26121bf62377055afa572ed612a2ddd43108
3
+ size 122878
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.json ADDED
@@ -0,0 +1,669 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:26:40",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.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": 1170,
20
+ "actual_playback_duration_s": 39.01908463984728,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006756991147994995,
23
+ "aligned_p95_error_rad": 0.0019034998258575797,
24
+ "aligned_rms_error_rad": 0.0008289157448475292,
25
+ "aligned_samples": 1170,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 19.102,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1170,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1170,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.534130873627714,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1170,
46
+ "cam_wrist": 1170
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
+ 0.006756991147994995,
58
+ 0.006724879145622253,
59
+ 0.0042119622230529785,
60
+ 0.004311172291636467,
61
+ 0.005278110504150391,
62
+ 0.005295515060424805
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0015535933198407292,
66
+ 0.0019814104307442904,
67
+ 0.0019707123283296824,
68
+ 0.0012329666642472148,
69
+ 0.0021342593245208263,
70
+ 0.002015920588746667
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007327713023758584,
74
+ 0.0008875007147396922,
75
+ 0.0009293040872863586,
76
+ 0.0005782036226751876,
77
+ 0.0008947881241089878,
78
+ 0.0008941058489459762
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1170,
82
+ 1170,
83
+ 1170,
84
+ 1170,
85
+ 1170,
86
+ 1170
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 19.102,
90
+ 19.102,
91
+ 2.072,
92
+ 5.428,
93
+ 7.088,
94
+ 7.088
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": 1,
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": 0,
107
+ "leadthrough_capture_egm_drained_packet_max": 1,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.023674258962273598,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.0039868406020104885,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043336768634617325,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004974264474585656,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3284,
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": 0.05008343607187271,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0040101471822708845,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0043625966645777225,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005024993717670448,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.006178469397127628,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.00401446595788002,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004346035420894623,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00498991509899496,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10701825469732285,
170
+ "leadthrough_capture_loop_late_median_s": 0.10489560756832361,
171
+ "leadthrough_capture_loop_late_p95_s": 0.10520292362198233,
172
+ "leadthrough_capture_loop_late_p99_s": 0.1059445905033499,
173
+ "leadthrough_capture_loop_late_warn_count": 7255,
174
+ "leadthrough_capture_none_reads": 1,
175
+ "leadthrough_capture_read_duration_max_s": 0.05007403576746583,
176
+ "leadthrough_capture_read_duration_median_s": 0.003999688662588596,
177
+ "leadthrough_capture_read_duration_p95_s": 0.0043513507582247255,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005006754789501429,
179
+ "leadthrough_capture_read_duration_warn_count": 3620,
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": 2,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004054663702845573,
190
+ 0.004763327538967133,
191
+ 0.005473613739013672,
192
+ 0.0015046186745166779,
193
+ 0.003464043140411377,
194
+ 0.006607502698898315
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006607502698898315,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0016654521459713578,
199
+ 0.0023413689341396093,
200
+ 0.0033016905654221773,
201
+ 0.00022536530741490424,
202
+ 0.0013320446014404297,
203
+ 0.002959254663437605
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0006899686413817108,
207
+ 0.0009619204211048782,
208
+ 0.001272464287467301,
209
+ 0.0001853619032772258,
210
+ 0.0006092787371017039,
211
+ 0.0012498790165409446
212
+ ],
213
+ "leadthrough_delta_samples": 6359,
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": -0.006607502698898315,
218
+ "leadthrough_delta_worst_from_rad": -0.48067888617515564,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7329999999999997,
221
+ "leadthrough_delta_worst_to_rad": -0.48728638887405396,
222
+ "leadthrough_duration_s": 25.434,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6346,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6347,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7254,
234
+ "leadthrough_initial_stillness_first_motion_index": 895,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.575,
238
+ "leadthrough_initial_stillness_removed_samples": 894,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 894,
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
+ 0.004054663702845573,
249
+ 0.004763327538967133,
250
+ 0.005473613739013672,
251
+ 0.0015046186745166779,
252
+ 0.003464043140411377,
253
+ 0.006607502698898315
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006607502698898315,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0136659257119551,
258
+ 1.1908318847413855,
259
+ 1.368403434752961,
260
+ 0.37615466862904384,
261
+ 0.9483496348062792,
262
+ 2.196709314982013
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9377516508102417,
265
+ "leadthrough_velocity_rms_rad_s": 0.2309361986447369,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006756991147994995,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.49175816774368286,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.2133102416992188,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 41.60893543204293,
274
+ "measured_wall_accel_rms_rad_s2": 0.24154682653764847,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.34181022644043,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 69.95378875732422,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 41.64162148395553,
279
+ "measured_wall_jerk_rms_rad_s3": 4.240070002625548,
280
+ "measured_wall_smoothness_samples": 1170,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.4994800388813019,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.942106733098626,
284
+ "measured_wall_velocity_rms_rad_s": 0.09889752795907014,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006756991147994995,
287
+ "moving_aligned_p95_error_rad": 0.0020683289039880037,
288
+ "moving_aligned_rms_error_rad": 0.0009331172004451426,
289
+ "moving_aligned_samples": 865,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 19.102,
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
+ 0.005188286304473877,
302
+ 0.006724879145622253,
303
+ 0.0042119622230529785,
304
+ 0.004031620919704437,
305
+ 0.004732728004455566,
306
+ 0.0044456422328948975
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0018640505149960518,
310
+ 0.002089768648147583,
311
+ 0.0021479688584804535,
312
+ 0.0030423763673752546,
313
+ 0.0025131467264145613,
314
+ 0.0023393123410642147
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008417736203437711,
318
+ 0.0009882996498764298,
319
+ 0.0011016331791497288,
320
+ 0.0012228407850601061,
321
+ 0.0011046839704124329,
322
+ 0.0011962757437847728
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 693,
326
+ 831,
327
+ 778,
328
+ 172,
329
+ 617,
330
+ 492
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 18.295,
334
+ 19.102,
335
+ 2.072,
336
+ 2.2359999999999998,
337
+ 2.088,
338
+ 16.299
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": 3.079331636428833,
348
+ "playback_velocity_rms_rad_s": 0.47810883102714113,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 80.868,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.434,
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
+ 2456,
357
+ 5408
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.44330446345639196,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08659805357456207,
364
+ "rapid_planner_max_dt_s": 2.634999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007737122476100922,
367
+ "rapid_planner_median_dt_s": 0.08400000000000318,
368
+ "rapid_planner_path_max_error_rad": 0.006756991147994995,
369
+ "rapid_planner_path_p95_error_rad": 0.002805648744106292,
370
+ "rapid_planner_path_rms_error_rad": 0.0014072192608429975,
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
+ 28,
376
+ 57,
377
+ 75,
378
+ 93,
379
+ 110,
380
+ 120,
381
+ 129,
382
+ 138,
383
+ 148,
384
+ 158,
385
+ 167,
386
+ 176,
387
+ 186,
388
+ 196,
389
+ 205,
390
+ 214,
391
+ 223,
392
+ 232,
393
+ 241,
394
+ 256,
395
+ 271,
396
+ 282,
397
+ 293,
398
+ 311,
399
+ 329,
400
+ 349,
401
+ 366,
402
+ 382,
403
+ 402,
404
+ 421,
405
+ 440,
406
+ 484,
407
+ 539,
408
+ 582,
409
+ 626,
410
+ 698,
411
+ 765,
412
+ 830,
413
+ 897,
414
+ 1168,
415
+ 1346,
416
+ 2005,
417
+ 2456,
418
+ 2727,
419
+ 2801,
420
+ 3138,
421
+ 3181,
422
+ 3245,
423
+ 3272,
424
+ 3296,
425
+ 3306,
426
+ 3317,
427
+ 3332,
428
+ 3348,
429
+ 3358,
430
+ 3367,
431
+ 3388,
432
+ 3401,
433
+ 3414,
434
+ 3431,
435
+ 3448,
436
+ 3472,
437
+ 3497,
438
+ 3520,
439
+ 3543,
440
+ 3572,
441
+ 3601,
442
+ 3652,
443
+ 3702,
444
+ 3729,
445
+ 3750,
446
+ 3772,
447
+ 3788,
448
+ 3805,
449
+ 3820,
450
+ 3836,
451
+ 3860,
452
+ 3884,
453
+ 3920,
454
+ 3952,
455
+ 4004,
456
+ 4035,
457
+ 4100,
458
+ 4183,
459
+ 4425,
460
+ 4494,
461
+ 4882,
462
+ 5009,
463
+ 5131,
464
+ 5408,
465
+ 5643,
466
+ 5665,
467
+ 5684,
468
+ 5707,
469
+ 5732,
470
+ 5754,
471
+ 5775,
472
+ 5796,
473
+ 5815,
474
+ 5833,
475
+ 5852,
476
+ 5871,
477
+ 5882,
478
+ 5893,
479
+ 5912,
480
+ 5930,
481
+ 5942,
482
+ 5953,
483
+ 5976,
484
+ 6002,
485
+ 6063,
486
+ 6211,
487
+ 6359
488
+ ],
489
+ "rapid_planner_selected_max_joint_step_deg": 4.961702983870199,
490
+ "rapid_planner_selected_samples": 114,
491
+ "rapid_planner_service_configured": true,
492
+ "rapid_planner_source_samples": 6360,
493
+ "rapid_planner_state_done": 6.0,
494
+ "rapid_planner_state_error": 7.0,
495
+ "rapid_planner_tool_command_hz": 30.0,
496
+ "rapid_planner_tool_command_supported": true,
497
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
498
+ "rapid_planner_tool_io_configured": true,
499
+ "rapid_planner_tool_io_supported": true,
500
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
501
+ "rapid_planner_tool_state_supported": true,
502
+ "rapid_planner_tool_transition_source_count": 2,
503
+ "rapid_planner_tool_transitions_uploaded": 2,
504
+ "rapid_planner_tool_upload_enabled": true,
505
+ "rapid_planner_uploaded": true,
506
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
507
+ "rapid_planner_waypoints_uploaded": 114,
508
+ "raw_ramp_max_error_rad": null,
509
+ "raw_replay_max_error_rad": 0.006756991147994995,
510
+ "raw_replay_rms_error_rad": 0.0008289157448475292,
511
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8085864356175001,
512
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.989309015092412,
513
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.973579858814894,
514
+ "replay_smoothing_applied": true,
515
+ "replay_smoothing_blend": 1.0,
516
+ "replay_smoothing_blend_by_joint": [
517
+ 1.0,
518
+ 1.0,
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0
523
+ ],
524
+ "replay_smoothing_edge_taper_s": 0.2,
525
+ "replay_smoothing_edge_taper_samples": 50,
526
+ "replay_smoothing_enabled": true,
527
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8179975664067545,
528
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9910855332823038,
529
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9832280129806314,
530
+ "replay_smoothing_max_deviation_by_joint_rad": [
531
+ 0.0007133185863494873,
532
+ 0.0013717412948608398,
533
+ 0.001598253846168518,
534
+ 0.002197951078414917,
535
+ 0.004419803619384766,
536
+ 0.004250906407833099
537
+ ],
538
+ "replay_smoothing_max_deviation_normalized": 0.5064721912581048,
539
+ "replay_smoothing_max_deviation_rad": 0.004419803619384766,
540
+ "replay_smoothing_method": "scipy_savgol",
541
+ "replay_smoothing_p95_deviation_rad": 0.001786098349839449,
542
+ "replay_smoothing_passes": 8,
543
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.6497483253479,
544
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 64.01499938964844,
545
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.6755159966091777,
546
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 813.9046630859375,
547
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18315.55859375,
548
+ "replay_smoothing_raw_jerk_rms_rad_s3": 923.4132558457284,
549
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9626312255859375,
550
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.23168188859706984,
551
+ "replay_smoothing_rms_deviation_rad": 0.0008166873188194103,
552
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.759723424911499,
553
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.33061599731445,
554
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.5784083450506476,
555
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 665.7720336914062,
556
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18152.28515625,
557
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 907.925780705171,
558
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9377516508102417,
559
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2309361986447369,
560
+ "replay_smoothing_tolerance_by_joint_rad": [
561
+ 0.03490658476948738,
562
+ 0.03490658476948738,
563
+ 0.02617993950843811,
564
+ 0.008726646192371845,
565
+ 0.008726646192371845,
566
+ 0.008726646192371845
567
+ ],
568
+ "replay_smoothing_tolerance_rad": 0.034906585,
569
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9873233573116783,
570
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967814059318646,
571
+ "replay_smoothing_window_s": 0.2,
572
+ "replay_smoothing_window_samples": 51,
573
+ "replay_smoothing_within_tolerance": true,
574
+ "replay_smoothing_worst_joint": 4,
575
+ "replay_smoothing_worst_time_s": 1.5359999999999996,
576
+ "replay_smoothing_wrist_max_deviation_rad": 0.004419803619384766,
577
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
578
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
579
+ "return_measured_wall_accel_peak_joint": -1,
580
+ "return_measured_wall_accel_peak_time_s": null,
581
+ "return_measured_wall_accel_rms_rad_s2": null,
582
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
583
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
584
+ "return_measured_wall_jerk_peak_joint": -1,
585
+ "return_measured_wall_jerk_peak_time_s": null,
586
+ "return_measured_wall_jerk_rms_rad_s3": null,
587
+ "return_measured_wall_smoothness_samples": 0,
588
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
589
+ "return_measured_wall_velocity_peak_joint": -1,
590
+ "return_measured_wall_velocity_peak_time_s": null,
591
+ "return_measured_wall_velocity_rms_rad_s": null,
592
+ "safety_abort": false,
593
+ "safety_path_error_rad": 0.006756991147994995,
594
+ "saved_data_source": "measured_rapid_planner_playback",
595
+ "send_failures": 0,
596
+ "sent_wall_accel_p95_abs_rad_s2": null,
597
+ "sent_wall_accel_peak_abs_rad_s2": null,
598
+ "sent_wall_accel_peak_joint": -1,
599
+ "sent_wall_accel_peak_time_s": null,
600
+ "sent_wall_accel_rms_rad_s2": null,
601
+ "sent_wall_jerk_p95_abs_rad_s3": null,
602
+ "sent_wall_jerk_peak_abs_rad_s3": null,
603
+ "sent_wall_jerk_peak_joint": -1,
604
+ "sent_wall_jerk_peak_time_s": null,
605
+ "sent_wall_jerk_rms_rad_s3": null,
606
+ "sent_wall_smoothness_samples": 0,
607
+ "sent_wall_velocity_peak_abs_rad_s": null,
608
+ "sent_wall_velocity_peak_joint": -1,
609
+ "sent_wall_velocity_peak_time_s": null,
610
+ "sent_wall_velocity_rms_rad_s": null,
611
+ "stage_planned_to_measured_max_error_rad": 0.0290071964263916,
612
+ "stage_planned_to_measured_rms_error_rad": 0.005863302516740558,
613
+ "stage_sent_to_measured_max_error_rad": null,
614
+ "stage_sent_to_measured_rms_error_rad": null,
615
+ "stage_sent_to_planned_max_error_rad": null,
616
+ "stage_sent_to_planned_rms_error_rad": null,
617
+ "stage_target_to_sent_max_error_rad": null,
618
+ "stage_target_to_sent_rms_error_rad": null,
619
+ "state_frame_count": 1170,
620
+ "stopped_early": false,
621
+ "strict_tracking_pass": true,
622
+ "strict_tracking_reason": "ok",
623
+ "target_wall_accel_p95_abs_rad_s2": 0.8737925291061401,
624
+ "target_wall_accel_peak_abs_rad_s2": 4.105849266052246,
625
+ "target_wall_accel_peak_joint": 1,
626
+ "target_wall_accel_peak_time_s": 26.766742262989283,
627
+ "target_wall_accel_rms_rad_s2": 0.39825325822853175,
628
+ "target_wall_jerk_p95_abs_rad_s3": 20.725439071655273,
629
+ "target_wall_jerk_peak_abs_rad_s3": 113.59709930419922,
630
+ "target_wall_jerk_peak_joint": 1,
631
+ "target_wall_jerk_peak_time_s": 26.80005680769682,
632
+ "target_wall_jerk_rms_rad_s3": 9.420370464995356,
633
+ "target_wall_smoothness_samples": 1170,
634
+ "target_wall_velocity_peak_abs_rad_s": 0.5145208239555359,
635
+ "target_wall_velocity_peak_joint": 5,
636
+ "target_wall_velocity_peak_time_s": 24.933389795944095,
637
+ "target_wall_velocity_rms_rad_s": 0.1000303074125994,
638
+ "tcp_pose_count": 1170,
639
+ "timestamp_count": 1170,
640
+ "tool_failures": 0,
641
+ "tracking_geometry_pass": true,
642
+ "tracking_geometry_reason": "ok",
643
+ "tracking_pass": true,
644
+ "tracking_reason": "ok",
645
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
646
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
647
+ "tracking_threshold_max_lag_s": 0.1,
648
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
649
+ "tracking_timing_pass": true,
650
+ "tracking_timing_reason": "ok",
651
+ "window_lag_best_lag_max_s": 1.1000000000000028,
652
+ "window_lag_best_lag_median_s": 0.0,
653
+ "window_lag_best_lag_min_s": -1.1199999999999992,
654
+ "window_lag_best_lag_p95_abs_s": 1.1120000000000005,
655
+ "window_lag_count": 29,
656
+ "window_lag_window_s": 1.0,
657
+ "window_lag_worst_best_lag_s": 0.0,
658
+ "window_lag_worst_end_s": 3.0,
659
+ "window_lag_worst_max_error_rad": 0.004732728004455566,
660
+ "window_lag_worst_rms_error_rad": 0.0017697082264763221,
661
+ "window_lag_worst_start_s": 2.0,
662
+ "zero_lag_max_error_rad": 0.006756991147994995,
663
+ "zero_lag_p95_error_rad": 0.0019034998258575797,
664
+ "zero_lag_rms_error_rad": 0.0008289157448475292,
665
+ "zero_lag_samples": 1170,
666
+ "zero_lag_worst_joint": 0,
667
+ "zero_lag_worst_time_s": 19.102
668
+ }
669
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152639.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31ebe89465e5a1f4a2639b61d62d664a95d2e5ecb0e083b8db5234d04891a133
3
+ size 122443
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.json ADDED
@@ -0,0 +1,673 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:29:15",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.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": 1153,
20
+ "actual_playback_duration_s": 38.444843056146055,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005483806133270264,
23
+ "aligned_p95_error_rad": 0.001744779641740024,
24
+ "aligned_rms_error_rad": 0.0007808214327030185,
25
+ "aligned_samples": 1153,
26
+ "aligned_worst_joint": 2,
27
+ "aligned_worst_time_s": 2.656,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1153,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1153,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.5468271930532733,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1153,
46
+ "cam_wrist": 1153
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
+ 0.004178076982498169,
58
+ 0.004665970802307129,
59
+ 0.005483806133270264,
60
+ 0.0047748638316988945,
61
+ 0.004471719264984131,
62
+ 0.005432844161987305
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0015347780426964164,
66
+ 0.0017538669053465128,
67
+ 0.0018375397194176912,
68
+ 0.0008028362644836307,
69
+ 0.0014734987635165453,
70
+ 0.0022564921528100967
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.000679813484276093,
74
+ 0.0008341152111158416,
75
+ 0.0008856662686385455,
76
+ 0.0005268379706514796,
77
+ 0.0007023773836507723,
78
+ 0.0009720602471058789
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1153,
82
+ 1153,
83
+ 1153,
84
+ 1153,
85
+ 1153,
86
+ 1153
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 14.854,
90
+ 2.656,
91
+ 2.656,
92
+ 2.6199999999999997,
93
+ 14.439,
94
+ 2.656
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.012000000104308128,
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": true,
101
+ "leadthrough_capture_controller_tm_gap_warn_count": 1,
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": 3,
107
+ "leadthrough_capture_egm_drained_packet_max": 7,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.014176181051880121,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003969728481024504,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004348129848949611,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004788474412634969,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2809,
114
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 2,
115
+ "leadthrough_capture_egm_recorded_seqno_step_max": 3,
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": 0.016492662020027637,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.00399726303294301,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004378137178719044,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004845237843692304,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 1,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.014439256861805916,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.00399941997602582,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004366004467010498,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004779763696715236,
128
+ "leadthrough_capture_host_receive_gap_warn": true,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 1,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
169
+ "leadthrough_capture_loop_late_max_s": 0.027329652570188046,
170
+ "leadthrough_capture_loop_late_median_s": 0.011007884051650763,
171
+ "leadthrough_capture_loop_late_p95_s": 0.023078108089976013,
172
+ "leadthrough_capture_loop_late_p99_s": 0.023223455413244665,
173
+ "leadthrough_capture_loop_late_warn_count": 6976,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.016260859090834856,
176
+ "leadthrough_capture_read_duration_median_s": 0.0039851495530456305,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004366148496046662,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004835251718759537,
179
+ "leadthrough_capture_read_duration_warn_count": 3150,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.012000000000000455,
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": true,
185
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 1,
186
+ "leadthrough_capture_slow_ticks": 6,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.003738678991794586,
190
+ 0.0037454962730407715,
191
+ 0.0053761303424835205,
192
+ 0.0011510830372571945,
193
+ 0.0029145479202270508,
194
+ 0.006314456462860107
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006314456462860107,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0015857107937335968,
199
+ 0.0023642778396606445,
200
+ 0.0036464035511016846,
201
+ 0.0003478419966995716,
202
+ 0.0014222264289855957,
203
+ 0.002871096134185791
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0006820274284109473,
207
+ 0.000959669821895659,
208
+ 0.0012798240641131997,
209
+ 0.00015805319708306342,
210
+ 0.0005886931321583688,
211
+ 0.0013007825473323464
212
+ ],
213
+ "leadthrough_delta_samples": 6211,
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": -0.006314456462860107,
218
+ "leadthrough_delta_worst_from_rad": -0.5626012682914734,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7439999999999998,
221
+ "leadthrough_delta_worst_to_rad": -0.5689157247543335,
222
+ "leadthrough_duration_s": 24.854,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6173,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6174,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6976,
234
+ "leadthrough_initial_stillness_first_motion_index": 765,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.055,
238
+ "leadthrough_initial_stillness_removed_samples": 764,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 764,
242
+ "leadthrough_initial_stillness_trimmed": true,
243
+ "leadthrough_reference_hz": 250.0,
244
+ "leadthrough_sample_dt_max_s": 0.012000000000000455,
245
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
246
+ "leadthrough_sample_gap_warn": true,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.003738678991794586,
249
+ 0.0037454962730407715,
250
+ 0.0053761303424835205,
251
+ 0.0011510830372571945,
252
+ 0.0029145479202270508,
253
+ 0.006314456462860107
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006314456462860107,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.9346697479491646,
258
+ 1.1371721824009782,
259
+ 1.3440325856210282,
260
+ 0.2877707593143303,
261
+ 0.7286369800565193,
262
+ 2.1040240923562843
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.847294807434082,
265
+ "leadthrough_velocity_rms_rad_s": 0.23217892091580036,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005483806133270264,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4871174991130829,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.864628314971924,
272
+ "measured_wall_accel_peak_joint": 3,
273
+ "measured_wall_accel_peak_time_s": 23.331927318125963,
274
+ "measured_wall_accel_rms_rad_s2": 0.2492292858312001,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.192090034484863,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 104.24300384521484,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 17.05540607823059,
279
+ "measured_wall_jerk_rms_rad_s3": 4.97879747417815,
280
+ "measured_wall_smoothness_samples": 1153,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.5803732872009277,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.69909663731232,
284
+ "measured_wall_velocity_rms_rad_s": 0.10075612883459283,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005483806133270264,
287
+ "moving_aligned_p95_error_rad": 0.001960995839908719,
288
+ "moving_aligned_rms_error_rad": 0.00090464266641854,
289
+ "moving_aligned_samples": 850,
290
+ "moving_aligned_worst_joint": 2,
291
+ "moving_aligned_worst_time_s": 2.656,
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
+ 0.003494769334793091,
302
+ 0.004665970802307129,
303
+ 0.005483806133270264,
304
+ 0.0045899897813797,
305
+ 0.004471719264984131,
306
+ 0.005432844161987305
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0017144291196018457,
310
+ 0.002072626957669854,
311
+ 0.002109908265992999,
312
+ 0.0026400084607303143,
313
+ 0.0018793090712279081,
314
+ 0.0026970356702804565
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0007969488818828687,
318
+ 0.0009894419458813817,
319
+ 0.0011056674774293142,
320
+ 0.0009763026792279286,
321
+ 0.0009187825438604998,
322
+ 0.0013984105765233383
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 683,
326
+ 800,
327
+ 719,
328
+ 212,
329
+ 569,
330
+ 491
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 14.795000000000002,
334
+ 2.656,
335
+ 2.656,
336
+ 2.656,
337
+ 14.439,
338
+ 2.656
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": 2.434380531311035,
348
+ "playback_velocity_rms_rad_s": 0.4538528165888066,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 79.708,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.854,
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
+ 1985,
357
+ 5031
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.44873659828066775,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08643671870231628,
364
+ "rapid_planner_max_dt_s": 2.2590000000000003,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007831931114196777,
367
+ "rapid_planner_median_dt_s": 0.09600000000000009,
368
+ "rapid_planner_path_max_error_rad": 0.005483806133270264,
369
+ "rapid_planner_path_p95_error_rad": 0.002739478647708887,
370
+ "rapid_planner_path_rms_error_rad": 0.0012989520451819306,
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
+ 26,
376
+ 51,
377
+ 64,
378
+ 81,
379
+ 90,
380
+ 100,
381
+ 112,
382
+ 124,
383
+ 136,
384
+ 147,
385
+ 154,
386
+ 162,
387
+ 176,
388
+ 184,
389
+ 191,
390
+ 198,
391
+ 206,
392
+ 221,
393
+ 236,
394
+ 244,
395
+ 252,
396
+ 267,
397
+ 283,
398
+ 301,
399
+ 323,
400
+ 340,
401
+ 356,
402
+ 373,
403
+ 398,
404
+ 438,
405
+ 479,
406
+ 514,
407
+ 549,
408
+ 612,
409
+ 696,
410
+ 768,
411
+ 842,
412
+ 906,
413
+ 1056,
414
+ 1188,
415
+ 1420,
416
+ 1985,
417
+ 2226,
418
+ 2318,
419
+ 2620,
420
+ 2666,
421
+ 2707,
422
+ 2734,
423
+ 2758,
424
+ 2777,
425
+ 2793,
426
+ 2809,
427
+ 2818,
428
+ 2828,
429
+ 2848,
430
+ 2868,
431
+ 2887,
432
+ 2906,
433
+ 2924,
434
+ 2942,
435
+ 2960,
436
+ 2980,
437
+ 3000,
438
+ 3020,
439
+ 3039,
440
+ 3066,
441
+ 3094,
442
+ 3130,
443
+ 3166,
444
+ 3192,
445
+ 3218,
446
+ 3256,
447
+ 3274,
448
+ 3293,
449
+ 3312,
450
+ 3330,
451
+ 3356,
452
+ 3382,
453
+ 3416,
454
+ 3449,
455
+ 3471,
456
+ 3494,
457
+ 3541,
458
+ 3592,
459
+ 3661,
460
+ 3805,
461
+ 3949,
462
+ 4093,
463
+ 4187,
464
+ 4485,
465
+ 4647,
466
+ 4715,
467
+ 4782,
468
+ 4852,
469
+ 5031,
470
+ 5300,
471
+ 5439,
472
+ 5473,
473
+ 5501,
474
+ 5537,
475
+ 5553,
476
+ 5569,
477
+ 5587,
478
+ 5606,
479
+ 5621,
480
+ 5636,
481
+ 5657,
482
+ 5681,
483
+ 5707,
484
+ 5732,
485
+ 5756,
486
+ 5778,
487
+ 5800,
488
+ 5829,
489
+ 5859,
490
+ 5918,
491
+ 6211
492
+ ],
493
+ "rapid_planner_selected_max_joint_step_deg": 4.9524591766022334,
494
+ "rapid_planner_selected_samples": 118,
495
+ "rapid_planner_service_configured": true,
496
+ "rapid_planner_source_samples": 6212,
497
+ "rapid_planner_state_done": 6.0,
498
+ "rapid_planner_state_error": 7.0,
499
+ "rapid_planner_tool_command_hz": 30.0,
500
+ "rapid_planner_tool_command_supported": true,
501
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
502
+ "rapid_planner_tool_io_configured": true,
503
+ "rapid_planner_tool_io_supported": true,
504
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
505
+ "rapid_planner_tool_state_supported": true,
506
+ "rapid_planner_tool_transition_source_count": 2,
507
+ "rapid_planner_tool_transitions_uploaded": 2,
508
+ "rapid_planner_tool_upload_enabled": true,
509
+ "rapid_planner_uploaded": true,
510
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
511
+ "rapid_planner_waypoints_uploaded": 118,
512
+ "raw_ramp_max_error_rad": null,
513
+ "raw_replay_max_error_rad": 0.005483806133270264,
514
+ "raw_replay_rms_error_rad": 0.0007808214327030185,
515
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7737727396431906,
516
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9702232478492402,
517
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9645913517801595,
518
+ "replay_smoothing_applied": true,
519
+ "replay_smoothing_blend": 1.0,
520
+ "replay_smoothing_blend_by_joint": [
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0
527
+ ],
528
+ "replay_smoothing_edge_taper_s": 0.2,
529
+ "replay_smoothing_edge_taper_samples": 50,
530
+ "replay_smoothing_enabled": true,
531
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.6705137869857304,
532
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9810638520515449,
533
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.982599091817157,
534
+ "replay_smoothing_max_deviation_by_joint_rad": [
535
+ 0.0005691945552825928,
536
+ 0.0021146535873413086,
537
+ 0.002760261297225952,
538
+ 0.0024640150368213654,
539
+ 0.003220677375793457,
540
+ 0.005378842353820801
541
+ ],
542
+ "replay_smoothing_max_deviation_normalized": 0.6163699358549183,
543
+ "replay_smoothing_max_deviation_rad": 0.005378842353820801,
544
+ "replay_smoothing_method": "scipy_savgol",
545
+ "replay_smoothing_p95_deviation_rad": 0.0019950238056480885,
546
+ "replay_smoothing_passes": 8,
547
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.0626888275146484,
548
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 61.54169845581055,
549
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.8531159911660673,
550
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 472.4695739746094,
551
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16667.650390625,
552
+ "replay_smoothing_raw_jerk_rms_rad_s3": 729.3060191076668,
553
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8788484334945679,
554
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2329346099515933,
555
+ "replay_smoothing_rms_deviation_rad": 0.0008300186103671055,
556
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.3698251247406006,
557
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 59.70918655395508,
558
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.7520910107044667,
559
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 316.79736328125,
560
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16352.029296875,
561
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 716.6154320319795,
562
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.847294807434082,
563
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23217892091580036,
564
+ "replay_smoothing_tolerance_by_joint_rad": [
565
+ 0.03490658476948738,
566
+ 0.03490658476948738,
567
+ 0.02617993950843811,
568
+ 0.008726646192371845,
569
+ 0.008726646192371845,
570
+ 0.008726646192371845
571
+ ],
572
+ "replay_smoothing_tolerance_rad": 0.034906585,
573
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9832058693516871,
574
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967557889488815,
575
+ "replay_smoothing_window_s": 0.2,
576
+ "replay_smoothing_window_samples": 51,
577
+ "replay_smoothing_within_tolerance": true,
578
+ "replay_smoothing_worst_joint": 5,
579
+ "replay_smoothing_worst_time_s": 11.207,
580
+ "replay_smoothing_wrist_max_deviation_rad": 0.005378842353820801,
581
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
582
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
583
+ "return_measured_wall_accel_peak_joint": -1,
584
+ "return_measured_wall_accel_peak_time_s": null,
585
+ "return_measured_wall_accel_rms_rad_s2": null,
586
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
587
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
588
+ "return_measured_wall_jerk_peak_joint": -1,
589
+ "return_measured_wall_jerk_peak_time_s": null,
590
+ "return_measured_wall_jerk_rms_rad_s3": null,
591
+ "return_measured_wall_smoothness_samples": 0,
592
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
593
+ "return_measured_wall_velocity_peak_joint": -1,
594
+ "return_measured_wall_velocity_peak_time_s": null,
595
+ "return_measured_wall_velocity_rms_rad_s": null,
596
+ "safety_abort": false,
597
+ "safety_path_error_rad": 0.005483806133270264,
598
+ "saved_data_source": "measured_rapid_planner_playback",
599
+ "send_failures": 0,
600
+ "sent_wall_accel_p95_abs_rad_s2": null,
601
+ "sent_wall_accel_peak_abs_rad_s2": null,
602
+ "sent_wall_accel_peak_joint": -1,
603
+ "sent_wall_accel_peak_time_s": null,
604
+ "sent_wall_accel_rms_rad_s2": null,
605
+ "sent_wall_jerk_p95_abs_rad_s3": null,
606
+ "sent_wall_jerk_peak_abs_rad_s3": null,
607
+ "sent_wall_jerk_peak_joint": -1,
608
+ "sent_wall_jerk_peak_time_s": null,
609
+ "sent_wall_jerk_rms_rad_s3": null,
610
+ "sent_wall_smoothness_samples": 0,
611
+ "sent_wall_velocity_peak_abs_rad_s": null,
612
+ "sent_wall_velocity_peak_joint": -1,
613
+ "sent_wall_velocity_peak_time_s": null,
614
+ "sent_wall_velocity_rms_rad_s": null,
615
+ "stage_planned_to_measured_max_error_rad": 0.03577941656112671,
616
+ "stage_planned_to_measured_rms_error_rad": 0.00597318101522612,
617
+ "stage_sent_to_measured_max_error_rad": null,
618
+ "stage_sent_to_measured_rms_error_rad": null,
619
+ "stage_sent_to_planned_max_error_rad": null,
620
+ "stage_sent_to_planned_rms_error_rad": null,
621
+ "stage_target_to_sent_max_error_rad": null,
622
+ "stage_target_to_sent_rms_error_rad": null,
623
+ "state_frame_count": 1153,
624
+ "stopped_early": false,
625
+ "strict_tracking_pass": true,
626
+ "strict_tracking_reason": "ok",
627
+ "target_wall_accel_p95_abs_rad_s2": 0.8158548474311829,
628
+ "target_wall_accel_peak_abs_rad_s2": 14.863326072692871,
629
+ "target_wall_accel_peak_joint": 5,
630
+ "target_wall_accel_peak_time_s": 2.3667813041247427,
631
+ "target_wall_accel_rms_rad_s2": 0.5175586581921462,
632
+ "target_wall_jerk_p95_abs_rad_s3": 20.08907127380371,
633
+ "target_wall_jerk_peak_abs_rad_s3": 476.7774963378906,
634
+ "target_wall_jerk_peak_joint": 5,
635
+ "target_wall_jerk_peak_time_s": 2.6506608137860894,
636
+ "target_wall_jerk_rms_rad_s3": 14.821385230109184,
637
+ "target_wall_smoothness_samples": 1153,
638
+ "target_wall_velocity_peak_abs_rad_s": 1.3646140098571777,
639
+ "target_wall_velocity_peak_joint": 5,
640
+ "target_wall_velocity_peak_time_s": 2.400104481726885,
641
+ "target_wall_velocity_rms_rad_s": 0.10457039960004942,
642
+ "tcp_pose_count": 1153,
643
+ "timestamp_count": 1153,
644
+ "tool_failures": 0,
645
+ "tracking_geometry_pass": true,
646
+ "tracking_geometry_reason": "ok",
647
+ "tracking_pass": true,
648
+ "tracking_reason": "ok",
649
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
650
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
651
+ "tracking_threshold_max_lag_s": 0.1,
652
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
653
+ "tracking_timing_pass": true,
654
+ "tracking_timing_reason": "ok",
655
+ "window_lag_best_lag_max_s": 0.7700000000000022,
656
+ "window_lag_best_lag_median_s": 0.0,
657
+ "window_lag_best_lag_min_s": -1.0099999999999991,
658
+ "window_lag_best_lag_p95_abs_s": 0.7820000000000003,
659
+ "window_lag_count": 29,
660
+ "window_lag_window_s": 1.0,
661
+ "window_lag_worst_best_lag_s": 0.0,
662
+ "window_lag_worst_end_s": 3.5,
663
+ "window_lag_worst_max_error_rad": 0.005483806133270264,
664
+ "window_lag_worst_rms_error_rad": 0.0019206079955750288,
665
+ "window_lag_worst_start_s": 2.5,
666
+ "zero_lag_max_error_rad": 0.005483806133270264,
667
+ "zero_lag_p95_error_rad": 0.001744779641740024,
668
+ "zero_lag_rms_error_rad": 0.0007808214327030185,
669
+ "zero_lag_samples": 1153,
670
+ "zero_lag_worst_joint": 2,
671
+ "zero_lag_worst_time_s": 2.656
672
+ }
673
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_152914.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9128ba5c75254408a9e2699325b2abc7cda93eecc83969f3f2c21115a5812eba
3
+ size 121117
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.json ADDED
@@ -0,0 +1,677 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:33:29",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.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": 1181,
20
+ "actual_playback_duration_s": 39.377010928001255,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.0052449703216552734,
23
+ "aligned_p95_error_rad": 0.0018543004989624023,
24
+ "aligned_rms_error_rad": 0.0007907653820584423,
25
+ "aligned_samples": 1181,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 14.342000000000002,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1181,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1181,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6373658334234793,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1181,
46
+ "cam_wrist": 1181
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
+ 0.005171030759811401,
58
+ 0.004017382860183716,
59
+ 0.0038244128227233887,
60
+ 0.0030096275731921196,
61
+ 0.0042122602462768555,
62
+ 0.0052449703216552734
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0019773542881011963,
66
+ 0.0020948052406311035,
67
+ 0.0020808130502700806,
68
+ 0.0007488280534744263,
69
+ 0.0015195608139038086,
70
+ 0.002127334475517273
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008494063002360927,
74
+ 0.000917991725784444,
75
+ 0.0008886432584555747,
76
+ 0.0003795182010667656,
77
+ 0.0006812067822930627,
78
+ 0.0008887608673322497
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1181,
82
+ 1181,
83
+ 1181,
84
+ 1181,
85
+ 1181,
86
+ 1181
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 14.354,
90
+ 13.93,
91
+ 5.399,
92
+ 5.915,
93
+ 5.4750000000000005,
94
+ 14.342000000000002
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": 37,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005942206829786301,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003970764577388763,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004368303972296417,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004816250652074815,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3174,
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": 0.006004334893077612,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003996542189270258,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0043991198763251305,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004870043043047192,
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": 0.005852741189301014,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999721258878708,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004383665043860674,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004827410448342564,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.034677166026085615,
170
+ "leadthrough_capture_loop_late_median_s": 0.031018244102597237,
171
+ "leadthrough_capture_loop_late_p95_s": 0.03140888973139226,
172
+ "leadthrough_capture_loop_late_p99_s": 0.031858884063549336,
173
+ "leadthrough_capture_loop_late_warn_count": 7742,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005979658104479313,
176
+ "leadthrough_capture_read_duration_median_s": 0.003985268995165825,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004386846651323139,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004848372912965715,
179
+ "leadthrough_capture_read_duration_warn_count": 3519,
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": 0.005000000000001848,
184
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
185
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
186
+ "leadthrough_capture_slow_ticks": 0,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004208065569400787,
190
+ 0.004855215549468994,
191
+ 0.007021158933639526,
192
+ 0.0017880462110042572,
193
+ 0.003335714340209961,
194
+ 0.0065697431564331055
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007021158933639526,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0016677347011864185,
199
+ 0.0025338607374578714,
200
+ 0.0038483617827296257,
201
+ 0.0004435366136021912,
202
+ 0.0016394373960793018,
203
+ 0.0028018176089972258
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007206136942841113,
207
+ 0.001083059934899211,
208
+ 0.0014414886245504022,
209
+ 0.00021489517530426383,
210
+ 0.0006084758788347244,
211
+ 0.0012664548121392727
212
+ ],
213
+ "leadthrough_delta_samples": 6013,
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": 0.007021158933639526,
218
+ "leadthrough_delta_worst_from_rad": -0.4651154577732086,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 12.830000000000002,
221
+ "leadthrough_delta_worst_to_rad": -0.4580942988395691,
222
+ "leadthrough_duration_s": 24.049,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6007,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6008,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7742,
234
+ "leadthrough_initial_stillness_first_motion_index": 1729,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 6.912,
238
+ "leadthrough_initial_stillness_removed_samples": 1728,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1728,
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
+ 0.004208065569400787,
249
+ 0.004855215549468994,
250
+ 0.007021158933639526,
251
+ 0.0017880462110042572,
252
+ 0.003335714340209961,
253
+ 0.0065697431564331055
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007021158933639526,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.05201639235078,
258
+ 1.213803887366843,
259
+ 1.7552897334092954,
260
+ 0.5920206507046794,
261
+ 0.8339285850529524,
262
+ 2.1837353706359037
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9373013973236084,
265
+ "leadthrough_velocity_rms_rad_s": 0.24893879671871252,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.0052449703216552734,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4336463212966919,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.8157341480255127,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 24.66647088015452,
274
+ "measured_wall_accel_rms_rad_s2": 0.22340121989977677,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.734124660491943,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 62.69321823120117,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 24.732663998845965,
279
+ "measured_wall_jerk_rms_rad_s3": 4.147659174645808,
280
+ "measured_wall_smoothness_samples": 1181,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.5032531023025513,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.498253317084163,
284
+ "measured_wall_velocity_rms_rad_s": 0.09949716943770813,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.0052449703216552734,
287
+ "moving_aligned_p95_error_rad": 0.0020727121736854315,
288
+ "moving_aligned_rms_error_rad": 0.0009081379179821878,
289
+ "moving_aligned_samples": 870,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 14.342000000000002,
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
+ 0.005171030759811401,
302
+ 0.004017382860183716,
303
+ 0.0038244128227233887,
304
+ 0.0027114925906062126,
305
+ 0.0042122602462768555,
306
+ 0.0052449703216552734
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0021803404670208693,
310
+ 0.0022756182588636875,
311
+ 0.0022869885433465242,
312
+ 0.0017814988968893886,
313
+ 0.0018489062786102295,
314
+ 0.0027972818352282047
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.001013819881845818,
318
+ 0.0010851069509693484,
319
+ 0.0010957267316887812,
320
+ 0.0007175796166002648,
321
+ 0.0009132945744213203,
322
+ 0.001295083328094221
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 697,
326
+ 814,
327
+ 708,
328
+ 248,
329
+ 531,
330
+ 484
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 14.354,
334
+ 13.93,
335
+ 5.399,
336
+ 14.334,
337
+ 5.4750000000000005,
338
+ 14.342000000000002
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": 2.906294584274292,
348
+ "playback_velocity_rms_rad_s": 0.5103837356416875,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 78.098,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.049,
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
+ 2359,
357
+ 5070
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.3834878011395359,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08685261011123657,
364
+ "rapid_planner_max_dt_s": 1.719999999999998,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.006693124771118164,
367
+ "rapid_planner_median_dt_s": 0.08400000000000318,
368
+ "rapid_planner_path_max_error_rad": 0.0052449703216552734,
369
+ "rapid_planner_path_p95_error_rad": 0.002866417169570923,
370
+ "rapid_planner_path_rms_error_rad": 0.0013879620902149377,
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
+ 40,
376
+ 72,
377
+ 90,
378
+ 108,
379
+ 120,
380
+ 131,
381
+ 144,
382
+ 158,
383
+ 171,
384
+ 184,
385
+ 192,
386
+ 201,
387
+ 210,
388
+ 218,
389
+ 227,
390
+ 236,
391
+ 246,
392
+ 255,
393
+ 266,
394
+ 277,
395
+ 292,
396
+ 306,
397
+ 318,
398
+ 331,
399
+ 349,
400
+ 364,
401
+ 380,
402
+ 400,
403
+ 419,
404
+ 438,
405
+ 458,
406
+ 485,
407
+ 512,
408
+ 542,
409
+ 573,
410
+ 602,
411
+ 630,
412
+ 666,
413
+ 699,
414
+ 735,
415
+ 862,
416
+ 989,
417
+ 1208,
418
+ 1290,
419
+ 1407,
420
+ 1582,
421
+ 1772,
422
+ 2202,
423
+ 2359,
424
+ 2625,
425
+ 2700,
426
+ 3023,
427
+ 3070,
428
+ 3138,
429
+ 3158,
430
+ 3176,
431
+ 3184,
432
+ 3192,
433
+ 3202,
434
+ 3211,
435
+ 3219,
436
+ 3227,
437
+ 3236,
438
+ 3244,
439
+ 3260,
440
+ 3280,
441
+ 3299,
442
+ 3314,
443
+ 3329,
444
+ 3346,
445
+ 3363,
446
+ 3384,
447
+ 3406,
448
+ 3448,
449
+ 3510,
450
+ 3538,
451
+ 3566,
452
+ 3601,
453
+ 3622,
454
+ 3638,
455
+ 3655,
456
+ 3681,
457
+ 3707,
458
+ 3740,
459
+ 3773,
460
+ 3798,
461
+ 3824,
462
+ 3895,
463
+ 3944,
464
+ 3993,
465
+ 4074,
466
+ 4113,
467
+ 4184,
468
+ 4247,
469
+ 4375,
470
+ 4640,
471
+ 4805,
472
+ 4878,
473
+ 5070,
474
+ 5271,
475
+ 5317,
476
+ 5350,
477
+ 5384,
478
+ 5404,
479
+ 5425,
480
+ 5440,
481
+ 5455,
482
+ 5473,
483
+ 5491,
484
+ 5510,
485
+ 5530,
486
+ 5546,
487
+ 5563,
488
+ 5580,
489
+ 5596,
490
+ 5619,
491
+ 5645,
492
+ 5692,
493
+ 5887,
494
+ 5959,
495
+ 6013
496
+ ],
497
+ "rapid_planner_selected_max_joint_step_deg": 4.976287999069115,
498
+ "rapid_planner_selected_samples": 122,
499
+ "rapid_planner_service_configured": true,
500
+ "rapid_planner_source_samples": 6014,
501
+ "rapid_planner_state_done": 6.0,
502
+ "rapid_planner_state_error": 7.0,
503
+ "rapid_planner_tool_command_hz": 30.0,
504
+ "rapid_planner_tool_command_supported": true,
505
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
506
+ "rapid_planner_tool_io_configured": true,
507
+ "rapid_planner_tool_io_supported": true,
508
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
509
+ "rapid_planner_tool_state_supported": true,
510
+ "rapid_planner_tool_transition_source_count": 2,
511
+ "rapid_planner_tool_transitions_uploaded": 2,
512
+ "rapid_planner_tool_upload_enabled": true,
513
+ "rapid_planner_uploaded": true,
514
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
515
+ "rapid_planner_waypoints_uploaded": 122,
516
+ "raw_ramp_max_error_rad": null,
517
+ "raw_replay_max_error_rad": 0.0052449703216552734,
518
+ "raw_replay_rms_error_rad": 0.0007907653820584423,
519
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8688612618941817,
520
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9930880519632109,
521
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9757060251124768,
522
+ "replay_smoothing_applied": true,
523
+ "replay_smoothing_blend": 1.0,
524
+ "replay_smoothing_blend_by_joint": [
525
+ 1.0,
526
+ 1.0,
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0
531
+ ],
532
+ "replay_smoothing_edge_taper_s": 0.2,
533
+ "replay_smoothing_edge_taper_samples": 50,
534
+ "replay_smoothing_enabled": true,
535
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.7824575326857798,
536
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.983101714691081,
537
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9850173132489818,
538
+ "replay_smoothing_max_deviation_by_joint_rad": [
539
+ 0.0006205439567565918,
540
+ 0.0019992589950561523,
541
+ 0.0038307905197143555,
542
+ 0.0025671422481536865,
543
+ 0.004774570465087891,
544
+ 0.0062416791915893555
545
+ ],
546
+ "replay_smoothing_max_deviation_normalized": 0.7152437550459357,
547
+ "replay_smoothing_max_deviation_rad": 0.0062416791915893555,
548
+ "replay_smoothing_method": "scipy_savgol",
549
+ "replay_smoothing_p95_deviation_rad": 0.001695968909189105,
550
+ "replay_smoothing_passes": 8,
551
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.777362823486328,
552
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.79400634765625,
553
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.03674316149052,
554
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 995.6279907226562,
555
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18468.728515625,
556
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1015.1061164684518,
557
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9506314992904663,
558
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2497530748280427,
559
+ "replay_smoothing_rms_deviation_rad": 0.0008055005151043019,
560
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.019726753234863,
561
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 63.353065490722656,
562
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9386746244978883,
563
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 779.03662109375,
564
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18156.638671875,
565
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 999.8970995063623,
566
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9373013973236084,
567
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24893879671871252,
568
+ "replay_smoothing_tolerance_by_joint_rad": [
569
+ 0.03490658476948738,
570
+ 0.03490658476948738,
571
+ 0.02617993950843811,
572
+ 0.008726646192371845,
573
+ 0.008726646192371845,
574
+ 0.008726646192371845
575
+ ],
576
+ "replay_smoothing_tolerance_rad": 0.034906585,
577
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.99316626335025,
578
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967396673298584,
579
+ "replay_smoothing_window_s": 0.2,
580
+ "replay_smoothing_window_samples": 51,
581
+ "replay_smoothing_within_tolerance": true,
582
+ "replay_smoothing_worst_joint": 5,
583
+ "replay_smoothing_worst_time_s": 12.742,
584
+ "replay_smoothing_wrist_max_deviation_rad": 0.0062416791915893555,
585
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
586
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
587
+ "return_measured_wall_accel_peak_joint": -1,
588
+ "return_measured_wall_accel_peak_time_s": null,
589
+ "return_measured_wall_accel_rms_rad_s2": null,
590
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
591
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
592
+ "return_measured_wall_jerk_peak_joint": -1,
593
+ "return_measured_wall_jerk_peak_time_s": null,
594
+ "return_measured_wall_jerk_rms_rad_s3": null,
595
+ "return_measured_wall_smoothness_samples": 0,
596
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
597
+ "return_measured_wall_velocity_peak_joint": -1,
598
+ "return_measured_wall_velocity_peak_time_s": null,
599
+ "return_measured_wall_velocity_rms_rad_s": null,
600
+ "safety_abort": false,
601
+ "safety_path_error_rad": 0.0052449703216552734,
602
+ "saved_data_source": "measured_rapid_planner_playback",
603
+ "send_failures": 0,
604
+ "sent_wall_accel_p95_abs_rad_s2": null,
605
+ "sent_wall_accel_peak_abs_rad_s2": null,
606
+ "sent_wall_accel_peak_joint": -1,
607
+ "sent_wall_accel_peak_time_s": null,
608
+ "sent_wall_accel_rms_rad_s2": null,
609
+ "sent_wall_jerk_p95_abs_rad_s3": null,
610
+ "sent_wall_jerk_peak_abs_rad_s3": null,
611
+ "sent_wall_jerk_peak_joint": -1,
612
+ "sent_wall_jerk_peak_time_s": null,
613
+ "sent_wall_jerk_rms_rad_s3": null,
614
+ "sent_wall_smoothness_samples": 0,
615
+ "sent_wall_velocity_peak_abs_rad_s": null,
616
+ "sent_wall_velocity_peak_joint": -1,
617
+ "sent_wall_velocity_peak_time_s": null,
618
+ "sent_wall_velocity_rms_rad_s": null,
619
+ "stage_planned_to_measured_max_error_rad": 0.028612904250621796,
620
+ "stage_planned_to_measured_rms_error_rad": 0.005902455601721676,
621
+ "stage_sent_to_measured_max_error_rad": null,
622
+ "stage_sent_to_measured_rms_error_rad": null,
623
+ "stage_sent_to_planned_max_error_rad": null,
624
+ "stage_sent_to_planned_rms_error_rad": null,
625
+ "stage_target_to_sent_max_error_rad": null,
626
+ "stage_target_to_sent_rms_error_rad": null,
627
+ "state_frame_count": 1181,
628
+ "stopped_early": false,
629
+ "strict_tracking_pass": true,
630
+ "strict_tracking_reason": "ok",
631
+ "target_wall_accel_p95_abs_rad_s2": 0.9488247632980347,
632
+ "target_wall_accel_peak_abs_rad_s2": 3.6140897274017334,
633
+ "target_wall_accel_peak_joint": 5,
634
+ "target_wall_accel_peak_time_s": 9.133389506023377,
635
+ "target_wall_accel_rms_rad_s2": 0.3961019317393266,
636
+ "target_wall_jerk_p95_abs_rad_s3": 21.919479370117188,
637
+ "target_wall_jerk_peak_abs_rad_s3": 81.75424194335938,
638
+ "target_wall_jerk_peak_joint": 5,
639
+ "target_wall_jerk_peak_time_s": 9.200055147055537,
640
+ "target_wall_jerk_rms_rad_s3": 9.633094050053975,
641
+ "target_wall_smoothness_samples": 1181,
642
+ "target_wall_velocity_peak_abs_rad_s": 0.5284149050712585,
643
+ "target_wall_velocity_peak_joint": 5,
644
+ "target_wall_velocity_peak_time_s": 1.1333889798261225,
645
+ "target_wall_velocity_rms_rad_s": 0.10066437785832719,
646
+ "tcp_pose_count": 1181,
647
+ "timestamp_count": 1181,
648
+ "tool_failures": 0,
649
+ "tracking_geometry_pass": true,
650
+ "tracking_geometry_reason": "ok",
651
+ "tracking_pass": true,
652
+ "tracking_reason": "ok",
653
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
654
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
655
+ "tracking_threshold_max_lag_s": 0.1,
656
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
657
+ "tracking_timing_pass": true,
658
+ "tracking_timing_reason": "ok",
659
+ "window_lag_best_lag_max_s": 0.7700000000000022,
660
+ "window_lag_best_lag_median_s": 0.0,
661
+ "window_lag_best_lag_min_s": -1.0699999999999992,
662
+ "window_lag_best_lag_p95_abs_s": 0.7700000000000022,
663
+ "window_lag_count": 29,
664
+ "window_lag_window_s": 1.0,
665
+ "window_lag_worst_best_lag_s": 0.0,
666
+ "window_lag_worst_end_s": 17.5,
667
+ "window_lag_worst_max_error_rad": 0.0039027929306030273,
668
+ "window_lag_worst_rms_error_rad": 0.0012627075115382066,
669
+ "window_lag_worst_start_s": 16.5,
670
+ "zero_lag_max_error_rad": 0.0052449703216552734,
671
+ "zero_lag_p95_error_rad": 0.0018543004989624023,
672
+ "zero_lag_rms_error_rad": 0.0007907653820584423,
673
+ "zero_lag_samples": 1181,
674
+ "zero_lag_worst_joint": 5,
675
+ "zero_lag_worst_time_s": 14.342000000000002
676
+ }
677
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153328.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4784785c4571f991b6d6790075c52f991a4df4ebd884cdfc8269b1d31f39ed64
3
+ size 124036
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.json ADDED
@@ -0,0 +1,662 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:35:27",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.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": 1132,
20
+ "actual_playback_duration_s": 37.74836084572598,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005108058452606201,
23
+ "aligned_p95_error_rad": 0.001813223003409803,
24
+ "aligned_rms_error_rad": 0.0007996889674164663,
25
+ "aligned_samples": 1132,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 12.719,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1132,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1132,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.8849675844265448,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1132,
46
+ "cam_wrist": 1132
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
+ 0.003628551959991455,
58
+ 0.004874706268310547,
59
+ 0.004551529884338379,
60
+ 0.003637883346527815,
61
+ 0.005108058452606201,
62
+ 0.004740655422210693
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016570681473240256,
66
+ 0.0019069931004196405,
67
+ 0.00207936717197299,
68
+ 0.0010343620087951422,
69
+ 0.0016175385098904371,
70
+ 0.0021974563132971525
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007253444199455049,
74
+ 0.0008971218310656028,
75
+ 0.0009499924349951102,
76
+ 0.00046058993856862946,
77
+ 0.0006974714338692316,
78
+ 0.0009512977668442775
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1132,
82
+ 1132,
83
+ 1132,
84
+ 1132,
85
+ 1132,
86
+ 1132
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 10.727,
90
+ 12.719,
91
+ 10.727,
92
+ 0.40400000000000036,
93
+ 12.719,
94
+ 10.743
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": 16,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005649492144584656,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.00397878116928041,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.00433626864105463,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004469501110725103,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2499,
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": 0.00570635125041008,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004003820009529591,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004364986903965473,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004512861259281635,
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": 0.005606393795460463,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004005485214293003,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004363484214991331,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0044847635552287095,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.035890634637326,
170
+ "leadthrough_capture_loop_late_median_s": 0.029532271903008223,
171
+ "leadthrough_capture_loop_late_p95_s": 0.029792003566399217,
172
+ "leadthrough_capture_loop_late_p99_s": 0.030051015294156967,
173
+ "leadthrough_capture_loop_late_warn_count": 5886,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005686494987457991,
176
+ "leadthrough_capture_read_duration_median_s": 0.003992817364633083,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004353721393272281,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004496176680549977,
179
+ "leadthrough_capture_read_duration_warn_count": 2785,
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": 0,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004657872021198273,
190
+ 0.004553601145744324,
191
+ 0.006028860807418823,
192
+ 0.0019318554550409317,
193
+ 0.003079354763031006,
194
+ 0.00640377402305603
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.00640377402305603,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018389297183603048,
199
+ 0.0030308805871754885,
200
+ 0.003728967858478427,
201
+ 0.00047463583177886903,
202
+ 0.0016598696820437908,
203
+ 0.0030569923110306263
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008349212585017085,
207
+ 0.0011674886336550117,
208
+ 0.0015376388328149915,
209
+ 0.00026651713415049016,
210
+ 0.0006665114196948707,
211
+ 0.0013462704373523593
212
+ ],
213
+ "leadthrough_delta_samples": 5007,
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": -0.00640377402305603,
218
+ "leadthrough_delta_worst_from_rad": -0.17176151275634766,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7330000000000001,
221
+ "leadthrough_delta_worst_to_rad": -0.1781652867794037,
222
+ "leadthrough_duration_s": 20.026,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5006,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.3279999999999994,
228
+ "leadthrough_final_stillness_removed_samples": 82,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5007,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 5886,
234
+ "leadthrough_initial_stillness_first_motion_index": 797,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.183,
238
+ "leadthrough_initial_stillness_removed_samples": 796,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 796,
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
+ 0.004657872021198273,
249
+ 0.004553601145744324,
250
+ 0.006028860807418823,
251
+ 0.0019318554550409317,
252
+ 0.003079354763031006,
253
+ 0.00640377402305603
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.00640377402305603,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.5285213788349843,
258
+ 1.5094776948292479,
259
+ 1.9823213418324037,
260
+ 0.628173351287818,
261
+ 1.0166565577188742,
262
+ 2.131591240564901
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.8519872426986694,
265
+ "leadthrough_velocity_rms_rad_s": 0.2745998821825722,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005108058452606201,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4156787097454071,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.1336874961853027,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 27.889336517546326,
274
+ "measured_wall_accel_rms_rad_s2": 0.2007462043264338,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.239854335784912,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 56.29302978515625,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 27.95630765380338,
279
+ "measured_wall_jerk_rms_rad_s3": 3.760292279827183,
280
+ "measured_wall_smoothness_samples": 1132,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.4309365153312683,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.55535248061642,
284
+ "measured_wall_velocity_rms_rad_s": 0.0974000781795247,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005108058452606201,
287
+ "moving_aligned_p95_error_rad": 0.0020334473811089993,
288
+ "moving_aligned_rms_error_rad": 0.0009243621468811624,
289
+ "moving_aligned_samples": 828,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 12.719,
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
+ 0.003628551959991455,
302
+ 0.004874706268310547,
303
+ 0.004551529884338379,
304
+ 0.003637883346527815,
305
+ 0.005108058452606201,
306
+ 0.004740655422210693
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.001956112217158079,
310
+ 0.002225041389465332,
311
+ 0.002275163074955344,
312
+ 0.002377691911533475,
313
+ 0.001879870891571045,
314
+ 0.002642523730173707
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009071085536638471,
318
+ 0.0010738731370448513,
319
+ 0.0011493981637637663,
320
+ 0.0009721670096447442,
321
+ 0.0009076889284410127,
322
+ 0.001388338082140092
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 675,
326
+ 761,
327
+ 727,
328
+ 228,
329
+ 571,
330
+ 495
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 10.727,
334
+ 12.719,
335
+ 10.727,
336
+ 0.40400000000000036,
337
+ 12.719,
338
+ 10.743
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": 2.4589529037475586,
348
+ "playback_velocity_rms_rad_s": 0.5520088941180624,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 70.05199999999999,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 20.026,
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
+ 1617,
357
+ 4083
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.41694889788342837,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08658163249492645,
364
+ "rapid_planner_max_dt_s": 1.411999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007277131080627441,
367
+ "rapid_planner_median_dt_s": 0.08650000000000002,
368
+ "rapid_planner_path_max_error_rad": 0.005108058452606201,
369
+ "rapid_planner_path_p95_error_rad": 0.002585417777299881,
370
+ "rapid_planner_path_rms_error_rad": 0.0013276766838691435,
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
+ 43,
376
+ 80,
377
+ 111,
378
+ 133,
379
+ 146,
380
+ 159,
381
+ 172,
382
+ 186,
383
+ 200,
384
+ 214,
385
+ 226,
386
+ 239,
387
+ 252,
388
+ 264,
389
+ 276,
390
+ 287,
391
+ 307,
392
+ 330,
393
+ 352,
394
+ 368,
395
+ 384,
396
+ 402,
397
+ 419,
398
+ 440,
399
+ 460,
400
+ 481,
401
+ 502,
402
+ 544,
403
+ 593,
404
+ 634,
405
+ 675,
406
+ 723,
407
+ 763,
408
+ 828,
409
+ 922,
410
+ 1101,
411
+ 1265,
412
+ 1617,
413
+ 1879,
414
+ 1956,
415
+ 2161,
416
+ 2205,
417
+ 2259,
418
+ 2281,
419
+ 2301,
420
+ 2314,
421
+ 2328,
422
+ 2340,
423
+ 2352,
424
+ 2364,
425
+ 2376,
426
+ 2388,
427
+ 2399,
428
+ 2412,
429
+ 2424,
430
+ 2442,
431
+ 2460,
432
+ 2480,
433
+ 2501,
434
+ 2536,
435
+ 2572,
436
+ 2614,
437
+ 2660,
438
+ 2703,
439
+ 2727,
440
+ 2750,
441
+ 2773,
442
+ 2804,
443
+ 2819,
444
+ 2834,
445
+ 2860,
446
+ 2891,
447
+ 2928,
448
+ 2966,
449
+ 3010,
450
+ 3053,
451
+ 3136,
452
+ 3242,
453
+ 3286,
454
+ 3422,
455
+ 3775,
456
+ 3854,
457
+ 3925,
458
+ 4083,
459
+ 4309,
460
+ 4351,
461
+ 4377,
462
+ 4400,
463
+ 4419,
464
+ 4441,
465
+ 4452,
466
+ 4464,
467
+ 4477,
468
+ 4490,
469
+ 4508,
470
+ 4526,
471
+ 4546,
472
+ 4566,
473
+ 4584,
474
+ 4600,
475
+ 4618,
476
+ 4636,
477
+ 4655,
478
+ 4674,
479
+ 4716,
480
+ 5007
481
+ ],
482
+ "rapid_planner_selected_max_joint_step_deg": 4.96076212531203,
483
+ "rapid_planner_selected_samples": 107,
484
+ "rapid_planner_service_configured": true,
485
+ "rapid_planner_source_samples": 5008,
486
+ "rapid_planner_state_done": 6.0,
487
+ "rapid_planner_state_error": 7.0,
488
+ "rapid_planner_tool_command_hz": 30.0,
489
+ "rapid_planner_tool_command_supported": true,
490
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
491
+ "rapid_planner_tool_io_configured": true,
492
+ "rapid_planner_tool_io_supported": true,
493
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
494
+ "rapid_planner_tool_state_supported": true,
495
+ "rapid_planner_tool_transition_source_count": 2,
496
+ "rapid_planner_tool_transitions_uploaded": 2,
497
+ "rapid_planner_tool_upload_enabled": true,
498
+ "rapid_planner_uploaded": true,
499
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
500
+ "rapid_planner_waypoints_uploaded": 107,
501
+ "raw_ramp_max_error_rad": null,
502
+ "raw_replay_max_error_rad": 0.005108058452606201,
503
+ "raw_replay_rms_error_rad": 0.0007996889674164663,
504
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9910447151934476,
505
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9521690960008015,
506
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9832981105635299,
507
+ "replay_smoothing_applied": true,
508
+ "replay_smoothing_blend": 1.0,
509
+ "replay_smoothing_blend_by_joint": [
510
+ 1.0,
511
+ 1.0,
512
+ 1.0,
513
+ 1.0,
514
+ 1.0,
515
+ 1.0
516
+ ],
517
+ "replay_smoothing_edge_taper_s": 0.2,
518
+ "replay_smoothing_edge_taper_samples": 50,
519
+ "replay_smoothing_enabled": true,
520
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9925786861612942,
521
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8754216849819171,
522
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9885502337859281,
523
+ "replay_smoothing_max_deviation_by_joint_rad": [
524
+ 0.001022055745124817,
525
+ 0.0012806057929992676,
526
+ 0.0022785067558288574,
527
+ 0.0022456739097833633,
528
+ 0.00449824333190918,
529
+ 0.00749439001083374
530
+ ],
531
+ "replay_smoothing_max_deviation_normalized": 0.8587938419440853,
532
+ "replay_smoothing_max_deviation_rad": 0.00749439001083374,
533
+ "replay_smoothing_method": "scipy_savgol",
534
+ "replay_smoothing_p95_deviation_rad": 0.0021269097924232483,
535
+ "replay_smoothing_passes": 8,
536
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 14.531596183776855,
537
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 63.928348541259766,
538
+ "replay_smoothing_raw_accel_rms_rad_s2": 6.513799468144451,
539
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 3489.3427734375,
540
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19731.109375,
541
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1659.9878672460552,
542
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9041707515716553,
543
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.27564743502853456,
544
+ "replay_smoothing_rms_deviation_rad": 0.0010399625881747088,
545
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 14.401461601257324,
546
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 60.87059783935547,
547
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 6.405006709616164,
548
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 3463.447265625,
549
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17273.041015625,
550
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1640.981394247892,
551
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8519872426986694,
552
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2745998821825722,
553
+ "replay_smoothing_tolerance_by_joint_rad": [
554
+ 0.03490658476948738,
555
+ 0.03490658476948738,
556
+ 0.02617993950843811,
557
+ 0.008726646192371845,
558
+ 0.008726646192371845,
559
+ 0.008726646192371845
560
+ ],
561
+ "replay_smoothing_tolerance_rad": 0.034906585,
562
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9725951525986234,
563
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961996640895501,
564
+ "replay_smoothing_window_s": 0.2,
565
+ "replay_smoothing_window_samples": 51,
566
+ "replay_smoothing_within_tolerance": true,
567
+ "replay_smoothing_worst_joint": 5,
568
+ "replay_smoothing_worst_time_s": 9.259,
569
+ "replay_smoothing_wrist_max_deviation_rad": 0.00749439001083374,
570
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
571
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
572
+ "return_measured_wall_accel_peak_joint": -1,
573
+ "return_measured_wall_accel_peak_time_s": null,
574
+ "return_measured_wall_accel_rms_rad_s2": null,
575
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
576
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
577
+ "return_measured_wall_jerk_peak_joint": -1,
578
+ "return_measured_wall_jerk_peak_time_s": null,
579
+ "return_measured_wall_jerk_rms_rad_s3": null,
580
+ "return_measured_wall_smoothness_samples": 0,
581
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
582
+ "return_measured_wall_velocity_peak_joint": -1,
583
+ "return_measured_wall_velocity_peak_time_s": null,
584
+ "return_measured_wall_velocity_rms_rad_s": null,
585
+ "safety_abort": false,
586
+ "safety_path_error_rad": 0.005108058452606201,
587
+ "saved_data_source": "measured_rapid_planner_playback",
588
+ "send_failures": 0,
589
+ "sent_wall_accel_p95_abs_rad_s2": null,
590
+ "sent_wall_accel_peak_abs_rad_s2": null,
591
+ "sent_wall_accel_peak_joint": -1,
592
+ "sent_wall_accel_peak_time_s": null,
593
+ "sent_wall_accel_rms_rad_s2": null,
594
+ "sent_wall_jerk_p95_abs_rad_s3": null,
595
+ "sent_wall_jerk_peak_abs_rad_s3": null,
596
+ "sent_wall_jerk_peak_joint": -1,
597
+ "sent_wall_jerk_peak_time_s": null,
598
+ "sent_wall_jerk_rms_rad_s3": null,
599
+ "sent_wall_smoothness_samples": 0,
600
+ "sent_wall_velocity_peak_abs_rad_s": null,
601
+ "sent_wall_velocity_peak_joint": -1,
602
+ "sent_wall_velocity_peak_time_s": null,
603
+ "sent_wall_velocity_rms_rad_s": null,
604
+ "stage_planned_to_measured_max_error_rad": 0.026190638542175293,
605
+ "stage_planned_to_measured_rms_error_rad": 0.005777520229195673,
606
+ "stage_sent_to_measured_max_error_rad": null,
607
+ "stage_sent_to_measured_rms_error_rad": null,
608
+ "stage_sent_to_planned_max_error_rad": null,
609
+ "stage_sent_to_planned_rms_error_rad": null,
610
+ "stage_target_to_sent_max_error_rad": null,
611
+ "stage_target_to_sent_rms_error_rad": null,
612
+ "state_frame_count": 1132,
613
+ "stopped_early": false,
614
+ "strict_tracking_pass": true,
615
+ "strict_tracking_reason": "ok",
616
+ "target_wall_accel_p95_abs_rad_s2": 0.8852300047874451,
617
+ "target_wall_accel_peak_abs_rad_s2": 3.3165433406829834,
618
+ "target_wall_accel_peak_joint": 5,
619
+ "target_wall_accel_peak_time_s": 25.13338697515428,
620
+ "target_wall_accel_rms_rad_s2": 0.3654092523734121,
621
+ "target_wall_jerk_p95_abs_rad_s3": 21.884246826171875,
622
+ "target_wall_jerk_peak_abs_rad_s3": 97.22064208984375,
623
+ "target_wall_jerk_peak_joint": 5,
624
+ "target_wall_jerk_peak_time_s": 25.166743570007384,
625
+ "target_wall_jerk_rms_rad_s3": 9.09123952059885,
626
+ "target_wall_smoothness_samples": 1132,
627
+ "target_wall_velocity_peak_abs_rad_s": 0.5142878890037537,
628
+ "target_wall_velocity_peak_joint": 5,
629
+ "target_wall_velocity_peak_time_s": 25.166743570007384,
630
+ "target_wall_velocity_rms_rad_s": 0.09846231657575578,
631
+ "tcp_pose_count": 1132,
632
+ "timestamp_count": 1132,
633
+ "tool_failures": 0,
634
+ "tracking_geometry_pass": true,
635
+ "tracking_geometry_reason": "ok",
636
+ "tracking_pass": true,
637
+ "tracking_reason": "ok",
638
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
639
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
640
+ "tracking_threshold_max_lag_s": 0.1,
641
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
642
+ "tracking_timing_pass": true,
643
+ "tracking_timing_reason": "ok",
644
+ "window_lag_best_lag_max_s": 0.6200000000000023,
645
+ "window_lag_best_lag_median_s": 0.0,
646
+ "window_lag_best_lag_min_s": -1.0999999999999992,
647
+ "window_lag_best_lag_p95_abs_s": 1.0279999999999987,
648
+ "window_lag_count": 24,
649
+ "window_lag_window_s": 1.0,
650
+ "window_lag_worst_best_lag_s": 0.0,
651
+ "window_lag_worst_end_s": 13.5,
652
+ "window_lag_worst_max_error_rad": 0.005108058452606201,
653
+ "window_lag_worst_rms_error_rad": 0.001596802079065246,
654
+ "window_lag_worst_start_s": 12.5,
655
+ "zero_lag_max_error_rad": 0.005108058452606201,
656
+ "zero_lag_p95_error_rad": 0.001813223003409803,
657
+ "zero_lag_rms_error_rad": 0.0007996889674164663,
658
+ "zero_lag_samples": 1132,
659
+ "zero_lag_worst_joint": 4,
660
+ "zero_lag_worst_time_s": 12.719
661
+ }
662
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153526.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:464d35508b6737018fb35a00523cad563e96cae9e75b56aa0f1ea6a1010cdea3
3
+ size 118525
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.json ADDED
@@ -0,0 +1,673 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:37:33",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.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": 1178,
20
+ "actual_playback_duration_s": 39.29422265896574,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.45215553045272827,
23
+ "aligned_p95_error_rad": 0.0018217613687738776,
24
+ "aligned_rms_error_rad": 0.011566661978407774,
25
+ "aligned_samples": 1178,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 0.3799999999999999,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1178,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1178,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7459443108044848,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1178,
46
+ "cam_wrist": 1178
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
+ 0.1428745985031128,
58
+ 0.45210012793540955,
59
+ 0.3694210350513458,
60
+ 0.4405248761177063,
61
+ 0.42620745301246643,
62
+ 0.45215553045272827
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0015720139490440488,
66
+ 0.0019276045495644212,
67
+ 0.0020963074639439583,
68
+ 0.0006379226106218994,
69
+ 0.0013342263409867883,
70
+ 0.0023814388550817966
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.004221280172571886,
74
+ 0.013199490165973726,
75
+ 0.010804297718933245,
76
+ 0.012838800792971233,
77
+ 0.012434656521202719,
78
+ 0.01320953940144183
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1178,
82
+ 1178,
83
+ 1178,
84
+ 1178,
85
+ 1178,
86
+ 1178
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 0.3799999999999999,
90
+ 0.3799999999999999,
91
+ 0.3799999999999999,
92
+ 0.3799999999999999,
93
+ 0.3799999999999999,
94
+ 0.3799999999999999
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": 1,
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": 0,
107
+ "leadthrough_capture_egm_drained_packet_max": 1,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.049161557108163834,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003987724892795086,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004324382869526744,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004882119614630938,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2959,
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": 0.050297916401177645,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004010362084954977,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004347987845540047,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004931735508143905,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.006590922363102436,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004012770485132933,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043410056503489615,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004871546779759225,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10150759853422642,
170
+ "leadthrough_capture_loop_late_median_s": 0.09887265390716493,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09916612436063588,
172
+ "leadthrough_capture_loop_late_p99_s": 0.09978938498068601,
173
+ "leadthrough_capture_loop_late_warn_count": 6484,
174
+ "leadthrough_capture_none_reads": 1,
175
+ "leadthrough_capture_read_duration_max_s": 0.050294808112084866,
176
+ "leadthrough_capture_read_duration_median_s": 0.004000094020739198,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004337564879097045,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004917024741880597,
179
+ "leadthrough_capture_read_duration_warn_count": 3245,
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": 2,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.00469062477350235,
190
+ 0.004897177219390869,
191
+ 0.00711822509765625,
192
+ 0.0018036216497421265,
193
+ 0.00295412540435791,
194
+ 0.006847798824310303
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.00711822509765625,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0019884651992470026,
199
+ 0.0027798647060990334,
200
+ 0.0038612803909927607,
201
+ 0.00012727195280604064,
202
+ 0.0015904291067272425,
203
+ 0.003394168335944414
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008116683457046747,
207
+ 0.0011491890763863921,
208
+ 0.0015250016003847122,
209
+ 0.0001932502636918798,
210
+ 0.0007028364343568683,
211
+ 0.00134249625261873
212
+ ],
213
+ "leadthrough_delta_samples": 5627,
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": 0.00711822509765625,
218
+ "leadthrough_delta_worst_from_rad": -0.4398147463798523,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 11.947000000000001,
221
+ "leadthrough_delta_worst_to_rad": -0.43269652128219604,
222
+ "leadthrough_duration_s": 22.506,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5626,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5,
228
+ "leadthrough_final_stillness_removed_samples": 125,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5627,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6483,
234
+ "leadthrough_initial_stillness_first_motion_index": 731,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.92,
238
+ "leadthrough_initial_stillness_removed_samples": 730,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 730,
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
+ 0.00469062477350235,
249
+ 0.004897177219390869,
250
+ 0.00711822509765625,
251
+ 0.0018036216497421265,
252
+ 0.00295412540435791,
253
+ 0.006847798824310303
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.00711822509765625,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.5635415911673907,
258
+ 1.632392406463561,
259
+ 2.3385186990101245,
260
+ 0.5948171019553913,
261
+ 0.983317693074507,
262
+ 1.7119497060775741
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.075896739959717,
265
+ "leadthrough_velocity_rms_rad_s": 0.2689678020191808,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.45215553045272827,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.43423864245414734,
271
+ "measured_wall_accel_peak_abs_rad_s2": 249.3456573486328,
272
+ "measured_wall_accel_peak_joint": 1,
273
+ "measured_wall_accel_peak_time_s": 14.670941837131977,
274
+ "measured_wall_accel_rms_rad_s2": 7.763679735424289,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.311079025268555,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 3981.30419921875,
277
+ "measured_wall_jerk_peak_joint": 1,
278
+ "measured_wall_jerk_peak_time_s": 14.701238181907684,
279
+ "measured_wall_jerk_rms_rad_s3": 102.47017423193523,
280
+ "measured_wall_smoothness_samples": 1178,
281
+ "measured_wall_velocity_peak_abs_rad_s": 16.054365158081055,
282
+ "measured_wall_velocity_peak_joint": 1,
283
+ "measured_wall_velocity_peak_time_s": 14.636846045032144,
284
+ "measured_wall_velocity_rms_rad_s": 0.38100915510385547,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.45215553045272827,
287
+ "moving_aligned_p95_error_rad": 0.001977004110813141,
288
+ "moving_aligned_rms_error_rad": 0.013449844129355487,
289
+ "moving_aligned_samples": 871,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 0.3799999999999999,
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
+ 0.1428745985031128,
302
+ 0.45210012793540955,
303
+ 0.3694210350513458,
304
+ 0.002621632069349289,
305
+ 0.42620745301246643,
306
+ 0.45215553045272827
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.001803249353542924,
310
+ 0.002005061600357294,
311
+ 0.002262977184727788,
312
+ 0.0019173200707882643,
313
+ 0.0015821494162082672,
314
+ 0.0028793883975595236
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.00532742378029033,
318
+ 0.01565598018830617,
319
+ 0.013597453020379005,
320
+ 0.0008212019385342606,
321
+ 0.017151458949541565,
322
+ 0.0210630754796099
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 737,
326
+ 837,
327
+ 743,
328
+ 125,
329
+ 619,
330
+ 463
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 0.3799999999999999,
334
+ 0.3799999999999999,
335
+ 0.3799999999999999,
336
+ 5.731999999999999,
337
+ 0.3799999999999999,
338
+ 0.3799999999999999
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": 29.67822265625,
348
+ "playback_velocity_rms_rad_s": 1.2674477178883443,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.012,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.506,
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
+ 2153,
357
+ 4863
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4199063697940439,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08616133034229279,
364
+ "rapid_planner_max_dt_s": 2.3759999999999994,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.00732874870300293,
367
+ "rapid_planner_median_dt_s": 0.08399999999999963,
368
+ "rapid_planner_path_max_error_rad": 0.45215553045272827,
369
+ "rapid_planner_path_p95_error_rad": 0.0027909372001886368,
370
+ "rapid_planner_path_rms_error_rad": 0.013244065668240565,
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
+ 33,
376
+ 46,
377
+ 59,
378
+ 68,
379
+ 78,
380
+ 88,
381
+ 97,
382
+ 108,
383
+ 120,
384
+ 132,
385
+ 143,
386
+ 153,
387
+ 163,
388
+ 174,
389
+ 184,
390
+ 194,
391
+ 205,
392
+ 215,
393
+ 225,
394
+ 238,
395
+ 252,
396
+ 274,
397
+ 295,
398
+ 308,
399
+ 320,
400
+ 341,
401
+ 362,
402
+ 390,
403
+ 418,
404
+ 452,
405
+ 485,
406
+ 521,
407
+ 557,
408
+ 602,
409
+ 640,
410
+ 680,
411
+ 868,
412
+ 924,
413
+ 980,
414
+ 1251,
415
+ 1408,
416
+ 1486,
417
+ 1613,
418
+ 2153,
419
+ 2747,
420
+ 2807,
421
+ 2901,
422
+ 2924,
423
+ 2944,
424
+ 2960,
425
+ 2970,
426
+ 2979,
427
+ 2988,
428
+ 2997,
429
+ 3006,
430
+ 3015,
431
+ 3022,
432
+ 3030,
433
+ 3045,
434
+ 3054,
435
+ 3064,
436
+ 3082,
437
+ 3102,
438
+ 3122,
439
+ 3148,
440
+ 3175,
441
+ 3200,
442
+ 3226,
443
+ 3264,
444
+ 3301,
445
+ 3326,
446
+ 3352,
447
+ 3372,
448
+ 3400,
449
+ 3422,
450
+ 3445,
451
+ 3458,
452
+ 3472,
453
+ 3490,
454
+ 3507,
455
+ 3535,
456
+ 3559,
457
+ 3610,
458
+ 3662,
459
+ 3716,
460
+ 3789,
461
+ 4085,
462
+ 4340,
463
+ 4531,
464
+ 4638,
465
+ 4863,
466
+ 5047,
467
+ 5074,
468
+ 5096,
469
+ 5128,
470
+ 5155,
471
+ 5175,
472
+ 5196,
473
+ 5209,
474
+ 5222,
475
+ 5233,
476
+ 5244,
477
+ 5262,
478
+ 5279,
479
+ 5299,
480
+ 5317,
481
+ 5329,
482
+ 5341,
483
+ 5360,
484
+ 5380,
485
+ 5401,
486
+ 5422,
487
+ 5443,
488
+ 5468,
489
+ 5493,
490
+ 5581,
491
+ 5627
492
+ ],
493
+ "rapid_planner_selected_max_joint_step_deg": 4.936680585845857,
494
+ "rapid_planner_selected_samples": 118,
495
+ "rapid_planner_service_configured": true,
496
+ "rapid_planner_source_samples": 5628,
497
+ "rapid_planner_state_done": 6.0,
498
+ "rapid_planner_state_error": 7.0,
499
+ "rapid_planner_tool_command_hz": 30.0,
500
+ "rapid_planner_tool_command_supported": true,
501
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
502
+ "rapid_planner_tool_io_configured": true,
503
+ "rapid_planner_tool_io_supported": true,
504
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
505
+ "rapid_planner_tool_state_supported": true,
506
+ "rapid_planner_tool_transition_source_count": 2,
507
+ "rapid_planner_tool_transitions_uploaded": 2,
508
+ "rapid_planner_tool_upload_enabled": true,
509
+ "rapid_planner_uploaded": true,
510
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
511
+ "rapid_planner_waypoints_uploaded": 118,
512
+ "raw_ramp_max_error_rad": null,
513
+ "raw_replay_max_error_rad": 0.45215553045272827,
514
+ "raw_replay_rms_error_rad": 0.011566661978407774,
515
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9916388928638451,
516
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0153405131406534,
517
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9778647485926,
518
+ "replay_smoothing_applied": true,
519
+ "replay_smoothing_blend": 1.0,
520
+ "replay_smoothing_blend_by_joint": [
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0
527
+ ],
528
+ "replay_smoothing_edge_taper_s": 0.2,
529
+ "replay_smoothing_edge_taper_samples": 50,
530
+ "replay_smoothing_enabled": true,
531
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9821630301025487,
532
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0263653270755548,
533
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9833751437369594,
534
+ "replay_smoothing_max_deviation_by_joint_rad": [
535
+ 0.0007984340190887451,
536
+ 0.0011861324310302734,
537
+ 0.0020251870155334473,
538
+ 0.0018040351569652557,
539
+ 0.002547740936279297,
540
+ 0.006501719355583191
541
+ ],
542
+ "replay_smoothing_max_deviation_normalized": 0.7450421630782382,
543
+ "replay_smoothing_max_deviation_rad": 0.006501719355583191,
544
+ "replay_smoothing_method": "scipy_savgol",
545
+ "replay_smoothing_p95_deviation_rad": 0.0019044524524360895,
546
+ "replay_smoothing_passes": 8,
547
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.63015079498291,
548
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.31233978271484,
549
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.871327311745673,
550
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 2037.736572265625,
551
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17939.33984375,
552
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1259.8374269988192,
553
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.086210012435913,
554
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2698128693461144,
555
+ "replay_smoothing_rms_deviation_rad": 0.0009091149811789569,
556
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.54963207244873,
557
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 67.32960510253906,
558
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.763499257012448,
559
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 2001.3895263671875,
560
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18412.31640625,
561
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1238.892810860165,
562
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.075896739959717,
563
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2689678020191808,
564
+ "replay_smoothing_tolerance_by_joint_rad": [
565
+ 0.03490658476948738,
566
+ 0.03490658476948738,
567
+ 0.02617993950843811,
568
+ 0.008726646192371845,
569
+ 0.008726646192371845,
570
+ 0.008726646192371845
571
+ ],
572
+ "replay_smoothing_tolerance_rad": 0.034906585,
573
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.995056455287474,
574
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968679502612992,
575
+ "replay_smoothing_window_s": 0.2,
576
+ "replay_smoothing_window_samples": 51,
577
+ "replay_smoothing_within_tolerance": true,
578
+ "replay_smoothing_worst_joint": 5,
579
+ "replay_smoothing_worst_time_s": 20.546,
580
+ "replay_smoothing_wrist_max_deviation_rad": 0.006501719355583191,
581
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
582
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
583
+ "return_measured_wall_accel_peak_joint": -1,
584
+ "return_measured_wall_accel_peak_time_s": null,
585
+ "return_measured_wall_accel_rms_rad_s2": null,
586
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
587
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
588
+ "return_measured_wall_jerk_peak_joint": -1,
589
+ "return_measured_wall_jerk_peak_time_s": null,
590
+ "return_measured_wall_jerk_rms_rad_s3": null,
591
+ "return_measured_wall_smoothness_samples": 0,
592
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
593
+ "return_measured_wall_velocity_peak_joint": -1,
594
+ "return_measured_wall_velocity_peak_time_s": null,
595
+ "return_measured_wall_velocity_rms_rad_s": null,
596
+ "safety_abort": false,
597
+ "safety_path_error_rad": 0.45215553045272827,
598
+ "saved_data_source": "measured_rapid_planner_playback",
599
+ "send_failures": 0,
600
+ "sent_wall_accel_p95_abs_rad_s2": null,
601
+ "sent_wall_accel_peak_abs_rad_s2": null,
602
+ "sent_wall_accel_peak_joint": -1,
603
+ "sent_wall_accel_peak_time_s": null,
604
+ "sent_wall_accel_rms_rad_s2": null,
605
+ "sent_wall_jerk_p95_abs_rad_s3": null,
606
+ "sent_wall_jerk_peak_abs_rad_s3": null,
607
+ "sent_wall_jerk_peak_joint": -1,
608
+ "sent_wall_jerk_peak_time_s": null,
609
+ "sent_wall_jerk_rms_rad_s3": null,
610
+ "sent_wall_smoothness_samples": 0,
611
+ "sent_wall_velocity_peak_abs_rad_s": null,
612
+ "sent_wall_velocity_peak_joint": -1,
613
+ "sent_wall_velocity_peak_time_s": null,
614
+ "sent_wall_velocity_rms_rad_s": null,
615
+ "stage_planned_to_measured_max_error_rad": 0.549791693687439,
616
+ "stage_planned_to_measured_rms_error_rad": 0.012895660403290739,
617
+ "stage_sent_to_measured_max_error_rad": null,
618
+ "stage_sent_to_measured_rms_error_rad": null,
619
+ "stage_sent_to_planned_max_error_rad": null,
620
+ "stage_sent_to_planned_rms_error_rad": null,
621
+ "stage_target_to_sent_max_error_rad": null,
622
+ "stage_target_to_sent_rms_error_rad": null,
623
+ "state_frame_count": 1178,
624
+ "stopped_early": false,
625
+ "strict_tracking_pass": false,
626
+ "strict_tracking_reason": "max_error_rad=0.4522",
627
+ "target_wall_accel_p95_abs_rad_s2": 0.9597350358963013,
628
+ "target_wall_accel_peak_abs_rad_s2": 127.02050018310547,
629
+ "target_wall_accel_peak_joint": 5,
630
+ "target_wall_accel_peak_time_s": 6.712041795253754e-06,
631
+ "target_wall_accel_rms_rad_s2": 2.9029805097866337,
632
+ "target_wall_jerk_p95_abs_rad_s3": 24.40205192565918,
633
+ "target_wall_jerk_peak_abs_rad_s3": 1898.201171875,
634
+ "target_wall_jerk_peak_joint": 5,
635
+ "target_wall_jerk_peak_time_s": 0.0668375170789659,
636
+ "target_wall_jerk_rms_rad_s3": 36.46631272382951,
637
+ "target_wall_smoothness_samples": 1178,
638
+ "target_wall_velocity_peak_abs_rad_s": 8.488882064819336,
639
+ "target_wall_velocity_peak_joint": 5,
640
+ "target_wall_velocity_peak_time_s": 6.712041795253754e-06,
641
+ "target_wall_velocity_rms_rad_s": 0.17698559396892177,
642
+ "tcp_pose_count": 1178,
643
+ "timestamp_count": 1178,
644
+ "tool_failures": 0,
645
+ "tracking_geometry_pass": false,
646
+ "tracking_geometry_reason": "max_error_rad=0.4522",
647
+ "tracking_pass": true,
648
+ "tracking_reason": "ok",
649
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
650
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
651
+ "tracking_threshold_max_lag_s": 0.1,
652
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
653
+ "tracking_timing_pass": true,
654
+ "tracking_timing_reason": "ok",
655
+ "window_lag_best_lag_max_s": 0.9300000000000024,
656
+ "window_lag_best_lag_median_s": 0.0,
657
+ "window_lag_best_lag_min_s": -1.0699999999999992,
658
+ "window_lag_best_lag_p95_abs_s": 1.0419999999999994,
659
+ "window_lag_count": 25,
660
+ "window_lag_window_s": 1.0,
661
+ "window_lag_worst_best_lag_s": 0.0,
662
+ "window_lag_worst_end_s": 1.0,
663
+ "window_lag_worst_max_error_rad": 0.45215553045272827,
664
+ "window_lag_worst_rms_error_rad": 0.03617016538202165,
665
+ "window_lag_worst_start_s": 0.0,
666
+ "zero_lag_max_error_rad": 0.45215553045272827,
667
+ "zero_lag_p95_error_rad": 0.0018217613687738776,
668
+ "zero_lag_rms_error_rad": 0.011566661978407774,
669
+ "zero_lag_samples": 1178,
670
+ "zero_lag_worst_joint": 5,
671
+ "zero_lag_worst_time_s": 0.3799999999999999
672
+ }
673
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153732.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:da27d2d3e81c0656ba2e6db3404361b7aec3f6d21157ac9d983af20798841d3f
3
+ size 121837
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.json ADDED
@@ -0,0 +1,675 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:39:18",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.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": 1169,
20
+ "actual_playback_duration_s": 38.97756739007309,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006056332960724831,
23
+ "aligned_p95_error_rad": 0.001802398357540369,
24
+ "aligned_rms_error_rad": 0.000767352880183651,
25
+ "aligned_samples": 1169,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 15.778,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1169,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1169,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.860504410027355,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1169,
46
+ "cam_wrist": 1169
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
+ 0.004451185464859009,
58
+ 0.004561133682727814,
59
+ 0.003879167139530182,
60
+ 0.006056332960724831,
61
+ 0.0028432607650756836,
62
+ 0.005691692233085632
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016962869558483362,
66
+ 0.0019573543686419725,
67
+ 0.001919424394145608,
68
+ 0.0009105351055040956,
69
+ 0.0015265464317053556,
70
+ 0.0020706411451101303
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007133897404569417,
74
+ 0.0009030717819858528,
75
+ 0.0008633657944722415,
76
+ 0.0005074036595031023,
77
+ 0.000642941576439511,
78
+ 0.0008901046296319292
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1169,
82
+ 1169,
83
+ 1169,
84
+ 1169,
85
+ 1169,
86
+ 1169
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 14.342,
90
+ 12.847,
91
+ 1.044,
92
+ 15.778,
93
+ 9.863,
94
+ 15.778
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": 2,
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": 0,
107
+ "leadthrough_capture_egm_drained_packet_max": 1,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.009205194190144539,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003971502184867859,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004377646604552865,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004819658631458879,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2553,
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": 0.05013503227382898,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003995701437816024,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004410403314977884,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.00486100318375975,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.006518777925521135,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999362466856837,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004388662963174283,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004806643608026206,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10720089729875326,
170
+ "leadthrough_capture_loop_late_median_s": 0.1047626007348299,
171
+ "leadthrough_capture_loop_late_p95_s": 0.10513591710478068,
172
+ "leadthrough_capture_loop_late_p99_s": 0.10561195673421025,
173
+ "leadthrough_capture_loop_late_warn_count": 6193,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.05012748623266816,
176
+ "leadthrough_capture_read_duration_median_s": 0.003985628020018339,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004397724382579326,
178
+ "leadthrough_capture_read_duration_p99_s": 0.0048489380069077015,
179
+ "leadthrough_capture_read_duration_warn_count": 2796,
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": 2,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0045072659850120544,
190
+ 0.004403404891490936,
191
+ 0.005725264549255371,
192
+ 0.0018227994441986084,
193
+ 0.0031014680862426758,
194
+ 0.0066212862730026245
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.0066212862730026245,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018252588342875242,
199
+ 0.002901495900005102,
200
+ 0.004149521701037884,
201
+ 0.0003643203526735306,
202
+ 0.0015447825426235795,
203
+ 0.0029678933788090944
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007926545804366469,
207
+ 0.0011544745648279786,
208
+ 0.0015441752038896084,
209
+ 0.0002348504203837365,
210
+ 0.0006938837468624115,
211
+ 0.0014004718977957964
212
+ ],
213
+ "leadthrough_delta_samples": 5238,
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": -0.0066212862730026245,
218
+ "leadthrough_delta_worst_from_rad": -0.239055335521698,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.472,
221
+ "leadthrough_delta_worst_to_rad": -0.24567662179470062,
222
+ "leadthrough_duration_s": 20.950000000000003,
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": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
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": false,
233
+ "leadthrough_frame_count": 6191,
234
+ "leadthrough_initial_stillness_first_motion_index": 953,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.807,
238
+ "leadthrough_initial_stillness_removed_samples": 952,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 952,
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
+ 0.0045072659850120544,
249
+ 0.004403404891490936,
250
+ 0.005725264549255371,
251
+ 0.0018227994441986084,
252
+ 0.0031014680862426758,
253
+ 0.0066212862730026245
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0066212862730026245,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.1268164962536382,
258
+ 1.1008512228733442,
259
+ 1.4313161373133647,
260
+ 0.5978122353553545,
261
+ 0.77536702156041,
262
+ 1.6553215682508384
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.637786626815796,
265
+ "leadthrough_velocity_rms_rad_s": 0.2660270318007245,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006056332960724831,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.3971112370491028,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.1459734439849854,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 41.29762194212526,
274
+ "measured_wall_accel_rms_rad_s2": 0.22440025434441582,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.240577220916748,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 75.73713684082031,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 41.36440347833559,
279
+ "measured_wall_jerk_rms_rad_s3": 3.85788784082656,
280
+ "measured_wall_smoothness_samples": 1169,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.570380687713623,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 40.16433724202216,
284
+ "measured_wall_velocity_rms_rad_s": 0.09940609180428349,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006056332960724831,
287
+ "moving_aligned_p95_error_rad": 0.0019480508053675294,
288
+ "moving_aligned_rms_error_rad": 0.0008826792561649611,
289
+ "moving_aligned_samples": 872,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 15.778,
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
+ 0.0036288052797317505,
302
+ 0.004561133682727814,
303
+ 0.003879167139530182,
304
+ 0.006056332960724831,
305
+ 0.0028432607650756836,
306
+ 0.005691692233085632
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.001851044362410903,
310
+ 0.0020842310041189194,
311
+ 0.0020419475622475147,
312
+ 0.0015962375327944756,
313
+ 0.001845449092797935,
314
+ 0.0027974843978881836
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008288705437046989,
318
+ 0.0010487343383024314,
319
+ 0.0010637595547108966,
320
+ 0.0009482813384561472,
321
+ 0.0008314357378685099,
322
+ 0.0013622716795942422
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 669,
326
+ 813,
327
+ 733,
328
+ 244,
329
+ 570,
330
+ 456
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 18.146,
334
+ 12.847,
335
+ 1.044,
336
+ 15.778,
337
+ 9.863,
338
+ 15.778
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": 2.4019367694854736,
348
+ "playback_velocity_rms_rad_s": 0.5383319480880757,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 71.9,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 20.950000000000003,
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
+ 1809,
357
+ 4214
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4108076240046613,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08437475562095642,
364
+ "rapid_planner_max_dt_s": 1.9670000000000005,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007169945631176233,
367
+ "rapid_planner_median_dt_s": 0.07600000000000051,
368
+ "rapid_planner_path_max_error_rad": 0.006056332960724831,
369
+ "rapid_planner_path_p95_error_rad": 0.0026618003845214843,
370
+ "rapid_planner_path_rms_error_rad": 0.0013260298989579446,
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
+ 42,
376
+ 57,
377
+ 71,
378
+ 85,
379
+ 94,
380
+ 104,
381
+ 113,
382
+ 122,
383
+ 132,
384
+ 141,
385
+ 150,
386
+ 160,
387
+ 170,
388
+ 180,
389
+ 194,
390
+ 207,
391
+ 220,
392
+ 234,
393
+ 244,
394
+ 255,
395
+ 274,
396
+ 290,
397
+ 302,
398
+ 313,
399
+ 328,
400
+ 342,
401
+ 359,
402
+ 375,
403
+ 418,
404
+ 447,
405
+ 485,
406
+ 524,
407
+ 563,
408
+ 590,
409
+ 617,
410
+ 648,
411
+ 679,
412
+ 883,
413
+ 1205,
414
+ 1317,
415
+ 1809,
416
+ 2077,
417
+ 2165,
418
+ 2366,
419
+ 2425,
420
+ 2482,
421
+ 2504,
422
+ 2524,
423
+ 2539,
424
+ 2554,
425
+ 2564,
426
+ 2575,
427
+ 2586,
428
+ 2598,
429
+ 2609,
430
+ 2620,
431
+ 2633,
432
+ 2646,
433
+ 2658,
434
+ 2671,
435
+ 2698,
436
+ 2724,
437
+ 2757,
438
+ 2790,
439
+ 2816,
440
+ 2842,
441
+ 2868,
442
+ 2893,
443
+ 2916,
444
+ 2933,
445
+ 2962,
446
+ 2990,
447
+ 3008,
448
+ 3026,
449
+ 3044,
450
+ 3063,
451
+ 3088,
452
+ 3112,
453
+ 3137,
454
+ 3162,
455
+ 3195,
456
+ 3278,
457
+ 3312,
458
+ 3368,
459
+ 3447,
460
+ 3514,
461
+ 3761,
462
+ 3858,
463
+ 3987,
464
+ 4104,
465
+ 4214,
466
+ 4437,
467
+ 4464,
468
+ 4489,
469
+ 4504,
470
+ 4528,
471
+ 4553,
472
+ 4566,
473
+ 4579,
474
+ 4596,
475
+ 4613,
476
+ 4630,
477
+ 4648,
478
+ 4667,
479
+ 4686,
480
+ 4698,
481
+ 4710,
482
+ 4720,
483
+ 4731,
484
+ 4742,
485
+ 4754,
486
+ 4773,
487
+ 4792,
488
+ 4811,
489
+ 4850,
490
+ 4985,
491
+ 5171,
492
+ 5205,
493
+ 5238
494
+ ],
495
+ "rapid_planner_selected_max_joint_step_deg": 4.834317394528522,
496
+ "rapid_planner_selected_samples": 120,
497
+ "rapid_planner_service_configured": true,
498
+ "rapid_planner_source_samples": 5239,
499
+ "rapid_planner_state_done": 6.0,
500
+ "rapid_planner_state_error": 7.0,
501
+ "rapid_planner_tool_command_hz": 30.0,
502
+ "rapid_planner_tool_command_supported": true,
503
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
504
+ "rapid_planner_tool_io_configured": true,
505
+ "rapid_planner_tool_io_supported": true,
506
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
507
+ "rapid_planner_tool_state_supported": true,
508
+ "rapid_planner_tool_transition_source_count": 2,
509
+ "rapid_planner_tool_transitions_uploaded": 2,
510
+ "rapid_planner_tool_upload_enabled": true,
511
+ "rapid_planner_uploaded": true,
512
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
513
+ "rapid_planner_waypoints_uploaded": 120,
514
+ "raw_ramp_max_error_rad": null,
515
+ "raw_replay_max_error_rad": 0.006056332960724831,
516
+ "raw_replay_rms_error_rad": 0.000767352880183651,
517
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6617953052468781,
518
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0007061884142636,
519
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.6724603222532958,
520
+ "replay_smoothing_applied": true,
521
+ "replay_smoothing_blend": 1.0,
522
+ "replay_smoothing_blend_by_joint": [
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0,
527
+ 1.0,
528
+ 1.0
529
+ ],
530
+ "replay_smoothing_edge_taper_s": 0.2,
531
+ "replay_smoothing_edge_taper_samples": 50,
532
+ "replay_smoothing_enabled": true,
533
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.16234970486479328,
534
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9884293415214938,
535
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.43225067763784925,
536
+ "replay_smoothing_max_deviation_by_joint_rad": [
537
+ 0.0006868541240692139,
538
+ 0.0015221834182739258,
539
+ 0.002303391695022583,
540
+ 0.0020087361335754395,
541
+ 0.003722667694091797,
542
+ 0.006029605865478516
543
+ ],
544
+ "replay_smoothing_max_deviation_normalized": 0.6909419417907796,
545
+ "replay_smoothing_max_deviation_rad": 0.006029605865478516,
546
+ "replay_smoothing_method": "scipy_savgol",
547
+ "replay_smoothing_p95_deviation_rad": 0.00223525264300406,
548
+ "replay_smoothing_passes": 8,
549
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.841763734817505,
550
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 14.687527656555176,
551
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.3223973274531327,
552
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 309.647705078125,
553
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 3892.418212890625,
554
+ "replay_smoothing_raw_jerk_rms_rad_s3": 211.4125181627468,
555
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6549471616744995,
556
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2669964669094865,
557
+ "replay_smoothing_rms_deviation_rad": 0.0010035386441479455,
558
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.880665898323059,
559
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 14.69789981842041,
560
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 0.8892597329660307,
561
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 50.27121353149414,
562
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 3847.38037109375,
563
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 91.38320423697142,
564
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.637786626815796,
565
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2660270318007245,
566
+ "replay_smoothing_tolerance_by_joint_rad": [
567
+ 0.03490658476948738,
568
+ 0.03490658476948738,
569
+ 0.02617993950843811,
570
+ 0.008726646192371845,
571
+ 0.008726646192371845,
572
+ 0.008726646192371845
573
+ ],
574
+ "replay_smoothing_tolerance_rad": 0.034906585,
575
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9896307657089545,
576
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963691088500785,
577
+ "replay_smoothing_window_s": 0.2,
578
+ "replay_smoothing_window_samples": 51,
579
+ "replay_smoothing_within_tolerance": true,
580
+ "replay_smoothing_worst_joint": 5,
581
+ "replay_smoothing_worst_time_s": 10.067,
582
+ "replay_smoothing_wrist_max_deviation_rad": 0.006029605865478516,
583
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
584
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
585
+ "return_measured_wall_accel_peak_joint": -1,
586
+ "return_measured_wall_accel_peak_time_s": null,
587
+ "return_measured_wall_accel_rms_rad_s2": null,
588
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
589
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
590
+ "return_measured_wall_jerk_peak_joint": -1,
591
+ "return_measured_wall_jerk_peak_time_s": null,
592
+ "return_measured_wall_jerk_rms_rad_s3": null,
593
+ "return_measured_wall_smoothness_samples": 0,
594
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
595
+ "return_measured_wall_velocity_peak_joint": -1,
596
+ "return_measured_wall_velocity_peak_time_s": null,
597
+ "return_measured_wall_velocity_rms_rad_s": null,
598
+ "safety_abort": false,
599
+ "safety_path_error_rad": 0.006056332960724831,
600
+ "saved_data_source": "measured_rapid_planner_playback",
601
+ "send_failures": 0,
602
+ "sent_wall_accel_p95_abs_rad_s2": null,
603
+ "sent_wall_accel_peak_abs_rad_s2": null,
604
+ "sent_wall_accel_peak_joint": -1,
605
+ "sent_wall_accel_peak_time_s": null,
606
+ "sent_wall_accel_rms_rad_s2": null,
607
+ "sent_wall_jerk_p95_abs_rad_s3": null,
608
+ "sent_wall_jerk_peak_abs_rad_s3": null,
609
+ "sent_wall_jerk_peak_joint": -1,
610
+ "sent_wall_jerk_peak_time_s": null,
611
+ "sent_wall_jerk_rms_rad_s3": null,
612
+ "sent_wall_smoothness_samples": 0,
613
+ "sent_wall_velocity_peak_abs_rad_s": null,
614
+ "sent_wall_velocity_peak_joint": -1,
615
+ "sent_wall_velocity_peak_time_s": null,
616
+ "sent_wall_velocity_rms_rad_s": null,
617
+ "stage_planned_to_measured_max_error_rad": 0.03289631009101868,
618
+ "stage_planned_to_measured_rms_error_rad": 0.005899248582649611,
619
+ "stage_sent_to_measured_max_error_rad": null,
620
+ "stage_sent_to_measured_rms_error_rad": null,
621
+ "stage_sent_to_planned_max_error_rad": null,
622
+ "stage_sent_to_planned_rms_error_rad": null,
623
+ "stage_target_to_sent_max_error_rad": null,
624
+ "stage_target_to_sent_rms_error_rad": null,
625
+ "state_frame_count": 1169,
626
+ "stopped_early": false,
627
+ "strict_tracking_pass": true,
628
+ "strict_tracking_reason": "ok",
629
+ "target_wall_accel_p95_abs_rad_s2": 0.8775585293769836,
630
+ "target_wall_accel_peak_abs_rad_s2": 3.7388808727264404,
631
+ "target_wall_accel_peak_joint": 5,
632
+ "target_wall_accel_peak_time_s": 26.333391076885164,
633
+ "target_wall_accel_rms_rad_s2": 0.3748709591207316,
634
+ "target_wall_jerk_p95_abs_rad_s3": 19.2991943359375,
635
+ "target_wall_jerk_peak_abs_rad_s3": 75.95289611816406,
636
+ "target_wall_jerk_peak_joint": 1,
637
+ "target_wall_jerk_peak_time_s": 26.46672267699614,
638
+ "target_wall_jerk_rms_rad_s3": 8.811951805674147,
639
+ "target_wall_smoothness_samples": 1169,
640
+ "target_wall_velocity_peak_abs_rad_s": 0.5957199335098267,
641
+ "target_wall_velocity_peak_joint": 5,
642
+ "target_wall_velocity_peak_time_s": 25.06673934822902,
643
+ "target_wall_velocity_rms_rad_s": 0.10052758710862414,
644
+ "tcp_pose_count": 1169,
645
+ "timestamp_count": 1169,
646
+ "tool_failures": 0,
647
+ "tracking_geometry_pass": true,
648
+ "tracking_geometry_reason": "ok",
649
+ "tracking_pass": true,
650
+ "tracking_reason": "ok",
651
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
652
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
653
+ "tracking_threshold_max_lag_s": 0.1,
654
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
655
+ "tracking_timing_pass": true,
656
+ "tracking_timing_reason": "ok",
657
+ "window_lag_best_lag_max_s": 0.5000000000000022,
658
+ "window_lag_best_lag_median_s": 0.0,
659
+ "window_lag_best_lag_min_s": -1.0599999999999992,
660
+ "window_lag_best_lag_p95_abs_s": 0.9124999999999999,
661
+ "window_lag_count": 26,
662
+ "window_lag_window_s": 1.0,
663
+ "window_lag_worst_best_lag_s": 0.0,
664
+ "window_lag_worst_end_s": 13.5,
665
+ "window_lag_worst_max_error_rad": 0.004561133682727814,
666
+ "window_lag_worst_rms_error_rad": 0.0013118642563652693,
667
+ "window_lag_worst_start_s": 12.5,
668
+ "zero_lag_max_error_rad": 0.006056332960724831,
669
+ "zero_lag_p95_error_rad": 0.001802398357540369,
670
+ "zero_lag_rms_error_rad": 0.000767352880183651,
671
+ "zero_lag_samples": 1169,
672
+ "zero_lag_worst_joint": 3,
673
+ "zero_lag_worst_time_s": 15.778
674
+ }
675
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_153917.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51180deee780cc1373400c8b6477f790839d2192057cb36c9101ee777c4bfa6b
3
+ size 123379
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.json ADDED
@@ -0,0 +1,670 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:41:02",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.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": 1133,
20
+ "actual_playback_duration_s": 37.77877460513264,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005860164761543274,
23
+ "aligned_p95_error_rad": 0.0020124255679547787,
24
+ "aligned_rms_error_rad": 0.0008954693670664512,
25
+ "aligned_samples": 1133,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 12.594999999999999,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1133,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1133,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6650700606078999,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1133,
46
+ "cam_wrist": 1133
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
+ 0.005860164761543274,
58
+ 0.005840666592121124,
59
+ 0.004905819892883301,
60
+ 0.0043326253071427345,
61
+ 0.005334258079528809,
62
+ 0.005763337016105652
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0018373732455074787,
66
+ 0.0020343433134257793,
67
+ 0.002362474799156189,
68
+ 0.0007552505121566355,
69
+ 0.0015467526391148567,
70
+ 0.0026235703844577074
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008307749977891088,
74
+ 0.0010319009689526764,
75
+ 0.001052601980020465,
76
+ 0.00043712300691040506,
77
+ 0.0007099185315525224,
78
+ 0.0011194435423433789
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1133,
82
+ 1133,
83
+ 1133,
84
+ 1133,
85
+ 1133,
86
+ 1133
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 12.594999999999999,
90
+ 14.334,
91
+ 15.106000000000002,
92
+ 0.34799999999999986,
93
+ 14.862000000000002,
94
+ 15.106000000000002
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": 2,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006000796798616648,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003969665616750717,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004344481974840164,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004666162189096212,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2708,
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": 0.006126043852418661,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003994194325059652,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004373401496559381,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004700386193580927,
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": 0.005794325843453407,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003997189691290259,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043581004953011865,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004659132785163821,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.14630695478990674,
170
+ "leadthrough_capture_loop_late_median_s": 0.13865508418530226,
171
+ "leadthrough_capture_loop_late_p95_s": 0.13901434419676661,
172
+ "leadthrough_capture_loop_late_p99_s": 0.13939960254356265,
173
+ "leadthrough_capture_loop_late_warn_count": 6301,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006108676083385944,
176
+ "leadthrough_capture_read_duration_median_s": 0.0039830319583415985,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004361541010439396,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004686668980866671,
179
+ "leadthrough_capture_read_duration_warn_count": 2904,
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": 1,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004234030842781067,
190
+ 0.004256397485733032,
191
+ 0.0059989020228385925,
192
+ 0.0016016885638237,
193
+ 0.0024514198303222656,
194
+ 0.006686568260192871
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006686568260192871,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0017336381133645773,
199
+ 0.0027425552252680063,
200
+ 0.0037688789889216423,
201
+ 0.00024292015586979687,
202
+ 0.0016069411067292094,
203
+ 0.0033164105843752623
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007599742966704071,
207
+ 0.0011151746148243546,
208
+ 0.0014789887936785817,
209
+ 0.00018237403128296137,
210
+ 0.0006002773297950625,
211
+ 0.001352558028884232
212
+ ],
213
+ "leadthrough_delta_samples": 5673,
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": -0.006686568260192871,
218
+ "leadthrough_delta_worst_from_rad": -0.5684124231338501,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.944,
221
+ "leadthrough_delta_worst_to_rad": -0.575098991394043,
222
+ "leadthrough_duration_s": 22.689,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5672,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5,
228
+ "leadthrough_final_stillness_removed_samples": 125,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5673,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6301,
234
+ "leadthrough_initial_stillness_first_motion_index": 503,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.008,
238
+ "leadthrough_initial_stillness_removed_samples": 502,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 502,
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
+ 0.004234030842781067,
249
+ 0.004256397485733032,
250
+ 0.0059989020228385925,
251
+ 0.0016016885638237,
252
+ 0.0024514198303222656,
253
+ 0.006686568260192871
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006686568260192871,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0585077106949132,
258
+ 1.0640993714338478,
259
+ 1.4997255057091472,
260
+ 0.40042214095592465,
261
+ 0.6128549575805659,
262
+ 1.6716420650482162
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6511231660842896,
265
+ "leadthrough_velocity_rms_rad_s": 0.2540624325545392,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005860164761543274,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.3810361623764038,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.217574119567871,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 29.1682554949075,
274
+ "measured_wall_accel_rms_rad_s2": 0.19314512035384646,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 6.661689281463623,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 54.3953857421875,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 29.235851400066167,
279
+ "measured_wall_jerk_rms_rad_s3": 3.533406008431454,
280
+ "measured_wall_smoothness_samples": 1133,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.5408984422683716,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.801114136818796,
284
+ "measured_wall_velocity_rms_rad_s": 0.10246844353582708,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005860164761543274,
287
+ "moving_aligned_p95_error_rad": 0.0022755302488803864,
288
+ "moving_aligned_rms_error_rad": 0.001035353143130345,
289
+ "moving_aligned_samples": 833,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 12.594999999999999,
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
+ 0.005860164761543274,
302
+ 0.005840666592121124,
303
+ 0.004905819892883301,
304
+ 0.0043326253071427345,
305
+ 0.0045296549797058105,
306
+ 0.005732893943786621
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0022522099316120148,
310
+ 0.0022697763051837683,
311
+ 0.002628706395626068,
312
+ 0.002307494869455695,
313
+ 0.002029058989137411,
314
+ 0.003508949186652899
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.001027897549967033,
318
+ 0.0011943659084193185,
319
+ 0.001301390395751163,
320
+ 0.0009432700683560282,
321
+ 0.0008829503733042882,
322
+ 0.0016455376988496176
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 662,
326
+ 798,
327
+ 696,
328
+ 195,
329
+ 593,
330
+ 473
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 12.594999999999999,
334
+ 14.334,
335
+ 15.106000000000002,
336
+ 0.34799999999999986,
337
+ 14.334,
338
+ 12.582999999999998
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": 2.5294148921966553,
348
+ "playback_velocity_rms_rad_s": 0.5190315209663324,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.378,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.689,
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
+ 2001,
357
+ 4827
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4442218432392893,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08600527048110962,
364
+ "rapid_planner_max_dt_s": 3.0,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007753133773803711,
367
+ "rapid_planner_median_dt_s": 0.0799999999999983,
368
+ "rapid_planner_path_max_error_rad": 0.005860164761543274,
369
+ "rapid_planner_path_p95_error_rad": 0.0030805110931396477,
370
+ "rapid_planner_path_rms_error_rad": 0.0015334398600850155,
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
+ 37,
376
+ 64,
377
+ 97,
378
+ 121,
379
+ 131,
380
+ 141,
381
+ 156,
382
+ 164,
383
+ 172,
384
+ 180,
385
+ 188,
386
+ 196,
387
+ 204,
388
+ 218,
389
+ 225,
390
+ 232,
391
+ 239,
392
+ 246,
393
+ 254,
394
+ 261,
395
+ 272,
396
+ 284,
397
+ 298,
398
+ 311,
399
+ 332,
400
+ 350,
401
+ 362,
402
+ 375,
403
+ 388,
404
+ 400,
405
+ 424,
406
+ 448,
407
+ 474,
408
+ 510,
409
+ 546,
410
+ 590,
411
+ 634,
412
+ 679,
413
+ 729,
414
+ 770,
415
+ 1047,
416
+ 1145,
417
+ 1251,
418
+ 2001,
419
+ 2258,
420
+ 2339,
421
+ 2626,
422
+ 2669,
423
+ 2725,
424
+ 2755,
425
+ 2783,
426
+ 2794,
427
+ 2804,
428
+ 2814,
429
+ 2824,
430
+ 2834,
431
+ 2843,
432
+ 2852,
433
+ 2862,
434
+ 2871,
435
+ 2880,
436
+ 2890,
437
+ 2899,
438
+ 2911,
439
+ 2923,
440
+ 2941,
441
+ 2959,
442
+ 2984,
443
+ 3008,
444
+ 3037,
445
+ 3066,
446
+ 3096,
447
+ 3126,
448
+ 3165,
449
+ 3190,
450
+ 3220,
451
+ 3237,
452
+ 3254,
453
+ 3271,
454
+ 3288,
455
+ 3304,
456
+ 3321,
457
+ 3360,
458
+ 3380,
459
+ 3399,
460
+ 3423,
461
+ 3476,
462
+ 3530,
463
+ 3633,
464
+ 3920,
465
+ 4260,
466
+ 4387,
467
+ 4443,
468
+ 4827,
469
+ 5091,
470
+ 5124,
471
+ 5168,
472
+ 5188,
473
+ 5210,
474
+ 5226,
475
+ 5241,
476
+ 5259,
477
+ 5278,
478
+ 5300,
479
+ 5321,
480
+ 5333,
481
+ 5345,
482
+ 5356,
483
+ 5368,
484
+ 5390,
485
+ 5414,
486
+ 5439,
487
+ 5492,
488
+ 5673
489
+ ],
490
+ "rapid_planner_selected_max_joint_step_deg": 4.927739014448664,
491
+ "rapid_planner_selected_samples": 115,
492
+ "rapid_planner_service_configured": true,
493
+ "rapid_planner_source_samples": 5674,
494
+ "rapid_planner_state_done": 6.0,
495
+ "rapid_planner_state_error": 7.0,
496
+ "rapid_planner_tool_command_hz": 30.0,
497
+ "rapid_planner_tool_command_supported": true,
498
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
499
+ "rapid_planner_tool_io_configured": true,
500
+ "rapid_planner_tool_io_supported": true,
501
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
502
+ "rapid_planner_tool_state_supported": true,
503
+ "rapid_planner_tool_transition_source_count": 2,
504
+ "rapid_planner_tool_transitions_uploaded": 2,
505
+ "rapid_planner_tool_upload_enabled": true,
506
+ "rapid_planner_uploaded": true,
507
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
508
+ "rapid_planner_waypoints_uploaded": 115,
509
+ "raw_ramp_max_error_rad": null,
510
+ "raw_replay_max_error_rad": 0.005860164761543274,
511
+ "raw_replay_rms_error_rad": 0.0008954693670664512,
512
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7299211580997634,
513
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9735288466032729,
514
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.7136002569193929,
515
+ "replay_smoothing_applied": true,
516
+ "replay_smoothing_blend": 1.0,
517
+ "replay_smoothing_blend_by_joint": [
518
+ 1.0,
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0,
523
+ 1.0
524
+ ],
525
+ "replay_smoothing_edge_taper_s": 0.2,
526
+ "replay_smoothing_edge_taper_samples": 50,
527
+ "replay_smoothing_enabled": true,
528
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.3090396679689059,
529
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9512036296065096,
530
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.6995397989535737,
531
+ "replay_smoothing_max_deviation_by_joint_rad": [
532
+ 0.0005121529102325439,
533
+ 0.0007184743881225586,
534
+ 0.0008516907691955566,
535
+ 0.002482519019395113,
536
+ 0.002481818199157715,
537
+ 0.007744312286376953
538
+ ],
539
+ "replay_smoothing_max_deviation_normalized": 0.8874328253557968,
540
+ "replay_smoothing_max_deviation_rad": 0.007744312286376953,
541
+ "replay_smoothing_method": "scipy_savgol",
542
+ "replay_smoothing_p95_deviation_rad": 0.002043140586465597,
543
+ "replay_smoothing_passes": 8,
544
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.845229148864746,
545
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 18.363285064697266,
546
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.3525242652940987,
547
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 378.4781188964844,
548
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 5617.75341796875,
549
+ "replay_smoothing_raw_jerk_rms_rad_s3": 257.3379727980063,
550
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.671120524406433,
551
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2549053798618807,
552
+ "replay_smoothing_rms_deviation_rad": 0.0010247093156961636,
553
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0767929553985596,
554
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 17.877187728881836,
555
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 0.965161663203582,
556
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 116.96475219726562,
557
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 5343.62744140625,
558
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 180.01815375423755,
559
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6511231660842896,
560
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2540624325545392,
561
+ "replay_smoothing_tolerance_by_joint_rad": [
562
+ 0.03490658476948738,
563
+ 0.03490658476948738,
564
+ 0.02617993950843811,
565
+ 0.008726646192371845,
566
+ 0.008726646192371845,
567
+ 0.008726646192371845
568
+ ],
569
+ "replay_smoothing_tolerance_rad": 0.034906585,
570
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9880335630912999,
571
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966930972276918,
572
+ "replay_smoothing_window_s": 0.2,
573
+ "replay_smoothing_window_samples": 51,
574
+ "replay_smoothing_within_tolerance": true,
575
+ "replay_smoothing_worst_joint": 5,
576
+ "replay_smoothing_worst_time_s": 1.7799999999999998,
577
+ "replay_smoothing_wrist_max_deviation_rad": 0.007744312286376953,
578
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
579
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
580
+ "return_measured_wall_accel_peak_joint": -1,
581
+ "return_measured_wall_accel_peak_time_s": null,
582
+ "return_measured_wall_accel_rms_rad_s2": null,
583
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
584
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
585
+ "return_measured_wall_jerk_peak_joint": -1,
586
+ "return_measured_wall_jerk_peak_time_s": null,
587
+ "return_measured_wall_jerk_rms_rad_s3": null,
588
+ "return_measured_wall_smoothness_samples": 0,
589
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
590
+ "return_measured_wall_velocity_peak_joint": -1,
591
+ "return_measured_wall_velocity_peak_time_s": null,
592
+ "return_measured_wall_velocity_rms_rad_s": null,
593
+ "safety_abort": false,
594
+ "safety_path_error_rad": 0.005860164761543274,
595
+ "saved_data_source": "measured_rapid_planner_playback",
596
+ "send_failures": 0,
597
+ "sent_wall_accel_p95_abs_rad_s2": null,
598
+ "sent_wall_accel_peak_abs_rad_s2": null,
599
+ "sent_wall_accel_peak_joint": -1,
600
+ "sent_wall_accel_peak_time_s": null,
601
+ "sent_wall_accel_rms_rad_s2": null,
602
+ "sent_wall_jerk_p95_abs_rad_s3": null,
603
+ "sent_wall_jerk_peak_abs_rad_s3": null,
604
+ "sent_wall_jerk_peak_joint": -1,
605
+ "sent_wall_jerk_peak_time_s": null,
606
+ "sent_wall_jerk_rms_rad_s3": null,
607
+ "sent_wall_smoothness_samples": 0,
608
+ "sent_wall_velocity_peak_abs_rad_s": null,
609
+ "sent_wall_velocity_peak_joint": -1,
610
+ "sent_wall_velocity_peak_time_s": null,
611
+ "sent_wall_velocity_rms_rad_s": null,
612
+ "stage_planned_to_measured_max_error_rad": 0.031669557094573975,
613
+ "stage_planned_to_measured_rms_error_rad": 0.006078568261986514,
614
+ "stage_sent_to_measured_max_error_rad": null,
615
+ "stage_sent_to_measured_rms_error_rad": null,
616
+ "stage_sent_to_planned_max_error_rad": null,
617
+ "stage_sent_to_planned_rms_error_rad": null,
618
+ "stage_target_to_sent_max_error_rad": null,
619
+ "stage_target_to_sent_rms_error_rad": null,
620
+ "state_frame_count": 1133,
621
+ "stopped_early": false,
622
+ "strict_tracking_pass": true,
623
+ "strict_tracking_reason": "ok",
624
+ "target_wall_accel_p95_abs_rad_s2": 0.8588826656341553,
625
+ "target_wall_accel_peak_abs_rad_s2": 2.728316068649292,
626
+ "target_wall_accel_peak_joint": 5,
627
+ "target_wall_accel_peak_time_s": 2.333406129386276,
628
+ "target_wall_accel_rms_rad_s2": 0.3559275243825717,
629
+ "target_wall_jerk_p95_abs_rad_s3": 19.49736213684082,
630
+ "target_wall_jerk_peak_abs_rad_s3": 75.87276458740234,
631
+ "target_wall_jerk_peak_joint": 2,
632
+ "target_wall_jerk_peak_time_s": 8.700059548020363,
633
+ "target_wall_jerk_rms_rad_s3": 8.690402882724564,
634
+ "target_wall_smoothness_samples": 1133,
635
+ "target_wall_velocity_peak_abs_rad_s": 0.5666916370391846,
636
+ "target_wall_velocity_peak_joint": 5,
637
+ "target_wall_velocity_peak_time_s": 24.400058964267373,
638
+ "target_wall_velocity_rms_rad_s": 0.10351401754186185,
639
+ "tcp_pose_count": 1133,
640
+ "timestamp_count": 1133,
641
+ "tool_failures": 0,
642
+ "tracking_geometry_pass": true,
643
+ "tracking_geometry_reason": "ok",
644
+ "tracking_pass": true,
645
+ "tracking_reason": "ok",
646
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
647
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
648
+ "tracking_threshold_max_lag_s": 0.1,
649
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
650
+ "tracking_timing_pass": true,
651
+ "tracking_timing_reason": "ok",
652
+ "window_lag_best_lag_max_s": 1.3700000000000028,
653
+ "window_lag_best_lag_median_s": 0.0,
654
+ "window_lag_best_lag_min_s": -1.0799999999999992,
655
+ "window_lag_best_lag_p95_abs_s": 1.3265000000000016,
656
+ "window_lag_count": 24,
657
+ "window_lag_window_s": 1.0,
658
+ "window_lag_worst_best_lag_s": 0.0,
659
+ "window_lag_worst_end_s": 15.0,
660
+ "window_lag_worst_max_error_rad": 0.005840666592121124,
661
+ "window_lag_worst_rms_error_rad": 0.0020420167818179435,
662
+ "window_lag_worst_start_s": 14.0,
663
+ "zero_lag_max_error_rad": 0.005860164761543274,
664
+ "zero_lag_p95_error_rad": 0.0020124255679547787,
665
+ "zero_lag_rms_error_rad": 0.0008954693670664512,
666
+ "zero_lag_samples": 1133,
667
+ "zero_lag_worst_joint": 0,
668
+ "zero_lag_worst_time_s": 12.594999999999999
669
+ }
670
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154101.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cccddc539dec54b14dfe094d783b90982642f1fec1c91b6b777fa28feb2f1fce
3
+ size 119013
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.json ADDED
@@ -0,0 +1,669 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:43:31",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.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": 1143,
20
+ "actual_playback_duration_s": 38.11694281781092,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.0054264068603515625,
23
+ "aligned_p95_error_rad": 0.0019263795111328363,
24
+ "aligned_rms_error_rad": 0.0008220243000507835,
25
+ "aligned_samples": 1143,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 3.2800000000000002,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1143,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1143,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7645098980562413,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1143,
46
+ "cam_wrist": 1143
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
+ 0.004588693380355835,
58
+ 0.00519406795501709,
59
+ 0.004015803337097168,
60
+ 0.0028610583394765854,
61
+ 0.0054264068603515625,
62
+ 0.005190849304199219
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.00172997429035604,
66
+ 0.0020873011089861393,
67
+ 0.0022632486652582884,
68
+ 0.0006627286202274263,
69
+ 0.0014968875329941511,
70
+ 0.0021886054892092943
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007584978787496117,
74
+ 0.000986017011874998,
75
+ 0.000984162789808672,
76
+ 0.0003627691052841835,
77
+ 0.0007282058646870022,
78
+ 0.0009361268704145296
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1143,
82
+ 1143,
83
+ 1143,
84
+ 1143,
85
+ 1143,
86
+ 1143
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 20.634,
90
+ 3.3360000000000003,
91
+ 19.622,
92
+ 12.799,
93
+ 3.2800000000000002,
94
+ 13.926000000000002
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": 2,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006634571123868227,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003967336844652891,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004375660512596369,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005129996817558998,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2514,
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": 0.00666644424200058,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003996655344963074,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004414278990589082,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005165764954872429,
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": 0.006667797919362783,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999636508524418,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043917160481214525,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00514497804455459,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10714348219335079,
170
+ "leadthrough_capture_loop_late_median_s": 0.1002535205334425,
171
+ "leadthrough_capture_loop_late_p95_s": 0.10065718768164515,
172
+ "leadthrough_capture_loop_late_p99_s": 0.10142991174012422,
173
+ "leadthrough_capture_loop_late_warn_count": 6349,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006653182208538055,
176
+ "leadthrough_capture_read_duration_median_s": 0.003983928821980953,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004397030640393495,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005147709921002387,
179
+ "leadthrough_capture_read_duration_warn_count": 2820,
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": 26,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004547610878944397,
190
+ 0.005173191428184509,
191
+ 0.006200641393661499,
192
+ 0.0016106804832816124,
193
+ 0.0028846263885498047,
194
+ 0.006883144378662109
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006883144378662109,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018799230456352234,
199
+ 0.002902582287788391,
200
+ 0.004272773861885071,
201
+ 0.00046918168663978577,
202
+ 0.0017598867416381836,
203
+ 0.003430485725402832
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007789657101966441,
207
+ 0.0011683461489155889,
208
+ 0.001600387622602284,
209
+ 0.0001992424513446167,
210
+ 0.0006555829895660281,
211
+ 0.0013942039804533124
212
+ ],
213
+ "leadthrough_delta_samples": 5401,
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": -0.006883144378662109,
218
+ "leadthrough_delta_worst_from_rad": -0.7899540066719055,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0120000000000005,
221
+ "leadthrough_delta_worst_to_rad": -0.7968371510505676,
222
+ "leadthrough_duration_s": 21.602,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5379,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5380,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6349,
234
+ "leadthrough_initial_stillness_first_motion_index": 948,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.787,
238
+ "leadthrough_initial_stillness_removed_samples": 947,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 947,
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
+ 0.004547610878944397,
249
+ 0.005173191428184509,
250
+ 0.006200641393661499,
251
+ 0.0016106804832816124,
252
+ 0.0028846263885498047,
253
+ 0.006883144378662109
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006883144378662109,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.1369027197357195,
258
+ 1.293297857046844,
259
+ 1.5501603484148572,
260
+ 0.40267012082062625,
261
+ 0.7211565971372104,
262
+ 1.7207860946653348
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6919299364089966,
265
+ "leadthrough_velocity_rms_rad_s": 0.2685999241918943,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.0054264068603515625,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.42903080582618713,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.973544120788574,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 39.74111897312105,
274
+ "measured_wall_accel_rms_rad_s2": 0.24428563572153794,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.649708271026611,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 74.91214752197266,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 39.70730586908758,
279
+ "measured_wall_jerk_rms_rad_s3": 4.270912402686459,
280
+ "measured_wall_smoothness_samples": 1143,
281
+ "measured_wall_velocity_peak_abs_rad_s": 1.0274324417114258,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.70730586908758,
284
+ "measured_wall_velocity_rms_rad_s": 0.10435442531090797,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.0054264068603515625,
287
+ "moving_aligned_p95_error_rad": 0.002122292062267661,
288
+ "moving_aligned_rms_error_rad": 0.0009489113976946252,
289
+ "moving_aligned_samples": 845,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 3.2800000000000002,
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
+ 0.004117295145988464,
302
+ 0.00519406795501709,
303
+ 0.004015803337097168,
304
+ 0.0028610583394765854,
305
+ 0.0054264068603515625,
306
+ 0.005190849304199219
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0017786994576454163,
310
+ 0.002468619728460908,
311
+ 0.002377060241997242,
312
+ 0.0017346093663945794,
313
+ 0.0020614266395568848,
314
+ 0.0027072664815932512
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008123085695100172,
318
+ 0.0011961383460840408,
319
+ 0.0011857469535037307,
320
+ 0.000680117581645342,
321
+ 0.0010113955203679358,
322
+ 0.0014604600911748051
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 636,
326
+ 749,
327
+ 738,
328
+ 247,
329
+ 500,
330
+ 425
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 19.630000000000003,
334
+ 3.3360000000000003,
335
+ 19.622,
336
+ 12.799,
337
+ 3.2800000000000002,
338
+ 13.926000000000002
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": 2.4047815799713135,
348
+ "playback_velocity_rms_rad_s": 0.5581684839917759,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 73.20400000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 21.602,
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
+ 1958,
357
+ 4532
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.44670461700258896,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08418352901935577,
364
+ "rapid_planner_max_dt_s": 2.8870000000000005,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.00779646635055542,
367
+ "rapid_planner_median_dt_s": 0.08399999999999963,
368
+ "rapid_planner_path_max_error_rad": 0.0054264068603515625,
369
+ "rapid_planner_path_p95_error_rad": 0.0027844011783599854,
370
+ "rapid_planner_path_rms_error_rad": 0.0014114203927252315,
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
+ 30,
376
+ 58,
377
+ 73,
378
+ 88,
379
+ 99,
380
+ 110,
381
+ 121,
382
+ 132,
383
+ 149,
384
+ 166,
385
+ 180,
386
+ 194,
387
+ 207,
388
+ 220,
389
+ 231,
390
+ 242,
391
+ 253,
392
+ 264,
393
+ 274,
394
+ 283,
395
+ 294,
396
+ 304,
397
+ 323,
398
+ 338,
399
+ 364,
400
+ 392,
401
+ 419,
402
+ 448,
403
+ 478,
404
+ 500,
405
+ 523,
406
+ 558,
407
+ 592,
408
+ 623,
409
+ 657,
410
+ 762,
411
+ 876,
412
+ 924,
413
+ 1117,
414
+ 1183,
415
+ 1236,
416
+ 1958,
417
+ 2573,
418
+ 2686,
419
+ 2715,
420
+ 2730,
421
+ 2745,
422
+ 2754,
423
+ 2764,
424
+ 2773,
425
+ 2782,
426
+ 2795,
427
+ 2808,
428
+ 2822,
429
+ 2835,
430
+ 2848,
431
+ 2861,
432
+ 2873,
433
+ 2885,
434
+ 2904,
435
+ 2922,
436
+ 2944,
437
+ 2966,
438
+ 2991,
439
+ 3016,
440
+ 3042,
441
+ 3068,
442
+ 3098,
443
+ 3127,
444
+ 3167,
445
+ 3187,
446
+ 3215,
447
+ 3240,
448
+ 3264,
449
+ 3288,
450
+ 3313,
451
+ 3327,
452
+ 3341,
453
+ 3355,
454
+ 3369,
455
+ 3399,
456
+ 3434,
457
+ 3507,
458
+ 3579,
459
+ 3686,
460
+ 3752,
461
+ 3892,
462
+ 4027,
463
+ 4181,
464
+ 4294,
465
+ 4532,
466
+ 4680,
467
+ 4733,
468
+ 4767,
469
+ 4804,
470
+ 4826,
471
+ 4848,
472
+ 4862,
473
+ 4876,
474
+ 4886,
475
+ 4897,
476
+ 4918,
477
+ 4930,
478
+ 4942,
479
+ 4954,
480
+ 4967,
481
+ 4978,
482
+ 4990,
483
+ 5008,
484
+ 5026,
485
+ 5047,
486
+ 5095,
487
+ 5401
488
+ ],
489
+ "rapid_planner_selected_max_joint_step_deg": 4.823360917326176,
490
+ "rapid_planner_selected_samples": 114,
491
+ "rapid_planner_service_configured": true,
492
+ "rapid_planner_source_samples": 5402,
493
+ "rapid_planner_state_done": 6.0,
494
+ "rapid_planner_state_error": 7.0,
495
+ "rapid_planner_tool_command_hz": 30.0,
496
+ "rapid_planner_tool_command_supported": true,
497
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
498
+ "rapid_planner_tool_io_configured": true,
499
+ "rapid_planner_tool_io_supported": true,
500
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
501
+ "rapid_planner_tool_state_supported": true,
502
+ "rapid_planner_tool_transition_source_count": 2,
503
+ "rapid_planner_tool_transitions_uploaded": 2,
504
+ "rapid_planner_tool_upload_enabled": true,
505
+ "rapid_planner_uploaded": true,
506
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
507
+ "rapid_planner_waypoints_uploaded": 114,
508
+ "raw_ramp_max_error_rad": null,
509
+ "raw_replay_max_error_rad": 0.0054264068603515625,
510
+ "raw_replay_rms_error_rad": 0.0008220243000507835,
511
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.715799639312185,
512
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9917846244119927,
513
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.8108113704296096,
514
+ "replay_smoothing_applied": true,
515
+ "replay_smoothing_blend": 1.0,
516
+ "replay_smoothing_blend_by_joint": [
517
+ 1.0,
518
+ 1.0,
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0
523
+ ],
524
+ "replay_smoothing_edge_taper_s": 0.2,
525
+ "replay_smoothing_edge_taper_samples": 50,
526
+ "replay_smoothing_enabled": true,
527
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.36810170377888385,
528
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9969837041636838,
529
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.8295545159298844,
530
+ "replay_smoothing_max_deviation_by_joint_rad": [
531
+ 0.0008512511849403381,
532
+ 0.0015001296997070312,
533
+ 0.0020183920860290527,
534
+ 0.0033810827881097794,
535
+ 0.0026235580444335938,
536
+ 0.005443518981337547
537
+ ],
538
+ "replay_smoothing_max_deviation_normalized": 0.6237813314920282,
539
+ "replay_smoothing_max_deviation_rad": 0.005443518981337547,
540
+ "replay_smoothing_method": "scipy_savgol",
541
+ "replay_smoothing_p95_deviation_rad": 0.00199960102327168,
542
+ "replay_smoothing_passes": 8,
543
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.268170118331909,
544
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 33.012454986572266,
545
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.700748251824034,
546
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 468.9498291015625,
547
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 8919.9716796875,
548
+ "replay_smoothing_raw_jerk_rms_rad_s3": 364.98700094437527,
549
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7204135656356812,
550
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2693962865465713,
551
+ "replay_smoothing_rms_deviation_rad": 0.0008850860303253966,
552
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.339354991912842,
553
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 32.74124526977539,
554
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.3789860208172078,
555
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 172.62123107910156,
556
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 8893.06640625,
557
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 302.7766148891115,
558
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6919299364089966,
559
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2685999241918943,
560
+ "replay_smoothing_tolerance_by_joint_rad": [
561
+ 0.03490658476948738,
562
+ 0.03490658476948738,
563
+ 0.02617993950843811,
564
+ 0.008726646192371845,
565
+ 0.008726646192371845,
566
+ 0.008726646192371845
567
+ ],
568
+ "replay_smoothing_tolerance_rad": 0.034906585,
569
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9834437313238924,
570
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970439000296343,
571
+ "replay_smoothing_window_s": 0.2,
572
+ "replay_smoothing_window_samples": 51,
573
+ "replay_smoothing_within_tolerance": true,
574
+ "replay_smoothing_worst_joint": 5,
575
+ "replay_smoothing_worst_time_s": 19.454,
576
+ "replay_smoothing_wrist_max_deviation_rad": 0.005443518981337547,
577
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
578
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
579
+ "return_measured_wall_accel_peak_joint": -1,
580
+ "return_measured_wall_accel_peak_time_s": null,
581
+ "return_measured_wall_accel_rms_rad_s2": null,
582
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
583
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
584
+ "return_measured_wall_jerk_peak_joint": -1,
585
+ "return_measured_wall_jerk_peak_time_s": null,
586
+ "return_measured_wall_jerk_rms_rad_s3": null,
587
+ "return_measured_wall_smoothness_samples": 0,
588
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
589
+ "return_measured_wall_velocity_peak_joint": -1,
590
+ "return_measured_wall_velocity_peak_time_s": null,
591
+ "return_measured_wall_velocity_rms_rad_s": null,
592
+ "safety_abort": false,
593
+ "safety_path_error_rad": 0.0054264068603515625,
594
+ "saved_data_source": "measured_rapid_planner_playback",
595
+ "send_failures": 0,
596
+ "sent_wall_accel_p95_abs_rad_s2": null,
597
+ "sent_wall_accel_peak_abs_rad_s2": null,
598
+ "sent_wall_accel_peak_joint": -1,
599
+ "sent_wall_accel_peak_time_s": null,
600
+ "sent_wall_accel_rms_rad_s2": null,
601
+ "sent_wall_jerk_p95_abs_rad_s3": null,
602
+ "sent_wall_jerk_peak_abs_rad_s3": null,
603
+ "sent_wall_jerk_peak_joint": -1,
604
+ "sent_wall_jerk_peak_time_s": null,
605
+ "sent_wall_jerk_rms_rad_s3": null,
606
+ "sent_wall_smoothness_samples": 0,
607
+ "sent_wall_velocity_peak_abs_rad_s": null,
608
+ "sent_wall_velocity_peak_joint": -1,
609
+ "sent_wall_velocity_peak_time_s": null,
610
+ "sent_wall_velocity_rms_rad_s": null,
611
+ "stage_planned_to_measured_max_error_rad": 0.060390591621398926,
612
+ "stage_planned_to_measured_rms_error_rad": 0.006192840852242142,
613
+ "stage_sent_to_measured_max_error_rad": null,
614
+ "stage_sent_to_measured_rms_error_rad": null,
615
+ "stage_sent_to_planned_max_error_rad": null,
616
+ "stage_sent_to_planned_rms_error_rad": null,
617
+ "stage_target_to_sent_max_error_rad": null,
618
+ "stage_target_to_sent_rms_error_rad": null,
619
+ "state_frame_count": 1143,
620
+ "stopped_early": false,
621
+ "strict_tracking_pass": true,
622
+ "strict_tracking_reason": "ok",
623
+ "target_wall_accel_p95_abs_rad_s2": 0.9984957575798035,
624
+ "target_wall_accel_peak_abs_rad_s2": 4.132606029510498,
625
+ "target_wall_accel_peak_joint": 5,
626
+ "target_wall_accel_peak_time_s": 25.00005874177441,
627
+ "target_wall_accel_rms_rad_s2": 0.43175167502575507,
628
+ "target_wall_jerk_p95_abs_rad_s3": 26.57074546813965,
629
+ "target_wall_jerk_peak_abs_rad_s3": 78.7782974243164,
630
+ "target_wall_jerk_peak_joint": 1,
631
+ "target_wall_jerk_peak_time_s": 37.53339682891965,
632
+ "target_wall_jerk_rms_rad_s3": 10.419955975472305,
633
+ "target_wall_smoothness_samples": 1143,
634
+ "target_wall_velocity_peak_abs_rad_s": 1.0096251964569092,
635
+ "target_wall_velocity_peak_joint": 5,
636
+ "target_wall_velocity_peak_time_s": 24.966724345926195,
637
+ "target_wall_velocity_rms_rad_s": 0.10577893451756576,
638
+ "tcp_pose_count": 1143,
639
+ "timestamp_count": 1143,
640
+ "tool_failures": 0,
641
+ "tracking_geometry_pass": true,
642
+ "tracking_geometry_reason": "ok",
643
+ "tracking_pass": true,
644
+ "tracking_reason": "ok",
645
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
646
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
647
+ "tracking_threshold_max_lag_s": 0.1,
648
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
649
+ "tracking_timing_pass": true,
650
+ "tracking_timing_reason": "ok",
651
+ "window_lag_best_lag_max_s": 0.9300000000000024,
652
+ "window_lag_best_lag_median_s": 0.0,
653
+ "window_lag_best_lag_min_s": -1.0699999999999992,
654
+ "window_lag_best_lag_p95_abs_s": 1.028,
655
+ "window_lag_count": 27,
656
+ "window_lag_window_s": 1.0,
657
+ "window_lag_worst_best_lag_s": 0.020000000000001794,
658
+ "window_lag_worst_end_s": 4.0,
659
+ "window_lag_worst_max_error_rad": 0.0064383745193481445,
660
+ "window_lag_worst_rms_error_rad": 0.002037276309827369,
661
+ "window_lag_worst_start_s": 3.0,
662
+ "zero_lag_max_error_rad": 0.0054264068603515625,
663
+ "zero_lag_p95_error_rad": 0.0019263795111328363,
664
+ "zero_lag_rms_error_rad": 0.0008220243000507835,
665
+ "zero_lag_samples": 1143,
666
+ "zero_lag_worst_joint": 4,
667
+ "zero_lag_worst_time_s": 3.2800000000000002
668
+ }
669
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154330.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4b104196df7b4a4658906ff3e6dd958be63da166e4ea3da2966064a703d5e57
3
+ size 119187
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.json ADDED
@@ -0,0 +1,671 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:45:25",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.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": 1168,
20
+ "actual_playback_duration_s": 38.95228875428438,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006151139736175537,
23
+ "aligned_p95_error_rad": 0.00187536736484617,
24
+ "aligned_rms_error_rad": 0.0008529751118572844,
25
+ "aligned_samples": 1168,
26
+ "aligned_worst_joint": 2,
27
+ "aligned_worst_time_s": 14.002,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1168,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1168,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7672650403468255,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1168,
46
+ "cam_wrist": 1168
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
+ 0.0032003819942474365,
58
+ 0.004458424635231495,
59
+ 0.006151139736175537,
60
+ 0.005552846938371658,
61
+ 0.0042838454246521,
62
+ 0.00608980655670166
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0014638322172686458,
66
+ 0.0021073194220662117,
67
+ 0.002142994897440076,
68
+ 0.0008045534486882389,
69
+ 0.0018816236406564713,
70
+ 0.0021936597768217325
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0006503650592929065,
74
+ 0.0009187500141193318,
75
+ 0.0010516029735571826,
76
+ 0.0004548509670986995,
77
+ 0.0008103076179816123,
78
+ 0.0010625282574455968
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1168,
82
+ 1168,
83
+ 1168,
84
+ 1168,
85
+ 1168,
86
+ 1168
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 13.934000000000001,
90
+ 14.986,
91
+ 14.002,
92
+ 4.491,
93
+ 14.002,
94
+ 13.978000000000002
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.009000000078231096,
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": 2,
107
+ "leadthrough_capture_egm_drained_packet_max": 2,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.009553209878504276,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003955579828470945,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004494731966406106,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005805320180952549,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2198,
114
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
115
+ "leadthrough_capture_egm_recorded_seqno_step_max": 2,
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": 0.009650315158069134,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004006726201623678,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0045516948681324715,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005864000045694412,
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": 0.009597094729542732,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.00401385105215013,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004508995101787149,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005820610541850329,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "host_recorder_skipped_buffered_egm_packets",
169
+ "leadthrough_capture_loop_late_max_s": 0.12239738274365664,
170
+ "leadthrough_capture_loop_late_median_s": 0.11564981658011675,
171
+ "leadthrough_capture_loop_late_p95_s": 0.11972152087837458,
172
+ "leadthrough_capture_loop_late_p99_s": 0.1202133572846651,
173
+ "leadthrough_capture_loop_late_warn_count": 5993,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.00961610907688737,
176
+ "leadthrough_capture_read_duration_median_s": 0.003985804971307516,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004528331011533735,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005838116686791181,
179
+ "leadthrough_capture_read_duration_warn_count": 2727,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.009000000000000341,
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": 43,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.003240928053855896,
190
+ 0.005197584629058838,
191
+ 0.0074010491371154785,
192
+ 0.001572929322719574,
193
+ 0.0038619041442871094,
194
+ 0.006119191646575928
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.0074010491371154785,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018851724453270435,
199
+ 0.0025806415360420942,
200
+ 0.0035981042310595512,
201
+ 0.0002965184976346791,
202
+ 0.0017997263930737972,
203
+ 0.00385320745408535
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007212404161691666,
207
+ 0.0011150272330269217,
208
+ 0.0015323504339903593,
209
+ 0.00020075359498150647,
210
+ 0.0007104911492206156,
211
+ 0.0013683405704796314
212
+ ],
213
+ "leadthrough_delta_samples": 5510,
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": 0.0074010491371154785,
218
+ "leadthrough_delta_worst_from_rad": -0.492323637008667,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 12.074,
221
+ "leadthrough_delta_worst_to_rad": -0.4849225878715515,
222
+ "leadthrough_duration_s": 22.041,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5509,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.6960000000000015,
228
+ "leadthrough_final_stillness_removed_samples": 174,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5510,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 5993,
234
+ "leadthrough_initial_stillness_first_motion_index": 309,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 1.232,
238
+ "leadthrough_initial_stillness_removed_samples": 308,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 308,
242
+ "leadthrough_initial_stillness_trimmed": true,
243
+ "leadthrough_reference_hz": 250.0,
244
+ "leadthrough_sample_dt_max_s": 0.009000000000000341,
245
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.003240928053855896,
249
+ 0.005197584629058838,
250
+ 0.0074010491371154785,
251
+ 0.001572929322719574,
252
+ 0.0038619041442871094,
253
+ 0.006119191646575928
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0074010491371154785,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.8102320134637034,
258
+ 1.2993961572642756,
259
+ 1.8502622842790735,
260
+ 0.4154530664284867,
261
+ 0.9654760360723125,
262
+ 2.0309289296470334
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.794751763343811,
265
+ "leadthrough_velocity_rms_rad_s": 0.26139307844983156,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006151139736175537,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.41582340002059937,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.871570348739624,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 24.54516690596938,
274
+ "measured_wall_accel_rms_rad_s2": 0.21046048479895305,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.555663585662842,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 67.50334930419922,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 24.612743456847966,
279
+ "measured_wall_jerk_rms_rad_s3": 3.9103254755490995,
280
+ "measured_wall_smoothness_samples": 1168,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.3722730576992035,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.511019984725863,
284
+ "measured_wall_velocity_rms_rad_s": 0.09784379510040524,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006151139736175537,
287
+ "moving_aligned_p95_error_rad": 0.0020805145613849163,
288
+ "moving_aligned_rms_error_rad": 0.0009761024866995981,
289
+ "moving_aligned_samples": 859,
290
+ "moving_aligned_worst_joint": 2,
291
+ "moving_aligned_worst_time_s": 14.002,
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
+ 0.002933889627456665,
302
+ 0.004458424635231495,
303
+ 0.006151139736175537,
304
+ 0.005164746195077896,
305
+ 0.0042838454246521,
306
+ 0.00608980655670166
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0015953361289575696,
310
+ 0.0023915583733469248,
311
+ 0.0024621763732284307,
312
+ 0.0020205120090395212,
313
+ 0.0023693020921200514,
314
+ 0.002920332131907344
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0007387365957697199,
318
+ 0.0010769495582525382,
319
+ 0.001231646168988366,
320
+ 0.0010854112750965552,
321
+ 0.0010546960872214518,
322
+ 0.001591725178973486
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 705,
326
+ 792,
327
+ 774,
328
+ 130,
329
+ 590,
330
+ 460
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 21.677,
334
+ 14.986,
335
+ 14.002,
336
+ 4.303,
337
+ 14.002,
338
+ 13.978000000000002
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": 2.8904733657836914,
348
+ "playback_velocity_rms_rad_s": 0.5453852130859557,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 74.082,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.041,
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
+ 2219,
357
+ 4695
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4293320308486615,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08552521467208862,
364
+ "rapid_planner_max_dt_s": 2.12,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007493257522583008,
367
+ "rapid_planner_median_dt_s": 0.08799999999999919,
368
+ "rapid_planner_path_max_error_rad": 0.006151139736175537,
369
+ "rapid_planner_path_p95_error_rad": 0.0028004242107272136,
370
+ "rapid_planner_path_rms_error_rad": 0.0014435007129675386,
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
+ 174,
376
+ 216,
377
+ 240,
378
+ 252,
379
+ 265,
380
+ 276,
381
+ 288,
382
+ 300,
383
+ 312,
384
+ 328,
385
+ 343,
386
+ 356,
387
+ 369,
388
+ 378,
389
+ 387,
390
+ 396,
391
+ 405,
392
+ 420,
393
+ 435,
394
+ 452,
395
+ 469,
396
+ 493,
397
+ 511,
398
+ 535,
399
+ 559,
400
+ 584,
401
+ 610,
402
+ 635,
403
+ 660,
404
+ 688,
405
+ 717,
406
+ 752,
407
+ 804,
408
+ 857,
409
+ 887,
410
+ 916,
411
+ 967,
412
+ 1195,
413
+ 1725,
414
+ 1950,
415
+ 2219,
416
+ 2485,
417
+ 2569,
418
+ 2792,
419
+ 2841,
420
+ 2935,
421
+ 2959,
422
+ 2981,
423
+ 2994,
424
+ 3006,
425
+ 3013,
426
+ 3020,
427
+ 3028,
428
+ 3035,
429
+ 3047,
430
+ 3059,
431
+ 3070,
432
+ 3081,
433
+ 3093,
434
+ 3105,
435
+ 3125,
436
+ 3145,
437
+ 3166,
438
+ 3188,
439
+ 3210,
440
+ 3232,
441
+ 3252,
442
+ 3271,
443
+ 3290,
444
+ 3309,
445
+ 3344,
446
+ 3364,
447
+ 3383,
448
+ 3396,
449
+ 3410,
450
+ 3432,
451
+ 3458,
452
+ 3531,
453
+ 3594,
454
+ 3659,
455
+ 3711,
456
+ 3808,
457
+ 3964,
458
+ 4110,
459
+ 4302,
460
+ 4406,
461
+ 4506,
462
+ 4575,
463
+ 4620,
464
+ 4685,
465
+ 4695,
466
+ 4797,
467
+ 4845,
468
+ 5006,
469
+ 5086,
470
+ 5107,
471
+ 5131,
472
+ 5165,
473
+ 5187,
474
+ 5201,
475
+ 5214,
476
+ 5231,
477
+ 5239,
478
+ 5247,
479
+ 5256,
480
+ 5264,
481
+ 5279,
482
+ 5294,
483
+ 5309,
484
+ 5328,
485
+ 5346,
486
+ 5375,
487
+ 5398,
488
+ 5443,
489
+ 5510
490
+ ],
491
+ "rapid_planner_selected_max_joint_step_deg": 4.900233842661023,
492
+ "rapid_planner_selected_samples": 116,
493
+ "rapid_planner_service_configured": true,
494
+ "rapid_planner_source_samples": 5511,
495
+ "rapid_planner_state_done": 6.0,
496
+ "rapid_planner_state_error": 7.0,
497
+ "rapid_planner_tool_command_hz": 30.0,
498
+ "rapid_planner_tool_command_supported": true,
499
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
500
+ "rapid_planner_tool_io_configured": true,
501
+ "rapid_planner_tool_io_supported": true,
502
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
503
+ "rapid_planner_tool_state_supported": true,
504
+ "rapid_planner_tool_transition_source_count": 2,
505
+ "rapid_planner_tool_transitions_uploaded": 2,
506
+ "rapid_planner_tool_upload_enabled": true,
507
+ "rapid_planner_uploaded": true,
508
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
509
+ "rapid_planner_waypoints_uploaded": 116,
510
+ "raw_ramp_max_error_rad": null,
511
+ "raw_replay_max_error_rad": 0.006151139736175537,
512
+ "raw_replay_rms_error_rad": 0.0008529751118572844,
513
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.739194681098011,
514
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.989585286373025,
515
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9264448130044463,
516
+ "replay_smoothing_applied": true,
517
+ "replay_smoothing_blend": 1.0,
518
+ "replay_smoothing_blend_by_joint": [
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0
525
+ ],
526
+ "replay_smoothing_edge_taper_s": 0.2,
527
+ "replay_smoothing_edge_taper_samples": 50,
528
+ "replay_smoothing_enabled": true,
529
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.37906326141456453,
530
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0005893065729248,
531
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9578188613852456,
532
+ "replay_smoothing_max_deviation_by_joint_rad": [
533
+ 0.0008635818958282471,
534
+ 0.0009115934371948242,
535
+ 0.0019558072090148926,
536
+ 0.0027624890208244324,
537
+ 0.003031492233276367,
538
+ 0.0056302547454833984
539
+ ],
540
+ "replay_smoothing_max_deviation_normalized": 0.6451796739972028,
541
+ "replay_smoothing_max_deviation_rad": 0.0056302547454833984,
542
+ "replay_smoothing_method": "scipy_savgol",
543
+ "replay_smoothing_p95_deviation_rad": 0.002012208104133606,
544
+ "replay_smoothing_passes": 8,
545
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.7525997161865234,
546
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 54.32366180419922,
547
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.1482987628404846,
548
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 322.1939697265625,
549
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14468.474609375,
550
+ "replay_smoothing_raw_jerk_rms_rad_s3": 529.1426153236704,
551
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8407776355743408,
552
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2621865455553182,
553
+ "replay_smoothing_rms_deviation_rad": 0.0008779651381869417,
554
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.0347070693969727,
555
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 53.757896423339844,
556
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.990280245617436,
557
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 122.13189697265625,
558
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14477.0009765625,
559
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 506.82277731972897,
560
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.794751763343811,
561
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26139307844983156,
562
+ "replay_smoothing_tolerance_by_joint_rad": [
563
+ 0.03490658476948738,
564
+ 0.03490658476948738,
565
+ 0.02617993950843811,
566
+ 0.008726646192371845,
567
+ 0.008726646192371845,
568
+ 0.008726646192371845
569
+ ],
570
+ "replay_smoothing_tolerance_rad": 0.034906585,
571
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9749965061824704,
572
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969736543734309,
573
+ "replay_smoothing_window_s": 0.2,
574
+ "replay_smoothing_window_samples": 51,
575
+ "replay_smoothing_within_tolerance": true,
576
+ "replay_smoothing_worst_joint": 5,
577
+ "replay_smoothing_worst_time_s": 11.822000000000001,
578
+ "replay_smoothing_wrist_max_deviation_rad": 0.0056302547454833984,
579
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
580
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
581
+ "return_measured_wall_accel_peak_joint": -1,
582
+ "return_measured_wall_accel_peak_time_s": null,
583
+ "return_measured_wall_accel_rms_rad_s2": null,
584
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
585
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
586
+ "return_measured_wall_jerk_peak_joint": -1,
587
+ "return_measured_wall_jerk_peak_time_s": null,
588
+ "return_measured_wall_jerk_rms_rad_s3": null,
589
+ "return_measured_wall_smoothness_samples": 0,
590
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
591
+ "return_measured_wall_velocity_peak_joint": -1,
592
+ "return_measured_wall_velocity_peak_time_s": null,
593
+ "return_measured_wall_velocity_rms_rad_s": null,
594
+ "safety_abort": false,
595
+ "safety_path_error_rad": 0.006151139736175537,
596
+ "saved_data_source": "measured_rapid_planner_playback",
597
+ "send_failures": 0,
598
+ "sent_wall_accel_p95_abs_rad_s2": null,
599
+ "sent_wall_accel_peak_abs_rad_s2": null,
600
+ "sent_wall_accel_peak_joint": -1,
601
+ "sent_wall_accel_peak_time_s": null,
602
+ "sent_wall_accel_rms_rad_s2": null,
603
+ "sent_wall_jerk_p95_abs_rad_s3": null,
604
+ "sent_wall_jerk_peak_abs_rad_s3": null,
605
+ "sent_wall_jerk_peak_joint": -1,
606
+ "sent_wall_jerk_peak_time_s": null,
607
+ "sent_wall_jerk_rms_rad_s3": null,
608
+ "sent_wall_smoothness_samples": 0,
609
+ "sent_wall_velocity_peak_abs_rad_s": null,
610
+ "sent_wall_velocity_peak_joint": -1,
611
+ "sent_wall_velocity_peak_time_s": null,
612
+ "sent_wall_velocity_rms_rad_s": null,
613
+ "stage_planned_to_measured_max_error_rad": 0.021372376009821892,
614
+ "stage_planned_to_measured_rms_error_rad": 0.005803288120275292,
615
+ "stage_sent_to_measured_max_error_rad": null,
616
+ "stage_sent_to_measured_rms_error_rad": null,
617
+ "stage_sent_to_planned_max_error_rad": null,
618
+ "stage_sent_to_planned_rms_error_rad": null,
619
+ "stage_target_to_sent_max_error_rad": null,
620
+ "stage_target_to_sent_rms_error_rad": null,
621
+ "state_frame_count": 1168,
622
+ "stopped_early": false,
623
+ "strict_tracking_pass": true,
624
+ "strict_tracking_reason": "ok",
625
+ "target_wall_accel_p95_abs_rad_s2": 0.9051641821861267,
626
+ "target_wall_accel_peak_abs_rad_s2": 3.476447820663452,
627
+ "target_wall_accel_peak_joint": 5,
628
+ "target_wall_accel_peak_time_s": 9.533404455985874,
629
+ "target_wall_accel_rms_rad_s2": 0.39338886022877206,
630
+ "target_wall_jerk_p95_abs_rad_s3": 22.926664352416992,
631
+ "target_wall_jerk_peak_abs_rad_s3": 99.79513549804688,
632
+ "target_wall_jerk_peak_joint": 5,
633
+ "target_wall_jerk_peak_time_s": 9.56673382036388,
634
+ "target_wall_jerk_rms_rad_s3": 9.945528317287275,
635
+ "target_wall_smoothness_samples": 1168,
636
+ "target_wall_velocity_peak_abs_rad_s": 0.4244539141654968,
637
+ "target_wall_velocity_peak_joint": 2,
638
+ "target_wall_velocity_peak_time_s": 17.566729608923197,
639
+ "target_wall_velocity_rms_rad_s": 0.09900269040185213,
640
+ "tcp_pose_count": 1168,
641
+ "timestamp_count": 1168,
642
+ "tool_failures": 0,
643
+ "tracking_geometry_pass": true,
644
+ "tracking_geometry_reason": "ok",
645
+ "tracking_pass": true,
646
+ "tracking_reason": "ok",
647
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
648
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
649
+ "tracking_threshold_max_lag_s": 0.1,
650
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
651
+ "tracking_timing_pass": true,
652
+ "tracking_timing_reason": "ok",
653
+ "window_lag_best_lag_max_s": 0.020000000000001794,
654
+ "window_lag_best_lag_median_s": 0.0,
655
+ "window_lag_best_lag_min_s": -1.1199999999999992,
656
+ "window_lag_best_lag_p95_abs_s": 0.8999999999999966,
657
+ "window_lag_count": 25,
658
+ "window_lag_window_s": 1.0,
659
+ "window_lag_worst_best_lag_s": 0.0,
660
+ "window_lag_worst_end_s": 14.5,
661
+ "window_lag_worst_max_error_rad": 0.006151139736175537,
662
+ "window_lag_worst_rms_error_rad": 0.0017858392233399186,
663
+ "window_lag_worst_start_s": 13.5,
664
+ "zero_lag_max_error_rad": 0.006151139736175537,
665
+ "zero_lag_p95_error_rad": 0.00187536736484617,
666
+ "zero_lag_rms_error_rad": 0.0008529751118572844,
667
+ "zero_lag_samples": 1168,
668
+ "zero_lag_worst_joint": 2,
669
+ "zero_lag_worst_time_s": 14.002
670
+ }
671
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154524.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e13cef560d3572f64dda5e09cf316f18a23468f9e410f652b703593c78603a9
3
+ size 121070
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.json ADDED
@@ -0,0 +1,668 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:48:19",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.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": 1166,
20
+ "actual_playback_duration_s": 38.8765204991214,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006140947341918945,
23
+ "aligned_p95_error_rad": 0.0017745085060596466,
24
+ "aligned_rms_error_rad": 0.0007829135990184929,
25
+ "aligned_samples": 1166,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 1.4480000000000004,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1166,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1166,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.5929735914411554,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1166,
46
+ "cam_wrist": 1166
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
+ 0.005073070526123047,
58
+ 0.0035619139671325684,
59
+ 0.005478560924530029,
60
+ 0.002287382259964943,
61
+ 0.005594015121459961,
62
+ 0.006140947341918945
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001569211483001709,
66
+ 0.0018246844410896301,
67
+ 0.0020836591720581055,
68
+ 0.0007914462476037443,
69
+ 0.0013239383697509766,
70
+ 0.0023694485425949097
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.000709032778450914,
74
+ 0.0008146780205473668,
75
+ 0.000979572901226597,
76
+ 0.00033334141164863214,
77
+ 0.0006647055633360161,
78
+ 0.000999390520077358
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1166,
82
+ 1166,
83
+ 1166,
84
+ 1166,
85
+ 1166,
86
+ 1166
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 2.6640000000000006,
90
+ 22.862000000000002,
91
+ 1.428,
92
+ 2.500000000000001,
93
+ 1.428,
94
+ 1.4480000000000004
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": 28,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.007322696968913078,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.0039704719092696905,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043630558764562,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005000926563516259,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3080,
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": 0.007390858139842749,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003997853957116604,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004394956585019827,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005040942020714286,
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": 0.007112315855920315,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999190870672464,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043813795782625675,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005002451036125424,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.01365637592971325,
170
+ "leadthrough_capture_loop_late_median_s": 0.0098925547208637,
171
+ "leadthrough_capture_loop_late_p95_s": 0.010283971182070672,
172
+ "leadthrough_capture_loop_late_p99_s": 0.010938130891881883,
173
+ "leadthrough_capture_loop_late_warn_count": 7630,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.007366661913692951,
176
+ "leadthrough_capture_read_duration_median_s": 0.003986265975981951,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004381307959556579,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005026504527777434,
179
+ "leadthrough_capture_read_duration_warn_count": 3451,
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": 31,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004110589623451233,
190
+ 0.0052626729011535645,
191
+ 0.007379084825515747,
192
+ 0.0015297867357730865,
193
+ 0.0027701854705810547,
194
+ 0.009006142616271973
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.009006142616271973,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0015290663577616215,
199
+ 0.0024213301949203014,
200
+ 0.0033571331296116114,
201
+ 0.00018443656153976917,
202
+ 0.0017077026423066854,
203
+ 0.0029689620714634657
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007110464503057301,
207
+ 0.001121426117606461,
208
+ 0.001403726520948112,
209
+ 0.00019365125626791269,
210
+ 0.0006141916965134442,
211
+ 0.0013512199511751533
212
+ ],
213
+ "leadthrough_delta_samples": 6102,
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": -0.009006142616271973,
218
+ "leadthrough_delta_worst_from_rad": -0.5734230279922485,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.9729999999999999,
221
+ "leadthrough_delta_worst_to_rad": -0.5824291706085205,
222
+ "leadthrough_duration_s": 24.405,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6101,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5450000000000017,
228
+ "leadthrough_final_stillness_removed_samples": 136,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6102,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7630,
234
+ "leadthrough_initial_stillness_first_motion_index": 1392,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 5.563,
238
+ "leadthrough_initial_stillness_removed_samples": 1391,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1391,
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
+ 0.004110589623451233,
249
+ 0.0052626729011535645,
250
+ 0.007379084825515747,
251
+ 0.0015297867357730865,
252
+ 0.0027701854705810547,
253
+ 0.009006142616271973
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.009006142616271973,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0276474058633778,
258
+ 1.3156682252879517,
259
+ 1.8447712063783206,
260
+ 0.5093297610680069,
261
+ 0.7641911506652542,
262
+ 2.9962658882139976
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.5587258338928223,
265
+ "leadthrough_velocity_rms_rad_s": 0.2522002286956125,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006140947341918945,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4041762351989746,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.647463083267212,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 41.02298210840672,
274
+ "measured_wall_accel_rms_rad_s2": 0.20973122162483368,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 6.566701412200928,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 53.219017028808594,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 28.856906795408577,
279
+ "measured_wall_jerk_rms_rad_s3": 3.6368920672225595,
280
+ "measured_wall_smoothness_samples": 1166,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6085572242736816,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 18.027183114085346,
284
+ "measured_wall_velocity_rms_rad_s": 0.10367071550850213,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006140947341918945,
287
+ "moving_aligned_p95_error_rad": 0.001949416589923203,
288
+ "moving_aligned_rms_error_rad": 0.0008949880472935844,
289
+ "moving_aligned_samples": 857,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 1.4480000000000004,
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
+ 0.005073070526123047,
302
+ 0.0035619139671325684,
303
+ 0.005478560924530029,
304
+ 0.002189459279179573,
305
+ 0.005594015121459961,
306
+ 0.006140947341918945
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0019252239726483822,
310
+ 0.001960326451808214,
311
+ 0.002165555953979492,
312
+ 0.0014145203167572618,
313
+ 0.0017746537923812866,
314
+ 0.0029291866812855005
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.00090528201843507,
318
+ 0.0009338961212722582,
319
+ 0.001135433134267082,
320
+ 0.0006601112395512553,
321
+ 0.0009259720547030772,
322
+ 0.0014450790834027501
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 663,
326
+ 814,
327
+ 776,
328
+ 192,
329
+ 536,
330
+ 497
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 2.6640000000000006,
334
+ 22.862000000000002,
335
+ 1.428,
336
+ 2.184,
337
+ 1.428,
338
+ 1.4480000000000004
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": 2.7117831707000732,
348
+ "playback_velocity_rms_rad_s": 0.515899740701454,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 78.81,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.405,
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
+ 1914,
357
+ 5194
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4274238467492892,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08539241552352905,
364
+ "rapid_planner_max_dt_s": 2.3210000000000015,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007459953427314758,
367
+ "rapid_planner_median_dt_s": 0.08800000000000097,
368
+ "rapid_planner_path_max_error_rad": 0.006140947341918945,
369
+ "rapid_planner_path_p95_error_rad": 0.002863015979528427,
370
+ "rapid_planner_path_rms_error_rad": 0.0013636502861817386,
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
+ 68,
377
+ 85,
378
+ 102,
379
+ 118,
380
+ 135,
381
+ 150,
382
+ 164,
383
+ 177,
384
+ 190,
385
+ 202,
386
+ 213,
387
+ 222,
388
+ 231,
389
+ 240,
390
+ 248,
391
+ 257,
392
+ 266,
393
+ 278,
394
+ 290,
395
+ 298,
396
+ 306,
397
+ 323,
398
+ 335,
399
+ 347,
400
+ 377,
401
+ 392,
402
+ 407,
403
+ 422,
404
+ 437,
405
+ 453,
406
+ 469,
407
+ 495,
408
+ 521,
409
+ 564,
410
+ 603,
411
+ 715,
412
+ 829,
413
+ 1125,
414
+ 1392,
415
+ 1914,
416
+ 2176,
417
+ 2250,
418
+ 2505,
419
+ 2573,
420
+ 2639,
421
+ 2661,
422
+ 2681,
423
+ 2696,
424
+ 2705,
425
+ 2714,
426
+ 2724,
427
+ 2733,
428
+ 2744,
429
+ 2754,
430
+ 2764,
431
+ 2775,
432
+ 2799,
433
+ 2824,
434
+ 2855,
435
+ 2886,
436
+ 2923,
437
+ 2960,
438
+ 3018,
439
+ 3075,
440
+ 3124,
441
+ 3172,
442
+ 3199,
443
+ 3227,
444
+ 3249,
445
+ 3271,
446
+ 3286,
447
+ 3300,
448
+ 3330,
449
+ 3356,
450
+ 3382,
451
+ 3410,
452
+ 3436,
453
+ 3490,
454
+ 3563,
455
+ 3630,
456
+ 3733,
457
+ 3829,
458
+ 3911,
459
+ 4491,
460
+ 4545,
461
+ 4632,
462
+ 4693,
463
+ 5194,
464
+ 5489,
465
+ 5515,
466
+ 5539,
467
+ 5576,
468
+ 5602,
469
+ 5616,
470
+ 5629,
471
+ 5648,
472
+ 5665,
473
+ 5685,
474
+ 5706,
475
+ 5727,
476
+ 5740,
477
+ 5752,
478
+ 5770,
479
+ 5788,
480
+ 5806,
481
+ 5825,
482
+ 5852,
483
+ 5883,
484
+ 5917,
485
+ 5952,
486
+ 6102
487
+ ],
488
+ "rapid_planner_selected_max_joint_step_deg": 4.892625011925629,
489
+ "rapid_planner_selected_samples": 113,
490
+ "rapid_planner_service_configured": true,
491
+ "rapid_planner_source_samples": 6103,
492
+ "rapid_planner_state_done": 6.0,
493
+ "rapid_planner_state_error": 7.0,
494
+ "rapid_planner_tool_command_hz": 30.0,
495
+ "rapid_planner_tool_command_supported": true,
496
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
497
+ "rapid_planner_tool_io_configured": true,
498
+ "rapid_planner_tool_io_supported": true,
499
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
500
+ "rapid_planner_tool_state_supported": true,
501
+ "rapid_planner_tool_transition_source_count": 2,
502
+ "rapid_planner_tool_transitions_uploaded": 2,
503
+ "rapid_planner_tool_upload_enabled": true,
504
+ "rapid_planner_uploaded": true,
505
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
506
+ "rapid_planner_waypoints_uploaded": 113,
507
+ "raw_ramp_max_error_rad": null,
508
+ "raw_replay_max_error_rad": 0.006140947341918945,
509
+ "raw_replay_rms_error_rad": 0.0007829135990184929,
510
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8569761443701205,
511
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9446191387455315,
512
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9812969297254549,
513
+ "replay_smoothing_applied": true,
514
+ "replay_smoothing_blend": 1.0,
515
+ "replay_smoothing_blend_by_joint": [
516
+ 1.0,
517
+ 1.0,
518
+ 1.0,
519
+ 1.0,
520
+ 1.0,
521
+ 1.0
522
+ ],
523
+ "replay_smoothing_edge_taper_s": 0.2,
524
+ "replay_smoothing_edge_taper_samples": 50,
525
+ "replay_smoothing_enabled": true,
526
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.656892647972773,
527
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9508215868142025,
528
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9912380280901709,
529
+ "replay_smoothing_max_deviation_by_joint_rad": [
530
+ 0.0005645640194416046,
531
+ 0.0013300180435180664,
532
+ 0.002158239483833313,
533
+ 0.0015026479959487915,
534
+ 0.0031403303146362305,
535
+ 0.006833195686340332
536
+ ],
537
+ "replay_smoothing_max_deviation_normalized": 0.7830265528942126,
538
+ "replay_smoothing_max_deviation_rad": 0.006833195686340332,
539
+ "replay_smoothing_method": "scipy_savgol",
540
+ "replay_smoothing_p95_deviation_rad": 0.0020514708012342453,
541
+ "replay_smoothing_passes": 8,
542
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.5787627696990967,
543
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 89.4322509765625,
544
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.632741995253907,
545
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 487.5559387207031,
546
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 23896.568359375,
547
+ "replay_smoothing_raw_jerk_rms_rad_s3": 915.9644065538741,
548
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.6761953830718994,
549
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.25305830362987186,
550
+ "replay_smoothing_rms_deviation_rad": 0.0008974197701155409,
551
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.0669143199920654,
552
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 84.47941589355469,
553
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.564798566427382,
554
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 320.27191162109375,
555
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 22721.373046875,
556
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 907.9387521532458,
557
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.5587258338928223,
558
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2522002286956125,
559
+ "replay_smoothing_tolerance_by_joint_rad": [
560
+ 0.03490658476948738,
561
+ 0.03490658476948738,
562
+ 0.02617993950843811,
563
+ 0.008726646192371845,
564
+ 0.008726646192371845,
565
+ 0.008726646192371845
566
+ ],
567
+ "replay_smoothing_tolerance_rad": 0.034906585,
568
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9561057649519451,
569
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9966091808806463,
570
+ "replay_smoothing_window_s": 0.2,
571
+ "replay_smoothing_window_samples": 51,
572
+ "replay_smoothing_within_tolerance": true,
573
+ "replay_smoothing_worst_joint": 5,
574
+ "replay_smoothing_worst_time_s": 1.38,
575
+ "replay_smoothing_wrist_max_deviation_rad": 0.006833195686340332,
576
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
577
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
578
+ "return_measured_wall_accel_peak_joint": -1,
579
+ "return_measured_wall_accel_peak_time_s": null,
580
+ "return_measured_wall_accel_rms_rad_s2": null,
581
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
582
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
583
+ "return_measured_wall_jerk_peak_joint": -1,
584
+ "return_measured_wall_jerk_peak_time_s": null,
585
+ "return_measured_wall_jerk_rms_rad_s3": null,
586
+ "return_measured_wall_smoothness_samples": 0,
587
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
588
+ "return_measured_wall_velocity_peak_joint": -1,
589
+ "return_measured_wall_velocity_peak_time_s": null,
590
+ "return_measured_wall_velocity_rms_rad_s": null,
591
+ "safety_abort": false,
592
+ "safety_path_error_rad": 0.006140947341918945,
593
+ "saved_data_source": "measured_rapid_planner_playback",
594
+ "send_failures": 0,
595
+ "sent_wall_accel_p95_abs_rad_s2": null,
596
+ "sent_wall_accel_peak_abs_rad_s2": null,
597
+ "sent_wall_accel_peak_joint": -1,
598
+ "sent_wall_accel_peak_time_s": null,
599
+ "sent_wall_accel_rms_rad_s2": null,
600
+ "sent_wall_jerk_p95_abs_rad_s3": null,
601
+ "sent_wall_jerk_peak_abs_rad_s3": null,
602
+ "sent_wall_jerk_peak_joint": -1,
603
+ "sent_wall_jerk_peak_time_s": null,
604
+ "sent_wall_jerk_rms_rad_s3": null,
605
+ "sent_wall_smoothness_samples": 0,
606
+ "sent_wall_velocity_peak_abs_rad_s": null,
607
+ "sent_wall_velocity_peak_joint": -1,
608
+ "sent_wall_velocity_peak_time_s": null,
609
+ "sent_wall_velocity_rms_rad_s": null,
610
+ "stage_planned_to_measured_max_error_rad": 0.035263001918792725,
611
+ "stage_planned_to_measured_rms_error_rad": 0.0061488140382508945,
612
+ "stage_sent_to_measured_max_error_rad": null,
613
+ "stage_sent_to_measured_rms_error_rad": null,
614
+ "stage_sent_to_planned_max_error_rad": null,
615
+ "stage_sent_to_planned_rms_error_rad": null,
616
+ "stage_target_to_sent_max_error_rad": null,
617
+ "stage_target_to_sent_rms_error_rad": null,
618
+ "state_frame_count": 1166,
619
+ "stopped_early": false,
620
+ "strict_tracking_pass": true,
621
+ "strict_tracking_reason": "ok",
622
+ "target_wall_accel_p95_abs_rad_s2": 0.8385689854621887,
623
+ "target_wall_accel_peak_abs_rad_s2": 3.1502203941345215,
624
+ "target_wall_accel_peak_joint": 5,
625
+ "target_wall_accel_peak_time_s": 3.933391753118485,
626
+ "target_wall_accel_rms_rad_s2": 0.36814271661678694,
627
+ "target_wall_jerk_p95_abs_rad_s3": 19.84359359741211,
628
+ "target_wall_jerk_peak_abs_rad_s3": 83.93701171875,
629
+ "target_wall_jerk_peak_joint": 5,
630
+ "target_wall_jerk_peak_time_s": 8.100044986233115,
631
+ "target_wall_jerk_rms_rad_s3": 8.987222730164348,
632
+ "target_wall_smoothness_samples": 1166,
633
+ "target_wall_velocity_peak_abs_rad_s": 0.6444879174232483,
634
+ "target_wall_velocity_peak_joint": 5,
635
+ "target_wall_velocity_peak_time_s": 3.3667249949648976,
636
+ "target_wall_velocity_rms_rad_s": 0.10464461218771896,
637
+ "tcp_pose_count": 1166,
638
+ "timestamp_count": 1166,
639
+ "tool_failures": 0,
640
+ "tracking_geometry_pass": true,
641
+ "tracking_geometry_reason": "ok",
642
+ "tracking_pass": true,
643
+ "tracking_reason": "ok",
644
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
645
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
646
+ "tracking_threshold_max_lag_s": 0.1,
647
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
648
+ "tracking_timing_pass": true,
649
+ "tracking_timing_reason": "ok",
650
+ "window_lag_best_lag_max_s": 1.8800000000000034,
651
+ "window_lag_best_lag_median_s": 0.0,
652
+ "window_lag_best_lag_min_s": -1.0699999999999992,
653
+ "window_lag_best_lag_p95_abs_s": 1.054999999999999,
654
+ "window_lag_count": 27,
655
+ "window_lag_window_s": 1.0,
656
+ "window_lag_worst_best_lag_s": 0.010000000000001563,
657
+ "window_lag_worst_end_s": 3.5,
658
+ "window_lag_worst_max_error_rad": 0.005358457565307617,
659
+ "window_lag_worst_rms_error_rad": 0.001634622495804307,
660
+ "window_lag_worst_start_s": 2.5,
661
+ "zero_lag_max_error_rad": 0.006140947341918945,
662
+ "zero_lag_p95_error_rad": 0.0017745085060596466,
663
+ "zero_lag_rms_error_rad": 0.0007829135990184929,
664
+ "zero_lag_samples": 1166,
665
+ "zero_lag_worst_joint": 5,
666
+ "zero_lag_worst_time_s": 1.4480000000000004
667
+ }
668
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_154818.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62ae7486f125c6374b63c8aaec0ecc5581a19649198eb6493a1e292331683db4
3
+ size 122367
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.json ADDED
@@ -0,0 +1,668 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:50:24",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.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": 1136,
20
+ "actual_playback_duration_s": 37.889049767982215,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004363313317298889,
23
+ "aligned_p95_error_rad": 0.0017550177872180939,
24
+ "aligned_rms_error_rad": 0.0007567340136796521,
25
+ "aligned_samples": 1136,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 18.338,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1136,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1136,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7614620998597033,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1136,
46
+ "cam_wrist": 1136
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
+ 0.004363313317298889,
58
+ 0.003867216408252716,
59
+ 0.0035645365715026855,
60
+ 0.0030875802040100098,
61
+ 0.0020540952682495117,
62
+ 0.003972150385379791
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016349852085113525,
66
+ 0.001891204621642828,
67
+ 0.0019349679350852966,
68
+ 0.0009557920275256038,
69
+ 0.0013425648212432861,
70
+ 0.0021458943374454975
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.000713699473388605,
74
+ 0.0008937360098324042,
75
+ 0.0008905507246308783,
76
+ 0.00044982532632757466,
77
+ 0.0005598004956447329,
78
+ 0.0009049570149468958
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1136,
82
+ 1136,
83
+ 1136,
84
+ 1136,
85
+ 1136,
86
+ 1136
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 18.338,
90
+ 18.922,
91
+ 18.922,
92
+ 18.346,
93
+ 18.546,
94
+ 18.358
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": 4,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006996988784521818,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003970802063122392,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004352380055934191,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004737556050531567,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2644,
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": 0.0070677329786121845,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003997130785137415,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004383482690900564,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004778638845309615,
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": 0.006987594999372959,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999296575784683,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004372580209746957,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0047359911445528265,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.014900445006787777,
170
+ "leadthrough_capture_loop_late_median_s": 0.010382219450548291,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01073753263335675,
172
+ "leadthrough_capture_loop_late_p99_s": 0.011125181126408281,
173
+ "leadthrough_capture_loop_late_warn_count": 6516,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.007039641961455345,
176
+ "leadthrough_capture_read_duration_median_s": 0.003985174931585789,
177
+ "leadthrough_capture_read_duration_p95_s": 0.00437222677282989,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004764068592339759,
179
+ "leadthrough_capture_read_duration_warn_count": 2944,
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
+ 0.004037082195281982,
190
+ 0.0049266815185546875,
191
+ 0.007054716348648071,
192
+ 0.0014243246987462044,
193
+ 0.0029522180557250977,
194
+ 0.006689608097076416
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007054716348648071,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0015140629839152098,
199
+ 0.0027261143550276756,
200
+ 0.0038697703275829554,
201
+ 0.00038888733251951635,
202
+ 0.0016101389192044735,
203
+ 0.003112494945526123
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007519068312831223,
207
+ 0.001149174408055842,
208
+ 0.0015143955824896693,
209
+ 0.00019374953990336508,
210
+ 0.000634821830317378,
211
+ 0.0013815447455272079
212
+ ],
213
+ "leadthrough_delta_samples": 5378,
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": 0.007054716348648071,
218
+ "leadthrough_delta_worst_from_rad": -0.48716282844543457,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 9.511,
221
+ "leadthrough_delta_worst_to_rad": -0.4801081120967865,
222
+ "leadthrough_duration_s": 21.509999999999998,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5346,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5347,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6516,
234
+ "leadthrough_initial_stillness_first_motion_index": 1138,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 4.547,
238
+ "leadthrough_initial_stillness_removed_samples": 1137,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1137,
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
+ 0.004037082195281982,
249
+ 0.0049266815185546875,
250
+ 0.007054716348648071,
251
+ 0.0014243246987462044,
252
+ 0.0029522180557250977,
253
+ 0.006689608097076416
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007054716348648071,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.009270548821055,
258
+ 1.2316703796382606,
259
+ 1.7636790871629953,
260
+ 0.3560811746864322,
261
+ 0.7380545139316834,
262
+ 1.6724020242692883
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.7117149829864502,
265
+ "leadthrough_velocity_rms_rad_s": 0.2600411485594075,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004363313317298889,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.3858739733695984,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.1468417644500732,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 40.16562082385644,
274
+ "measured_wall_accel_rms_rad_s2": 0.20657374509699958,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 6.990478992462158,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 71.50534057617188,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 40.19705046387389,
279
+ "measured_wall_jerk_rms_rad_s3": 3.656711622421133,
280
+ "measured_wall_smoothness_samples": 1136,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.5124480724334717,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.996920626144856,
284
+ "measured_wall_velocity_rms_rad_s": 0.10050522711172354,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004363313317298889,
287
+ "moving_aligned_p95_error_rad": 0.0019437286537140608,
288
+ "moving_aligned_rms_error_rad": 0.0008813390663920032,
289
+ "moving_aligned_samples": 833,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 18.338,
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
+ 0.004363313317298889,
302
+ 0.003867216408252716,
303
+ 0.0035645365715026855,
304
+ 0.0030875802040100098,
305
+ 0.0020540952682495117,
306
+ 0.003972150385379791
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0019388532964512706,
310
+ 0.0021880303975194693,
311
+ 0.002251297002658248,
312
+ 0.002058715093880892,
313
+ 0.001490259077399969,
314
+ 0.0027406096924096346
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008551070356546813,
318
+ 0.0010601961270983763,
319
+ 0.0011097240948213136,
320
+ 0.0009524922919048143,
321
+ 0.0007579428229028469,
322
+ 0.0013847155180709842
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 675,
326
+ 772,
327
+ 699,
328
+ 196,
329
+ 565,
330
+ 469
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 18.338,
334
+ 18.922,
335
+ 18.922,
336
+ 18.346,
337
+ 18.546,
338
+ 18.358
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": 2.4288768768310547,
348
+ "playback_velocity_rms_rad_s": 0.5330911108220242,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 73.02,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 21.509999999999998,
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
+ 1660,
357
+ 4252
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.3604359126907429,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08717156946659088,
364
+ "rapid_planner_max_dt_s": 2.1960000000000006,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.006290793418884277,
367
+ "rapid_planner_median_dt_s": 0.08800000000000008,
368
+ "rapid_planner_path_max_error_rad": 0.004363313317298889,
369
+ "rapid_planner_path_p95_error_rad": 0.0026511847972869873,
370
+ "rapid_planner_path_rms_error_rad": 0.001283570895024331,
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
+ 29,
376
+ 55,
377
+ 71,
378
+ 87,
379
+ 104,
380
+ 120,
381
+ 129,
382
+ 138,
383
+ 147,
384
+ 156,
385
+ 168,
386
+ 180,
387
+ 192,
388
+ 203,
389
+ 212,
390
+ 220,
391
+ 228,
392
+ 236,
393
+ 244,
394
+ 253,
395
+ 262,
396
+ 270,
397
+ 286,
398
+ 302,
399
+ 320,
400
+ 336,
401
+ 351,
402
+ 376,
403
+ 402,
404
+ 424,
405
+ 450,
406
+ 475,
407
+ 497,
408
+ 519,
409
+ 552,
410
+ 585,
411
+ 626,
412
+ 656,
413
+ 693,
414
+ 782,
415
+ 1184,
416
+ 1300,
417
+ 1660,
418
+ 2209,
419
+ 2257,
420
+ 2305,
421
+ 2325,
422
+ 2343,
423
+ 2357,
424
+ 2364,
425
+ 2371,
426
+ 2381,
427
+ 2391,
428
+ 2401,
429
+ 2411,
430
+ 2422,
431
+ 2432,
432
+ 2444,
433
+ 2456,
434
+ 2474,
435
+ 2491,
436
+ 2510,
437
+ 2530,
438
+ 2567,
439
+ 2604,
440
+ 2647,
441
+ 2686,
442
+ 2724,
443
+ 2754,
444
+ 2776,
445
+ 2798,
446
+ 2824,
447
+ 2851,
448
+ 2871,
449
+ 2891,
450
+ 2920,
451
+ 2945,
452
+ 2977,
453
+ 3009,
454
+ 3036,
455
+ 3083,
456
+ 3144,
457
+ 3191,
458
+ 3223,
459
+ 3253,
460
+ 3300,
461
+ 3378,
462
+ 3667,
463
+ 3871,
464
+ 4252,
465
+ 4468,
466
+ 4524,
467
+ 4543,
468
+ 4567,
469
+ 4602,
470
+ 4623,
471
+ 4645,
472
+ 4662,
473
+ 4678,
474
+ 4698,
475
+ 4719,
476
+ 4743,
477
+ 4765,
478
+ 4786,
479
+ 4807,
480
+ 4828,
481
+ 4849,
482
+ 4874,
483
+ 4900,
484
+ 4940,
485
+ 5098,
486
+ 5378
487
+ ],
488
+ "rapid_planner_selected_max_joint_step_deg": 4.994563023967131,
489
+ "rapid_planner_selected_samples": 113,
490
+ "rapid_planner_service_configured": true,
491
+ "rapid_planner_source_samples": 5379,
492
+ "rapid_planner_state_done": 6.0,
493
+ "rapid_planner_state_error": 7.0,
494
+ "rapid_planner_tool_command_hz": 30.0,
495
+ "rapid_planner_tool_command_supported": true,
496
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
497
+ "rapid_planner_tool_io_configured": true,
498
+ "rapid_planner_tool_io_supported": true,
499
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
500
+ "rapid_planner_tool_state_supported": true,
501
+ "rapid_planner_tool_transition_source_count": 2,
502
+ "rapid_planner_tool_transitions_uploaded": 2,
503
+ "rapid_planner_tool_upload_enabled": true,
504
+ "rapid_planner_uploaded": true,
505
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
506
+ "rapid_planner_waypoints_uploaded": 113,
507
+ "raw_ramp_max_error_rad": null,
508
+ "raw_replay_max_error_rad": 0.004363313317298889,
509
+ "raw_replay_rms_error_rad": 0.0007567340136796521,
510
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.72890625,
511
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9784608974329111,
512
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.741452137404793,
513
+ "replay_smoothing_applied": true,
514
+ "replay_smoothing_blend": 1.0,
515
+ "replay_smoothing_blend_by_joint": [
516
+ 1.0,
517
+ 1.0,
518
+ 1.0,
519
+ 1.0,
520
+ 1.0,
521
+ 1.0
522
+ ],
523
+ "replay_smoothing_edge_taper_s": 0.2,
524
+ "replay_smoothing_edge_taper_samples": 50,
525
+ "replay_smoothing_enabled": true,
526
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.20170978200818732,
527
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0168100670387155,
528
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.6535381740869874,
529
+ "replay_smoothing_max_deviation_by_joint_rad": [
530
+ 0.000546187162399292,
531
+ 0.0011029839515686035,
532
+ 0.0020319223403930664,
533
+ 0.001990724354982376,
534
+ 0.0031462907791137695,
535
+ 0.006057858467102051
536
+ ],
537
+ "replay_smoothing_max_deviation_normalized": 0.6941794514824445,
538
+ "replay_smoothing_max_deviation_rad": 0.006057858467102051,
539
+ "replay_smoothing_method": "scipy_savgol",
540
+ "replay_smoothing_p95_deviation_rad": 0.001836703740991652,
541
+ "replay_smoothing_passes": 8,
542
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.384185791015625,
543
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 23.33668327331543,
544
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.2071079015683486,
545
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 262.05224609375,
546
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 6855.95263671875,
547
+ "replay_smoothing_raw_jerk_rms_rad_s3": 199.94031976343416,
548
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7607324123382568,
549
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2608511907142464,
550
+ "replay_smoothing_rms_deviation_rad": 0.0008568672746253175,
551
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 1.737847924232483,
552
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 22.83403205871582,
553
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 0.8950127336960665,
554
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 52.85850143432617,
555
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 6971.20166015625,
556
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 130.66863150456317,
557
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7117149829864502,
558
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2600411485594075,
559
+ "replay_smoothing_tolerance_by_joint_rad": [
560
+ 0.03490658476948738,
561
+ 0.03490658476948738,
562
+ 0.02617993950843811,
563
+ 0.008726646192371845,
564
+ 0.008726646192371845,
565
+ 0.008726646192371845
566
+ ],
567
+ "replay_smoothing_tolerance_rad": 0.034906585,
568
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9721607729781544,
569
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.996894619677139,
570
+ "replay_smoothing_window_s": 0.2,
571
+ "replay_smoothing_window_samples": 51,
572
+ "replay_smoothing_within_tolerance": true,
573
+ "replay_smoothing_worst_joint": 5,
574
+ "replay_smoothing_worst_time_s": 9.323,
575
+ "replay_smoothing_wrist_max_deviation_rad": 0.006057858467102051,
576
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
577
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
578
+ "return_measured_wall_accel_peak_joint": -1,
579
+ "return_measured_wall_accel_peak_time_s": null,
580
+ "return_measured_wall_accel_rms_rad_s2": null,
581
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
582
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
583
+ "return_measured_wall_jerk_peak_joint": -1,
584
+ "return_measured_wall_jerk_peak_time_s": null,
585
+ "return_measured_wall_jerk_rms_rad_s3": null,
586
+ "return_measured_wall_smoothness_samples": 0,
587
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
588
+ "return_measured_wall_velocity_peak_joint": -1,
589
+ "return_measured_wall_velocity_peak_time_s": null,
590
+ "return_measured_wall_velocity_rms_rad_s": null,
591
+ "safety_abort": false,
592
+ "safety_path_error_rad": 0.004363313317298889,
593
+ "saved_data_source": "measured_rapid_planner_playback",
594
+ "send_failures": 0,
595
+ "sent_wall_accel_p95_abs_rad_s2": null,
596
+ "sent_wall_accel_peak_abs_rad_s2": null,
597
+ "sent_wall_accel_peak_joint": -1,
598
+ "sent_wall_accel_peak_time_s": null,
599
+ "sent_wall_accel_rms_rad_s2": null,
600
+ "sent_wall_jerk_p95_abs_rad_s3": null,
601
+ "sent_wall_jerk_peak_abs_rad_s3": null,
602
+ "sent_wall_jerk_peak_joint": -1,
603
+ "sent_wall_jerk_peak_time_s": null,
604
+ "sent_wall_jerk_rms_rad_s3": null,
605
+ "sent_wall_smoothness_samples": 0,
606
+ "sent_wall_velocity_peak_abs_rad_s": null,
607
+ "sent_wall_velocity_peak_joint": -1,
608
+ "sent_wall_velocity_peak_time_s": null,
609
+ "sent_wall_velocity_rms_rad_s": null,
610
+ "stage_planned_to_measured_max_error_rad": 0.030934303998947144,
611
+ "stage_planned_to_measured_rms_error_rad": 0.005959126324604158,
612
+ "stage_sent_to_measured_max_error_rad": null,
613
+ "stage_sent_to_measured_rms_error_rad": null,
614
+ "stage_sent_to_planned_max_error_rad": null,
615
+ "stage_sent_to_planned_rms_error_rad": null,
616
+ "stage_target_to_sent_max_error_rad": null,
617
+ "stage_target_to_sent_rms_error_rad": null,
618
+ "state_frame_count": 1136,
619
+ "stopped_early": false,
620
+ "strict_tracking_pass": true,
621
+ "strict_tracking_reason": "ok",
622
+ "target_wall_accel_p95_abs_rad_s2": 0.8426342010498047,
623
+ "target_wall_accel_peak_abs_rad_s2": 3.5496582984924316,
624
+ "target_wall_accel_peak_joint": 5,
625
+ "target_wall_accel_peak_time_s": 26.066724891308695,
626
+ "target_wall_accel_rms_rad_s2": 0.35979987337837344,
627
+ "target_wall_jerk_p95_abs_rad_s3": 19.466922760009766,
628
+ "target_wall_jerk_peak_abs_rad_s3": 85.23373413085938,
629
+ "target_wall_jerk_peak_joint": 5,
630
+ "target_wall_jerk_peak_time_s": 3.8000559001229703,
631
+ "target_wall_jerk_rms_rad_s3": 8.650988428802034,
632
+ "target_wall_smoothness_samples": 1136,
633
+ "target_wall_velocity_peak_abs_rad_s": 0.5273629426956177,
634
+ "target_wall_velocity_peak_joint": 5,
635
+ "target_wall_velocity_peak_time_s": 24.30005905823782,
636
+ "target_wall_velocity_rms_rad_s": 0.1014327278656457,
637
+ "tcp_pose_count": 1136,
638
+ "timestamp_count": 1136,
639
+ "tool_failures": 0,
640
+ "tracking_geometry_pass": true,
641
+ "tracking_geometry_reason": "ok",
642
+ "tracking_pass": true,
643
+ "tracking_reason": "ok",
644
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
645
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
646
+ "tracking_threshold_max_lag_s": 0.1,
647
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
648
+ "tracking_timing_pass": true,
649
+ "tracking_timing_reason": "ok",
650
+ "window_lag_best_lag_max_s": 1.4300000000000033,
651
+ "window_lag_best_lag_median_s": 0.0,
652
+ "window_lag_best_lag_min_s": -0.9399999999999991,
653
+ "window_lag_best_lag_p95_abs_s": 1.320000000000003,
654
+ "window_lag_count": 28,
655
+ "window_lag_window_s": 1.0,
656
+ "window_lag_worst_best_lag_s": 0.0,
657
+ "window_lag_worst_end_s": 19.0,
658
+ "window_lag_worst_max_error_rad": 0.004363313317298889,
659
+ "window_lag_worst_rms_error_rad": 0.0012897964093573284,
660
+ "window_lag_worst_start_s": 18.0,
661
+ "zero_lag_max_error_rad": 0.004363313317298889,
662
+ "zero_lag_p95_error_rad": 0.0017550177872180939,
663
+ "zero_lag_rms_error_rad": 0.0007567340136796521,
664
+ "zero_lag_samples": 1136,
665
+ "zero_lag_worst_joint": 0,
666
+ "zero_lag_worst_time_s": 18.338
667
+ }
668
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155023.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e914a1e9894105150855bc66865e9bca4341b439c61b41f8f2be56032f555c83
3
+ size 118674
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.json ADDED
@@ -0,0 +1,666 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:53:19",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.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": 1134,
20
+ "actual_playback_duration_s": 37.814937294926494,
21
+ "aligned_best_lag_s": 0.010000000000001563,
22
+ "aligned_max_error_rad": 0.017599940299987793,
23
+ "aligned_p95_error_rad": 0.01049724780023098,
24
+ "aligned_rms_error_rad": 0.004267737530085481,
25
+ "aligned_samples": 1130,
26
+ "aligned_worst_joint": 2,
27
+ "aligned_worst_time_s": 10.139000000000001,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1134,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1134,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7093814887861176,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1134,
46
+ "cam_wrist": 1134
47
+ },
48
+ "joint_lag_best_lag_s": [
49
+ 0.010000000000001563,
50
+ 0.010000000000001563,
51
+ 0.010000000000001563,
52
+ 0.010000000000001563,
53
+ 0.010000000000001563,
54
+ 0.010000000000001563
55
+ ],
56
+ "joint_lag_max_error_rad": [
57
+ 0.01265820860862732,
58
+ 0.013861536979675293,
59
+ 0.017599940299987793,
60
+ 0.005009309388697147,
61
+ 0.0076427459716796875,
62
+ 0.01707109808921814
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.008941338397562504,
66
+ 0.010466312989592552,
67
+ 0.012163031846284866,
68
+ 0.0019430191023275256,
69
+ 0.005421698093414307,
70
+ 0.013945694081485271
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.003352428170643726,
74
+ 0.004827013447539644,
75
+ 0.005931558624141336,
76
+ 0.0008053187376125427,
77
+ 0.0024995778773153204,
78
+ 0.005715142408252577
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1130,
82
+ 1130,
83
+ 1130,
84
+ 1130,
85
+ 1130,
86
+ 1130
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 19.462,
90
+ 10.239,
91
+ 10.139000000000001,
92
+ 13.919,
93
+ 10.239,
94
+ 19.77
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": 26,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006750841159373522,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003963397815823555,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004365811264142394,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004767167055979371,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2341,
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": 0.006805553566664457,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003987044561654329,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004393553826957941,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004794861283153296,
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": 0.006800633389502764,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003989415010437369,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043818490812554955,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004745986266061665,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.03373412787914276,
170
+ "leadthrough_capture_loop_late_median_s": 0.027578274253755808,
171
+ "leadthrough_capture_loop_late_p95_s": 0.02789330161176622,
172
+ "leadthrough_capture_loop_late_p99_s": 0.028367673810571432,
173
+ "leadthrough_capture_loop_late_warn_count": 6067,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006782902870327234,
176
+ "leadthrough_capture_read_duration_median_s": 0.003977213986217976,
177
+ "leadthrough_capture_read_duration_p95_s": 0.00438054259866476,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004784373361617328,
179
+ "leadthrough_capture_read_duration_warn_count": 2558,
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": 6,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004382632672786713,
190
+ 0.004928290843963623,
191
+ 0.00626257061958313,
192
+ 0.0016765929758548737,
193
+ 0.002786874771118164,
194
+ 0.006375014781951904
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006375014781951904,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.001509208232164383,
199
+ 0.0028466619551181793,
200
+ 0.003696732223033905,
201
+ 0.00021571572870016098,
202
+ 0.0016211867332458496,
203
+ 0.004124388098716736
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007648906321264803,
207
+ 0.00115788949187845,
208
+ 0.0014738279860466719,
209
+ 0.00016948438133113086,
210
+ 0.0006512927357107401,
211
+ 0.0014185472391545773
212
+ ],
213
+ "leadthrough_delta_samples": 5531,
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": 0.006375014781951904,
218
+ "leadthrough_delta_worst_from_rad": 0.22253207862377167,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 19.73,
221
+ "leadthrough_delta_worst_to_rad": 0.22890709340572357,
222
+ "leadthrough_duration_s": 22.122,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5507,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5508,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6067,
234
+ "leadthrough_initial_stillness_first_motion_index": 536,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.139,
238
+ "leadthrough_initial_stillness_removed_samples": 535,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 535,
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
+ 0.004382632672786713,
249
+ 0.004928290843963623,
250
+ 0.00626257061958313,
251
+ 0.0016765929758548737,
252
+ 0.002786874771118164,
253
+ 0.006375014781951904
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006375014781951904,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0956581681972855,
258
+ 1.2320727109910414,
259
+ 1.565642654895955,
260
+ 0.4191482439635784,
261
+ 0.6967186927793083,
262
+ 1.800628999869227
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.596274971961975,
265
+ "leadthrough_velocity_rms_rad_s": 0.2614634825558221,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.6545262336730957,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4025270938873291,
271
+ "measured_wall_accel_peak_abs_rad_s2": 308.58197021484375,
272
+ "measured_wall_accel_peak_joint": 4,
273
+ "measured_wall_accel_peak_time_s": 14.177603689022362,
274
+ "measured_wall_accel_rms_rad_s2": 9.197863766165494,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.461669921875,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 4757.43408203125,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 14.241722716018558,
279
+ "measured_wall_jerk_rms_rad_s3": 115.285550107187,
280
+ "measured_wall_smoothness_samples": 1134,
281
+ "measured_wall_velocity_peak_abs_rad_s": 19.78618621826172,
282
+ "measured_wall_velocity_peak_joint": 4,
283
+ "measured_wall_velocity_peak_time_s": 14.177603689022362,
284
+ "measured_wall_velocity_rms_rad_s": 0.44662261558785393,
285
+ "moving_aligned_best_lag_s": 0.010000000000001563,
286
+ "moving_aligned_max_error_rad": 0.017599940299987793,
287
+ "moving_aligned_p95_error_rad": 0.011447673663496971,
288
+ "moving_aligned_rms_error_rad": 0.0049758586216707415,
289
+ "moving_aligned_samples": 831,
290
+ "moving_aligned_worst_joint": 2,
291
+ "moving_aligned_worst_time_s": 10.139000000000001,
292
+ "moving_joint_lag_best_lag_s": [
293
+ 0.0,
294
+ 0.0,
295
+ 0.010000000000001563,
296
+ 0.010000000000001563,
297
+ 0.0,
298
+ 0.0
299
+ ],
300
+ "moving_joint_lag_max_error_rad": [
301
+ 0.0033055394887924194,
302
+ 0.0038380175828933716,
303
+ 0.017599940299987793,
304
+ 0.005009309388697147,
305
+ 0.00398564338684082,
306
+ 0.0041227638721466064
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.001696680556051433,
310
+ 0.0019325463799759746,
311
+ 0.013726514764130116,
312
+ 0.003923961892724037,
313
+ 0.002043402288109064,
314
+ 0.0027244091033935547
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0007448468021166705,
318
+ 0.0009576329934484749,
319
+ 0.007515282964339262,
320
+ 0.002083625082108092,
321
+ 0.0009449843969651653,
322
+ 0.0015197413619671262
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 667,
326
+ 804,
327
+ 703,
328
+ 151,
329
+ 547,
330
+ 481
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 12.115,
334
+ 19.954,
335
+ 10.139000000000001,
336
+ 13.919,
337
+ 13.227,
338
+ 19.970000000000002
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": 163.6466827392578,
348
+ "playback_velocity_rms_rad_s": 4.369955162946,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 74.244,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.122,
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
+ 1824,
357
+ 4398
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.40305970820620746,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08646807074546814,
364
+ "rapid_planner_max_dt_s": 2.1960000000000015,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007034718990325928,
367
+ "rapid_planner_median_dt_s": 0.08400000000000163,
368
+ "rapid_planner_path_max_error_rad": 0.6545262336730957,
369
+ "rapid_planner_path_p95_error_rad": 0.0026364147663116445,
370
+ "rapid_planner_path_rms_error_rad": 0.019483254588804743,
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
+ 40,
376
+ 77,
377
+ 95,
378
+ 113,
379
+ 125,
380
+ 137,
381
+ 146,
382
+ 154,
383
+ 170,
384
+ 186,
385
+ 202,
386
+ 214,
387
+ 227,
388
+ 240,
389
+ 252,
390
+ 264,
391
+ 276,
392
+ 288,
393
+ 301,
394
+ 314,
395
+ 327,
396
+ 348,
397
+ 367,
398
+ 389,
399
+ 411,
400
+ 438,
401
+ 456,
402
+ 473,
403
+ 507,
404
+ 548,
405
+ 595,
406
+ 652,
407
+ 708,
408
+ 849,
409
+ 1197,
410
+ 1389,
411
+ 1824,
412
+ 2373,
413
+ 2409,
414
+ 2439,
415
+ 2463,
416
+ 2482,
417
+ 2498,
418
+ 2506,
419
+ 2514,
420
+ 2525,
421
+ 2536,
422
+ 2544,
423
+ 2553,
424
+ 2562,
425
+ 2570,
426
+ 2584,
427
+ 2597,
428
+ 2614,
429
+ 2630,
430
+ 2652,
431
+ 2673,
432
+ 2700,
433
+ 2727,
434
+ 2782,
435
+ 2836,
436
+ 2897,
437
+ 2930,
438
+ 2963,
439
+ 2999,
440
+ 3043,
441
+ 3063,
442
+ 3090,
443
+ 3114,
444
+ 3137,
445
+ 3162,
446
+ 3187,
447
+ 3210,
448
+ 3233,
449
+ 3266,
450
+ 3332,
451
+ 3378,
452
+ 3423,
453
+ 3572,
454
+ 3631,
455
+ 3752,
456
+ 4074,
457
+ 4230,
458
+ 4398,
459
+ 4717,
460
+ 4751,
461
+ 4772,
462
+ 4790,
463
+ 4812,
464
+ 4833,
465
+ 4850,
466
+ 4867,
467
+ 4878,
468
+ 4889,
469
+ 4900,
470
+ 4912,
471
+ 4924,
472
+ 4936,
473
+ 4947,
474
+ 4958,
475
+ 4970,
476
+ 4981,
477
+ 5003,
478
+ 5024,
479
+ 5044,
480
+ 5069,
481
+ 5093,
482
+ 5134,
483
+ 5384,
484
+ 5531
485
+ ],
486
+ "rapid_planner_selected_max_joint_step_deg": 4.954255516353946,
487
+ "rapid_planner_selected_samples": 111,
488
+ "rapid_planner_service_configured": true,
489
+ "rapid_planner_source_samples": 5532,
490
+ "rapid_planner_state_done": 6.0,
491
+ "rapid_planner_state_error": 7.0,
492
+ "rapid_planner_tool_command_hz": 30.0,
493
+ "rapid_planner_tool_command_supported": true,
494
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
495
+ "rapid_planner_tool_io_configured": true,
496
+ "rapid_planner_tool_io_supported": true,
497
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
498
+ "rapid_planner_tool_state_supported": true,
499
+ "rapid_planner_tool_transition_source_count": 2,
500
+ "rapid_planner_tool_transitions_uploaded": 2,
501
+ "rapid_planner_tool_upload_enabled": true,
502
+ "rapid_planner_uploaded": true,
503
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
504
+ "rapid_planner_waypoints_uploaded": 111,
505
+ "raw_ramp_max_error_rad": null,
506
+ "raw_replay_max_error_rad": 0.6545262336730957,
507
+ "raw_replay_rms_error_rad": 0.012961799972451594,
508
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7381879542572595,
509
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.009143778375255,
510
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9076567440287439,
511
+ "replay_smoothing_applied": true,
512
+ "replay_smoothing_blend": 0.9020598530769348,
513
+ "replay_smoothing_blend_by_joint": [
514
+ 1.0,
515
+ 1.0,
516
+ 1.0,
517
+ 1.0,
518
+ 1.0,
519
+ 0.9020598530769348
520
+ ],
521
+ "replay_smoothing_edge_taper_s": 0.2,
522
+ "replay_smoothing_edge_taper_samples": 50,
523
+ "replay_smoothing_enabled": true,
524
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.2363116462329174,
525
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0202535091879845,
526
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9413198800573965,
527
+ "replay_smoothing_max_deviation_by_joint_rad": [
528
+ 0.0008942931890487671,
529
+ 0.0009793639183044434,
530
+ 0.0019488930702209473,
531
+ 0.002087574452161789,
532
+ 0.002680540084838867,
533
+ 0.008726641535758972
534
+ ],
535
+ "replay_smoothing_max_deviation_normalized": 0.999999466391467,
536
+ "replay_smoothing_max_deviation_rad": 0.008726641535758972,
537
+ "replay_smoothing_method": "scipy_savgol",
538
+ "replay_smoothing_p95_deviation_rad": 0.0019657898228615522,
539
+ "replay_smoothing_passes": 8,
540
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.9648654460906982,
541
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 51.024898529052734,
542
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.075050396569022,
543
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 335.8184509277344,
544
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13852.5859375,
545
+ "replay_smoothing_raw_jerk_rms_rad_s3": 487.659313675408,
546
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6067417860031128,
547
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2624512154708275,
548
+ "replay_smoothing_rms_deviation_rad": 0.0009652760953897444,
549
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.1886279582977295,
550
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.491458892822266,
551
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.8834334866453923,
552
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 79.3578109741211,
553
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14133.1494140625,
554
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 459.04340665780734,
555
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.596274971961975,
556
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2614634825558221,
557
+ "replay_smoothing_tolerance_by_joint_rad": [
558
+ 0.03490658476948738,
559
+ 0.03490658476948738,
560
+ 0.02617993950843811,
561
+ 0.008726646192371845,
562
+ 0.008726646192371845,
563
+ 0.008726646192371845
564
+ ],
565
+ "replay_smoothing_tolerance_rad": 0.034906585,
566
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9934856900266628,
567
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962365085136548,
568
+ "replay_smoothing_window_s": 0.2,
569
+ "replay_smoothing_window_samples": 51,
570
+ "replay_smoothing_within_tolerance": true,
571
+ "replay_smoothing_worst_joint": 5,
572
+ "replay_smoothing_worst_time_s": 19.650000000000002,
573
+ "replay_smoothing_wrist_max_deviation_rad": 0.008726641535758972,
574
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
575
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
576
+ "return_measured_wall_accel_peak_joint": -1,
577
+ "return_measured_wall_accel_peak_time_s": null,
578
+ "return_measured_wall_accel_rms_rad_s2": null,
579
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
580
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
581
+ "return_measured_wall_jerk_peak_joint": -1,
582
+ "return_measured_wall_jerk_peak_time_s": null,
583
+ "return_measured_wall_jerk_rms_rad_s3": null,
584
+ "return_measured_wall_smoothness_samples": 0,
585
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
586
+ "return_measured_wall_velocity_peak_joint": -1,
587
+ "return_measured_wall_velocity_peak_time_s": null,
588
+ "return_measured_wall_velocity_rms_rad_s": null,
589
+ "safety_abort": false,
590
+ "safety_path_error_rad": 0.6545262336730957,
591
+ "saved_data_source": "measured_rapid_planner_playback",
592
+ "send_failures": 0,
593
+ "sent_wall_accel_p95_abs_rad_s2": null,
594
+ "sent_wall_accel_peak_abs_rad_s2": null,
595
+ "sent_wall_accel_peak_joint": -1,
596
+ "sent_wall_accel_peak_time_s": null,
597
+ "sent_wall_accel_rms_rad_s2": null,
598
+ "sent_wall_jerk_p95_abs_rad_s3": null,
599
+ "sent_wall_jerk_peak_abs_rad_s3": null,
600
+ "sent_wall_jerk_peak_joint": -1,
601
+ "sent_wall_jerk_peak_time_s": null,
602
+ "sent_wall_jerk_rms_rad_s3": null,
603
+ "sent_wall_smoothness_samples": 0,
604
+ "sent_wall_velocity_peak_abs_rad_s": null,
605
+ "sent_wall_velocity_peak_joint": -1,
606
+ "sent_wall_velocity_peak_time_s": null,
607
+ "sent_wall_velocity_rms_rad_s": null,
608
+ "stage_planned_to_measured_max_error_rad": 0.6543396711349487,
609
+ "stage_planned_to_measured_rms_error_rad": 0.014345503614312052,
610
+ "stage_sent_to_measured_max_error_rad": null,
611
+ "stage_sent_to_measured_rms_error_rad": null,
612
+ "stage_sent_to_planned_max_error_rad": null,
613
+ "stage_sent_to_planned_rms_error_rad": null,
614
+ "stage_target_to_sent_max_error_rad": null,
615
+ "stage_target_to_sent_rms_error_rad": null,
616
+ "state_frame_count": 1134,
617
+ "stopped_early": false,
618
+ "strict_tracking_pass": true,
619
+ "strict_tracking_reason": "ok",
620
+ "target_wall_accel_p95_abs_rad_s2": 0.8458991050720215,
621
+ "target_wall_accel_peak_abs_rad_s2": 2.9849486351013184,
622
+ "target_wall_accel_peak_joint": 2,
623
+ "target_wall_accel_peak_time_s": 7.933377859648317,
624
+ "target_wall_accel_rms_rad_s2": 0.3560026743837708,
625
+ "target_wall_jerk_p95_abs_rad_s3": 19.304561614990234,
626
+ "target_wall_jerk_peak_abs_rad_s3": 77.68114471435547,
627
+ "target_wall_jerk_peak_joint": 2,
628
+ "target_wall_jerk_peak_time_s": 7.9000712358392775,
629
+ "target_wall_jerk_rms_rad_s3": 8.753279364188591,
630
+ "target_wall_smoothness_samples": 1134,
631
+ "target_wall_velocity_peak_abs_rad_s": 0.5957306623458862,
632
+ "target_wall_velocity_peak_joint": 5,
633
+ "target_wall_velocity_peak_time_s": 24.200135168619454,
634
+ "target_wall_velocity_rms_rad_s": 0.10404208610134134,
635
+ "tcp_pose_count": 1134,
636
+ "timestamp_count": 1134,
637
+ "tool_failures": 0,
638
+ "tracking_geometry_pass": true,
639
+ "tracking_geometry_reason": "ok",
640
+ "tracking_pass": true,
641
+ "tracking_reason": "ok",
642
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
643
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
644
+ "tracking_threshold_max_lag_s": 0.1,
645
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
646
+ "tracking_timing_pass": true,
647
+ "tracking_timing_reason": "ok",
648
+ "window_lag_best_lag_max_s": 0.7200000000000024,
649
+ "window_lag_best_lag_median_s": 0.0,
650
+ "window_lag_best_lag_min_s": -1.1599999999999993,
651
+ "window_lag_best_lag_p95_abs_s": 1.05,
652
+ "window_lag_count": 26,
653
+ "window_lag_window_s": 1.0,
654
+ "window_lag_worst_best_lag_s": 0.010000000000001563,
655
+ "window_lag_worst_end_s": 1.0,
656
+ "window_lag_worst_max_error_rad": 0.016339272260665894,
657
+ "window_lag_worst_rms_error_rad": 0.00606032566293596,
658
+ "window_lag_worst_start_s": 0.0,
659
+ "zero_lag_max_error_rad": 0.6545262336730957,
660
+ "zero_lag_p95_error_rad": 0.0018054959364235401,
661
+ "zero_lag_rms_error_rad": 0.012961799972451594,
662
+ "zero_lag_samples": 1134,
663
+ "zero_lag_worst_joint": 4,
664
+ "zero_lag_worst_time_s": 0.0
665
+ }
666
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155318.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b0fa25edd6cbf034a7ff552c959ee96d32624cb91a2d6d795848a2ec34443907
3
+ size 118349
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.json ADDED
@@ -0,0 +1,659 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:55:40",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.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": 1148,
20
+ "actual_playback_duration_s": 38.27738385787234,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004669662099331617,
23
+ "aligned_p95_error_rad": 0.0018357954686507583,
24
+ "aligned_rms_error_rad": 0.0007970079417080296,
25
+ "aligned_samples": 1148,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 0.42399999999999993,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1148,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1148,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.8281299005574712,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1148,
46
+ "cam_wrist": 1148
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
+ 0.0041494667530059814,
58
+ 0.004009142518043518,
59
+ 0.003808736801147461,
60
+ 0.004669662099331617,
61
+ 0.004402875900268555,
62
+ 0.004283547401428223
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001847586128860712,
66
+ 0.0019623327534645796,
67
+ 0.00208056578412652,
68
+ 0.0009294863557443023,
69
+ 0.0014946794835850596,
70
+ 0.0020441862288862467
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007601238672206744,
74
+ 0.0009109114819959062,
75
+ 0.0009439949093131818,
76
+ 0.0004921276174105083,
77
+ 0.0006770171358597537,
78
+ 0.0009011735406948194
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1148,
82
+ 1148,
83
+ 1148,
84
+ 1148,
85
+ 1148,
86
+ 1148
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 18.894000000000002,
90
+ 18.886,
91
+ 2.439,
92
+ 0.42399999999999993,
93
+ 2.4029999999999996,
94
+ 1.2359999999999998
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": 5,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.0055791232734918594,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003991568926721811,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004218956222757697,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.00441335998475552,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2744,
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": 0.005627990700304508,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004016559338197112,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004246719321236015,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004457347188144926,
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": 0.0055874609388411045,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004017634317278862,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004240814386866987,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004418419194407762,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.020399948116391897,
170
+ "leadthrough_capture_loop_late_median_s": 0.015458817593753338,
171
+ "leadthrough_capture_loop_late_p95_s": 0.015711866319179535,
172
+ "leadthrough_capture_loop_late_p99_s": 0.01597509440034628,
173
+ "leadthrough_capture_loop_late_warn_count": 5871,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005609752610325813,
176
+ "leadthrough_capture_read_duration_median_s": 0.004005535040050745,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004235389409586787,
178
+ "leadthrough_capture_read_duration_p99_s": 0.00445301732979715,
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": 0,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.005028583109378815,
190
+ 0.004752136766910553,
191
+ 0.006522655487060547,
192
+ 0.0016915732994675636,
193
+ 0.0026077628135681152,
194
+ 0.00636059045791626
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006522655487060547,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0014591104118153453,
199
+ 0.0027019164990633726,
200
+ 0.004052784759551287,
201
+ 0.0003908649960067123,
202
+ 0.001664995914325118,
203
+ 0.003941778093576431
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008377088233828545,
207
+ 0.001191281946375966,
208
+ 0.0015494171530008316,
209
+ 0.00022759115381632,
210
+ 0.000653581868391484,
211
+ 0.0013847192749381065
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": 0.006522655487060547,
218
+ "leadthrough_delta_worst_from_rad": -0.5440040230751038,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 8.971,
221
+ "leadthrough_delta_worst_to_rad": -0.5374813675880432,
222
+ "leadthrough_duration_s": 20.938000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5225,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5226,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 5871,
234
+ "leadthrough_initial_stillness_first_motion_index": 636,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.54,
238
+ "leadthrough_initial_stillness_removed_samples": 635,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 635,
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
+ 0.005028583109378815,
249
+ 0.004752136766910553,
250
+ 0.006522655487060547,
251
+ 0.0016915732994675636,
252
+ 0.0026077628135681152,
253
+ 0.00636059045791626
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006522655487060547,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2571457773442838,
258
+ 1.5188008546828649,
259
+ 1.630663871764592,
260
+ 0.4228933248668905,
261
+ 0.6519407033920283,
262
+ 1.5901476144790636
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6057677268981934,
265
+ "leadthrough_velocity_rms_rad_s": 0.26946425489013115,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004669662099331617,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.38327479362487793,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.4100780487060547,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 38.98581471666694,
274
+ "measured_wall_accel_rms_rad_s2": 0.20543526724834502,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.211374282836914,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 57.466705322265625,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 28.419667487964034,
279
+ "measured_wall_jerk_rms_rad_s3": 3.8348880852184646,
280
+ "measured_wall_smoothness_samples": 1148,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.44278308749198914,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.92322930786759,
284
+ "measured_wall_velocity_rms_rad_s": 0.09937663101497468,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004669662099331617,
287
+ "moving_aligned_p95_error_rad": 0.00202298816293478,
288
+ "moving_aligned_rms_error_rad": 0.0009192567654880793,
289
+ "moving_aligned_samples": 849,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 0.42399999999999993,
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
+ 0.0041494667530059814,
302
+ 0.004009142518043518,
303
+ 0.003808736801147461,
304
+ 0.004669662099331617,
305
+ 0.004402875900268555,
306
+ 0.004283547401428223
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002272622659802437,
310
+ 0.0020942967385053635,
311
+ 0.002283497480675578,
312
+ 0.0019047451205551624,
313
+ 0.0018622279167175293,
314
+ 0.002488273661583662
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010188810906056188,
318
+ 0.0010597846308992738,
319
+ 0.0011458266836225353,
320
+ 0.0009698240665259153,
321
+ 0.0008954362061483502,
322
+ 0.001304279598413995
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 603,
326
+ 814,
327
+ 735,
328
+ 229,
329
+ 581,
330
+ 515
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 18.894000000000002,
334
+ 18.886,
335
+ 2.439,
336
+ 0.42399999999999993,
337
+ 2.4029999999999996,
338
+ 1.2359999999999998
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": 2.452897548675537,
348
+ "playback_velocity_rms_rad_s": 0.5433683094883706,
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": 20.938000000000002,
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
+ 1435,
357
+ 4256
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.42932306622537586,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08658808469772339,
364
+ "rapid_planner_max_dt_s": 1.6749999999999998,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007493101060390472,
367
+ "rapid_planner_median_dt_s": 0.08000000000000185,
368
+ "rapid_planner_path_max_error_rad": 0.004669662099331617,
369
+ "rapid_planner_path_p95_error_rad": 0.002740673348307609,
370
+ "rapid_planner_path_rms_error_rad": 0.0013593961869242557,
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
+ 30,
376
+ 59,
377
+ 93,
378
+ 119,
379
+ 136,
380
+ 154,
381
+ 168,
382
+ 181,
383
+ 194,
384
+ 208,
385
+ 222,
386
+ 235,
387
+ 246,
388
+ 258,
389
+ 269,
390
+ 280,
391
+ 290,
392
+ 299,
393
+ 320,
394
+ 339,
395
+ 358,
396
+ 376,
397
+ 395,
398
+ 412,
399
+ 438,
400
+ 479,
401
+ 558,
402
+ 628,
403
+ 682,
404
+ 748,
405
+ 931,
406
+ 1016,
407
+ 1435,
408
+ 1698,
409
+ 1778,
410
+ 2068,
411
+ 2121,
412
+ 2181,
413
+ 2200,
414
+ 2217,
415
+ 2233,
416
+ 2245,
417
+ 2257,
418
+ 2268,
419
+ 2279,
420
+ 2288,
421
+ 2298,
422
+ 2313,
423
+ 2328,
424
+ 2344,
425
+ 2360,
426
+ 2390,
427
+ 2420,
428
+ 2455,
429
+ 2490,
430
+ 2542,
431
+ 2576,
432
+ 2609,
433
+ 2640,
434
+ 2670,
435
+ 2701,
436
+ 2726,
437
+ 2740,
438
+ 2753,
439
+ 2764,
440
+ 2776,
441
+ 2795,
442
+ 2833,
443
+ 2869,
444
+ 2910,
445
+ 2950,
446
+ 3019,
447
+ 3077,
448
+ 3193,
449
+ 3329,
450
+ 3649,
451
+ 3933,
452
+ 4038,
453
+ 4256,
454
+ 4487,
455
+ 4537,
456
+ 4568,
457
+ 4588,
458
+ 4605,
459
+ 4621,
460
+ 4639,
461
+ 4654,
462
+ 4670,
463
+ 4680,
464
+ 4690,
465
+ 4700,
466
+ 4710,
467
+ 4731,
468
+ 4751,
469
+ 4767,
470
+ 4783,
471
+ 4800,
472
+ 4817,
473
+ 4842,
474
+ 4870,
475
+ 4926,
476
+ 5049,
477
+ 5235
478
+ ],
479
+ "rapid_planner_selected_max_joint_step_deg": 4.9611318093008565,
480
+ "rapid_planner_selected_samples": 104,
481
+ "rapid_planner_service_configured": true,
482
+ "rapid_planner_source_samples": 5236,
483
+ "rapid_planner_state_done": 6.0,
484
+ "rapid_planner_state_error": 7.0,
485
+ "rapid_planner_tool_command_hz": 30.0,
486
+ "rapid_planner_tool_command_supported": true,
487
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
488
+ "rapid_planner_tool_io_configured": true,
489
+ "rapid_planner_tool_io_supported": true,
490
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
491
+ "rapid_planner_tool_state_supported": true,
492
+ "rapid_planner_tool_transition_source_count": 2,
493
+ "rapid_planner_tool_transitions_uploaded": 2,
494
+ "rapid_planner_tool_upload_enabled": true,
495
+ "rapid_planner_uploaded": true,
496
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
497
+ "rapid_planner_waypoints_uploaded": 104,
498
+ "raw_ramp_max_error_rad": null,
499
+ "raw_replay_max_error_rad": 0.004669662099331617,
500
+ "raw_replay_rms_error_rad": 0.0007970079417080296,
501
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.8292591865697673,
502
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9774764061573671,
503
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9391548042064626,
504
+ "replay_smoothing_applied": true,
505
+ "replay_smoothing_blend": 1.0,
506
+ "replay_smoothing_blend_by_joint": [
507
+ 1.0,
508
+ 1.0,
509
+ 1.0,
510
+ 1.0,
511
+ 1.0,
512
+ 1.0
513
+ ],
514
+ "replay_smoothing_edge_taper_s": 0.2,
515
+ "replay_smoothing_edge_taper_samples": 50,
516
+ "replay_smoothing_enabled": true,
517
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.7907865895075918,
518
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9844033876598757,
519
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9613745238771317,
520
+ "replay_smoothing_max_deviation_by_joint_rad": [
521
+ 0.0009871572256088257,
522
+ 0.001403510570526123,
523
+ 0.002700507640838623,
524
+ 0.0017837192863225937,
525
+ 0.001862645149230957,
526
+ 0.0055114030838012695
527
+ ],
528
+ "replay_smoothing_max_deviation_normalized": 0.6315602766866966,
529
+ "replay_smoothing_max_deviation_rad": 0.0055114030838012695,
530
+ "replay_smoothing_method": "scipy_savgol",
531
+ "replay_smoothing_p95_deviation_rad": 0.0019120462238788605,
532
+ "replay_smoothing_passes": 8,
533
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.625957489013672,
534
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 45.150882720947266,
535
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.5927761787444674,
536
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 905.402587890625,
537
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12708.4638671875,
538
+ "replay_smoothing_raw_jerk_rms_rad_s3": 637.0991783568478,
539
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6248598098754883,
540
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2702326714804496,
541
+ "replay_smoothing_rms_deviation_rad": 0.0008336400404082997,
542
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.836117744445801,
543
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.1339225769043,
544
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.4350182044999404,
545
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 715.980224609375,
546
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12510.2548828125,
547
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 612.4909192553264,
548
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6057677268981934,
549
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.26946425489013115,
550
+ "replay_smoothing_tolerance_by_joint_rad": [
551
+ 0.03490658476948738,
552
+ 0.03490658476948738,
553
+ 0.02617993950843811,
554
+ 0.008726646192371845,
555
+ 0.008726646192371845,
556
+ 0.008726646192371845
557
+ ],
558
+ "replay_smoothing_tolerance_rad": 0.034906585,
559
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9882500121787381,
560
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9971564630356916,
561
+ "replay_smoothing_window_s": 0.2,
562
+ "replay_smoothing_window_samples": 51,
563
+ "replay_smoothing_within_tolerance": true,
564
+ "replay_smoothing_worst_joint": 5,
565
+ "replay_smoothing_worst_time_s": 1.5999999999999996,
566
+ "replay_smoothing_wrist_max_deviation_rad": 0.0055114030838012695,
567
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
568
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
569
+ "return_measured_wall_accel_peak_joint": -1,
570
+ "return_measured_wall_accel_peak_time_s": null,
571
+ "return_measured_wall_accel_rms_rad_s2": null,
572
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
573
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
574
+ "return_measured_wall_jerk_peak_joint": -1,
575
+ "return_measured_wall_jerk_peak_time_s": null,
576
+ "return_measured_wall_jerk_rms_rad_s3": null,
577
+ "return_measured_wall_smoothness_samples": 0,
578
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
579
+ "return_measured_wall_velocity_peak_joint": -1,
580
+ "return_measured_wall_velocity_peak_time_s": null,
581
+ "return_measured_wall_velocity_rms_rad_s": null,
582
+ "safety_abort": false,
583
+ "safety_path_error_rad": 0.004669662099331617,
584
+ "saved_data_source": "measured_rapid_planner_playback",
585
+ "send_failures": 0,
586
+ "sent_wall_accel_p95_abs_rad_s2": null,
587
+ "sent_wall_accel_peak_abs_rad_s2": null,
588
+ "sent_wall_accel_peak_joint": -1,
589
+ "sent_wall_accel_peak_time_s": null,
590
+ "sent_wall_accel_rms_rad_s2": null,
591
+ "sent_wall_jerk_p95_abs_rad_s3": null,
592
+ "sent_wall_jerk_peak_abs_rad_s3": null,
593
+ "sent_wall_jerk_peak_joint": -1,
594
+ "sent_wall_jerk_peak_time_s": null,
595
+ "sent_wall_jerk_rms_rad_s3": null,
596
+ "sent_wall_smoothness_samples": 0,
597
+ "sent_wall_velocity_peak_abs_rad_s": null,
598
+ "sent_wall_velocity_peak_joint": -1,
599
+ "sent_wall_velocity_peak_time_s": null,
600
+ "sent_wall_velocity_rms_rad_s": null,
601
+ "stage_planned_to_measured_max_error_rad": 0.025829344987869263,
602
+ "stage_planned_to_measured_rms_error_rad": 0.005888999852238122,
603
+ "stage_sent_to_measured_max_error_rad": null,
604
+ "stage_sent_to_measured_rms_error_rad": null,
605
+ "stage_sent_to_planned_max_error_rad": null,
606
+ "stage_sent_to_planned_rms_error_rad": null,
607
+ "stage_target_to_sent_max_error_rad": null,
608
+ "stage_target_to_sent_rms_error_rad": null,
609
+ "state_frame_count": 1148,
610
+ "stopped_early": false,
611
+ "strict_tracking_pass": true,
612
+ "strict_tracking_reason": "ok",
613
+ "target_wall_accel_p95_abs_rad_s2": 0.9325621128082275,
614
+ "target_wall_accel_peak_abs_rad_s2": 2.49139142036438,
615
+ "target_wall_accel_peak_joint": 3,
616
+ "target_wall_accel_peak_time_s": 25.60005673300475,
617
+ "target_wall_accel_rms_rad_s2": 0.3715894137539435,
618
+ "target_wall_jerk_p95_abs_rad_s3": 22.505836486816406,
619
+ "target_wall_jerk_peak_abs_rad_s3": 67.13101196289062,
620
+ "target_wall_jerk_peak_joint": 3,
621
+ "target_wall_jerk_peak_time_s": 25.633387847803533,
622
+ "target_wall_jerk_rms_rad_s3": 9.235663508961846,
623
+ "target_wall_smoothness_samples": 1148,
624
+ "target_wall_velocity_peak_abs_rad_s": 0.4679300785064697,
625
+ "target_wall_velocity_peak_joint": 5,
626
+ "target_wall_velocity_peak_time_s": 23.633488575927913,
627
+ "target_wall_velocity_rms_rad_s": 0.10030470480248767,
628
+ "tcp_pose_count": 1148,
629
+ "timestamp_count": 1148,
630
+ "tool_failures": 0,
631
+ "tracking_geometry_pass": true,
632
+ "tracking_geometry_reason": "ok",
633
+ "tracking_pass": true,
634
+ "tracking_reason": "ok",
635
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
636
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
637
+ "tracking_threshold_max_lag_s": 0.1,
638
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
639
+ "tracking_timing_pass": true,
640
+ "tracking_timing_reason": "ok",
641
+ "window_lag_best_lag_max_s": 1.2700000000000031,
642
+ "window_lag_best_lag_median_s": 0.0,
643
+ "window_lag_best_lag_min_s": -1.0899999999999992,
644
+ "window_lag_best_lag_p95_abs_s": 1.0899999999999992,
645
+ "window_lag_count": 25,
646
+ "window_lag_window_s": 1.0,
647
+ "window_lag_worst_best_lag_s": 0.0,
648
+ "window_lag_worst_end_s": 13.0,
649
+ "window_lag_worst_max_error_rad": 0.0031698052771389484,
650
+ "window_lag_worst_rms_error_rad": 0.0015318037533702603,
651
+ "window_lag_worst_start_s": 12.0,
652
+ "zero_lag_max_error_rad": 0.004669662099331617,
653
+ "zero_lag_p95_error_rad": 0.0018357954686507583,
654
+ "zero_lag_rms_error_rad": 0.0007970079417080296,
655
+ "zero_lag_samples": 1148,
656
+ "zero_lag_worst_joint": 3,
657
+ "zero_lag_worst_time_s": 0.42399999999999993
658
+ }
659
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155539.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3201a9f650d0f98e40c165d786d31631d722b70100ed5fd3f8468252b591cece
3
+ size 119833
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.json ADDED
@@ -0,0 +1,680 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T15:57:47",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.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": 1186,
20
+ "actual_playback_duration_s": 39.54855456901714,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.5037071704864502,
23
+ "aligned_p95_error_rad": 0.0017828848212957382,
24
+ "aligned_rms_error_rad": 0.011776874000327292,
25
+ "aligned_samples": 1186,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 0.5199999999999996,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1186,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1186,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6480624481817372,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1186,
46
+ "cam_wrist": 1186
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
+ 0.10045003890991211,
58
+ 0.5037071704864502,
59
+ 0.408430278301239,
60
+ 0.4651528000831604,
61
+ 0.502928614616394,
62
+ 0.28773197531700134
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001564953476190567,
66
+ 0.0019562318921089172,
67
+ 0.00205416651442647,
68
+ 0.0009745345450937748,
69
+ 0.0012307614088058472,
70
+ 0.002154134213924408
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0029959324795422256,
74
+ 0.014652849200625512,
75
+ 0.011896936083475439,
76
+ 0.013517059608618386,
77
+ 0.014615139086873763,
78
+ 0.008404563464770453
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1186,
82
+ 1186,
83
+ 1186,
84
+ 1186,
85
+ 1186,
86
+ 1186
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 0.5199999999999996,
90
+ 0.5199999999999996,
91
+ 0.5199999999999996,
92
+ 0.5199999999999996,
93
+ 0.5199999999999996,
94
+ 0.5199999999999996
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": 42,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006197117269039154,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003990508615970612,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004233665647916496,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.0050900549395009875,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 4795,
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": 0.006277182139456272,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0040155258029699326,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004263724153861404,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005136374551802874,
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": 0.0061142342165112495,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004017828963696957,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004250245075672865,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005113399736583234,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.014665004331618547,
170
+ "leadthrough_capture_loop_late_median_s": 0.012187212705612183,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01247720594983548,
172
+ "leadthrough_capture_loop_late_p99_s": 0.013365548220463097,
173
+ "leadthrough_capture_loop_late_warn_count": 10276,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006263946183025837,
176
+ "leadthrough_capture_read_duration_median_s": 0.0040047550573945045,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004250530735589564,
178
+ "leadthrough_capture_read_duration_p99_s": 0.0051161873852834105,
179
+ "leadthrough_capture_read_duration_warn_count": 5306,
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
+ 0.0035844817757606506,
190
+ 0.00496065616607666,
191
+ 0.006590127944946289,
192
+ 0.001394364982843399,
193
+ 0.002570033073425293,
194
+ 0.006832242012023926
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006832242012023926,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.00187162053771317,
199
+ 0.0026313860435038805,
200
+ 0.0038070185109972954,
201
+ 0.00047823056229390204,
202
+ 0.0014610582729801536,
203
+ 0.003093898994848132
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007071187719702721,
207
+ 0.001107027754187584,
208
+ 0.001492711016908288,
209
+ 0.00021172648121137172,
210
+ 0.0005772251752205193,
211
+ 0.0012946384958922863
212
+ ],
213
+ "leadthrough_delta_samples": 6000,
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": -0.006832242012023926,
218
+ "leadthrough_delta_worst_from_rad": -0.6446961760520935,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0429999999999993,
221
+ "leadthrough_delta_worst_to_rad": -0.6515284180641174,
222
+ "leadthrough_duration_s": 23.996999999999996,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5982,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5983,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 10276,
234
+ "leadthrough_initial_stillness_first_motion_index": 4276,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 17.099,
238
+ "leadthrough_initial_stillness_removed_samples": 4275,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 4275,
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": 0.004000000000001336,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.0035844817757606506,
249
+ 0.00496065616607666,
250
+ 0.006590127944946289,
251
+ 0.001394364982843399,
252
+ 0.002570033073425293,
253
+ 0.006832242012023926
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006832242012023926,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.8961204439406593,
258
+ 1.2401640415198523,
259
+ 1.6475319862374853,
260
+ 0.35393424332140533,
261
+ 0.6425082683566793,
262
+ 2.272407213846756
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.0449635982513428,
265
+ "leadthrough_velocity_rms_rad_s": 0.25266261001023016,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.5037071704864502,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.41460955142974854,
271
+ "measured_wall_accel_peak_abs_rad_s2": 311.6547546386719,
272
+ "measured_wall_accel_peak_joint": 2,
273
+ "measured_wall_accel_peak_time_s": 15.973289085086435,
274
+ "measured_wall_accel_rms_rad_s2": 9.438260865990033,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.72412109375,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 4842.44287109375,
277
+ "measured_wall_jerk_peak_joint": 2,
278
+ "measured_wall_jerk_peak_time_s": 16.00314235407859,
279
+ "measured_wall_jerk_rms_rad_s3": 119.51055083536951,
280
+ "measured_wall_smoothness_samples": 1186,
281
+ "measured_wall_velocity_peak_abs_rad_s": 19.454626083374023,
282
+ "measured_wall_velocity_peak_joint": 2,
283
+ "measured_wall_velocity_peak_time_s": 15.940714567434043,
284
+ "measured_wall_velocity_rms_rad_s": 0.44320498919572077,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.5037071704864502,
287
+ "moving_aligned_p95_error_rad": 0.0019763002637773752,
288
+ "moving_aligned_rms_error_rad": 0.013617656376420272,
289
+ "moving_aligned_samples": 887,
290
+ "moving_aligned_worst_joint": 1,
291
+ "moving_aligned_worst_time_s": 0.5199999999999996,
292
+ "moving_joint_lag_best_lag_s": [
293
+ 0.0,
294
+ 0.0,
295
+ 0.0,
296
+ -0.0899999999999983,
297
+ 0.0,
298
+ 0.0
299
+ ],
300
+ "moving_joint_lag_max_error_rad": [
301
+ 0.00420573353767395,
302
+ 0.5037071704864502,
303
+ 0.408430278301239,
304
+ 0.02864384651184082,
305
+ 0.502928614616394,
306
+ 0.28773197531700134
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0018135118298232555,
310
+ 0.002179466187953949,
311
+ 0.0023670135997235775,
312
+ 0.027243245393037796,
313
+ 0.0016661286354064941,
314
+ 0.002883619163185358
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009100091913343005,
318
+ 0.01749316009267442,
319
+ 0.015120294889071777,
320
+ 0.014680938051084533,
321
+ 0.021839086544004065,
322
+ 0.012951188187536666
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 614,
326
+ 832,
327
+ 734,
328
+ 263,
329
+ 531,
330
+ 499
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 2.6630000000000003,
334
+ 0.5199999999999996,
335
+ 0.5199999999999996,
336
+ 22.157,
337
+ 0.5199999999999996,
338
+ 0.5199999999999996
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": 80.38724517822266,
348
+ "playback_velocity_rms_rad_s": 2.78462454073052,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.994,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.996999999999996,
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
+ 2039,
357
+ 5099
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.42024787925254453,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08703738451004028,
364
+ "rapid_planner_max_dt_s": 2.684000000000001,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007334709167480469,
367
+ "rapid_planner_median_dt_s": 0.08199999999999896,
368
+ "rapid_planner_path_max_error_rad": 0.5037071704864502,
369
+ "rapid_planner_path_p95_error_rad": 0.002760961651802063,
370
+ "rapid_planner_path_rms_error_rad": 0.014686048265335276,
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
+ 34,
376
+ 65,
377
+ 86,
378
+ 106,
379
+ 132,
380
+ 146,
381
+ 161,
382
+ 174,
383
+ 186,
384
+ 198,
385
+ 210,
386
+ 224,
387
+ 232,
388
+ 239,
389
+ 250,
390
+ 262,
391
+ 274,
392
+ 285,
393
+ 295,
394
+ 305,
395
+ 319,
396
+ 333,
397
+ 352,
398
+ 370,
399
+ 390,
400
+ 408,
401
+ 425,
402
+ 448,
403
+ 472,
404
+ 511,
405
+ 546,
406
+ 581,
407
+ 619,
408
+ 700,
409
+ 856,
410
+ 928,
411
+ 1073,
412
+ 1227,
413
+ 1295,
414
+ 1368,
415
+ 2039,
416
+ 2316,
417
+ 2390,
418
+ 2629,
419
+ 2673,
420
+ 2707,
421
+ 2731,
422
+ 2753,
423
+ 2769,
424
+ 2780,
425
+ 2791,
426
+ 2799,
427
+ 2807,
428
+ 2818,
429
+ 2828,
430
+ 2838,
431
+ 2848,
432
+ 2858,
433
+ 2869,
434
+ 2890,
435
+ 2904,
436
+ 2919,
437
+ 2936,
438
+ 2952,
439
+ 2974,
440
+ 2995,
441
+ 3016,
442
+ 3037,
443
+ 3074,
444
+ 3112,
445
+ 3147,
446
+ 3173,
447
+ 3199,
448
+ 3216,
449
+ 3234,
450
+ 3251,
451
+ 3268,
452
+ 3286,
453
+ 3304,
454
+ 3328,
455
+ 3347,
456
+ 3392,
457
+ 3440,
458
+ 3493,
459
+ 3537,
460
+ 3576,
461
+ 3635,
462
+ 3708,
463
+ 3771,
464
+ 3885,
465
+ 3994,
466
+ 4065,
467
+ 4264,
468
+ 4486,
469
+ 4592,
470
+ 5099,
471
+ 5272,
472
+ 5335,
473
+ 5371,
474
+ 5392,
475
+ 5412,
476
+ 5431,
477
+ 5450,
478
+ 5468,
479
+ 5486,
480
+ 5500,
481
+ 5514,
482
+ 5528,
483
+ 5541,
484
+ 5565,
485
+ 5578,
486
+ 5591,
487
+ 5611,
488
+ 5621,
489
+ 5631,
490
+ 5642,
491
+ 5652,
492
+ 5672,
493
+ 5702,
494
+ 5735,
495
+ 5783,
496
+ 5842,
497
+ 5900,
498
+ 6000
499
+ ],
500
+ "rapid_planner_selected_max_joint_step_deg": 4.986874792282634,
501
+ "rapid_planner_selected_samples": 125,
502
+ "rapid_planner_service_configured": true,
503
+ "rapid_planner_source_samples": 6001,
504
+ "rapid_planner_state_done": 6.0,
505
+ "rapid_planner_state_error": 7.0,
506
+ "rapid_planner_tool_command_hz": 30.0,
507
+ "rapid_planner_tool_command_supported": true,
508
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
509
+ "rapid_planner_tool_io_configured": true,
510
+ "rapid_planner_tool_io_supported": true,
511
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
512
+ "rapid_planner_tool_state_supported": true,
513
+ "rapid_planner_tool_transition_source_count": 2,
514
+ "rapid_planner_tool_transitions_uploaded": 2,
515
+ "rapid_planner_tool_upload_enabled": true,
516
+ "rapid_planner_uploaded": true,
517
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
518
+ "rapid_planner_waypoints_uploaded": 125,
519
+ "raw_ramp_max_error_rad": null,
520
+ "raw_replay_max_error_rad": 0.5037071704864502,
521
+ "raw_replay_rms_error_rad": 0.011776874000327292,
522
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.6807529344976405,
523
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 1.0003563002277218,
524
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9661487032192956,
525
+ "replay_smoothing_applied": true,
526
+ "replay_smoothing_blend": 1.0,
527
+ "replay_smoothing_blend_by_joint": [
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0,
533
+ 1.0
534
+ ],
535
+ "replay_smoothing_edge_taper_s": 0.2,
536
+ "replay_smoothing_edge_taper_samples": 50,
537
+ "replay_smoothing_enabled": true,
538
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.3615899916936603,
539
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.004714877239112,
540
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9781349574465763,
541
+ "replay_smoothing_max_deviation_by_joint_rad": [
542
+ 0.000441819429397583,
543
+ 0.0009326934814453125,
544
+ 0.0015334486961364746,
545
+ 0.0015596490120515227,
546
+ 0.001516580581665039,
547
+ 0.006855130195617676
548
+ ],
549
+ "replay_smoothing_max_deviation_normalized": 0.7855400625282479,
550
+ "replay_smoothing_max_deviation_rad": 0.006855130195617676,
551
+ "replay_smoothing_method": "scipy_savgol",
552
+ "replay_smoothing_p95_deviation_rad": 0.0018012821674346924,
553
+ "replay_smoothing_passes": 8,
554
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.416895627975464,
555
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.87225341796875,
556
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.462456364877791,
557
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 512.891845703125,
558
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18041.296875,
559
+ "replay_smoothing_raw_jerk_rms_rad_s3": 875.7815780861039,
560
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0297014713287354,
561
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.25341986754029744,
562
+ "replay_smoothing_rms_deviation_rad": 0.0009154277709993686,
563
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.326061725616455,
564
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 66.89608001708984,
565
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.345247726880074,
566
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 185.45655822753906,
567
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18126.359375,
568
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 856.6325766137467,
569
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0449635982513428,
570
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25266261001023016,
571
+ "replay_smoothing_tolerance_by_joint_rad": [
572
+ 0.03490658476948738,
573
+ 0.03490658476948738,
574
+ 0.02617993950843811,
575
+ 0.008726646192371845,
576
+ 0.008726646192371845,
577
+ 0.008726646192371845
578
+ ],
579
+ "replay_smoothing_tolerance_rad": 0.034906585,
580
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 1.007519394915064,
581
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970118462399288,
582
+ "replay_smoothing_window_s": 0.2,
583
+ "replay_smoothing_window_samples": 51,
584
+ "replay_smoothing_within_tolerance": true,
585
+ "replay_smoothing_worst_joint": 5,
586
+ "replay_smoothing_worst_time_s": 11.186,
587
+ "replay_smoothing_wrist_max_deviation_rad": 0.006855130195617676,
588
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
589
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
590
+ "return_measured_wall_accel_peak_joint": -1,
591
+ "return_measured_wall_accel_peak_time_s": null,
592
+ "return_measured_wall_accel_rms_rad_s2": null,
593
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
594
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
595
+ "return_measured_wall_jerk_peak_joint": -1,
596
+ "return_measured_wall_jerk_peak_time_s": null,
597
+ "return_measured_wall_jerk_rms_rad_s3": null,
598
+ "return_measured_wall_smoothness_samples": 0,
599
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
600
+ "return_measured_wall_velocity_peak_joint": -1,
601
+ "return_measured_wall_velocity_peak_time_s": null,
602
+ "return_measured_wall_velocity_rms_rad_s": null,
603
+ "safety_abort": false,
604
+ "safety_path_error_rad": 0.5037071704864502,
605
+ "saved_data_source": "measured_rapid_planner_playback",
606
+ "send_failures": 0,
607
+ "sent_wall_accel_p95_abs_rad_s2": null,
608
+ "sent_wall_accel_peak_abs_rad_s2": null,
609
+ "sent_wall_accel_peak_joint": -1,
610
+ "sent_wall_accel_peak_time_s": null,
611
+ "sent_wall_accel_rms_rad_s2": null,
612
+ "sent_wall_jerk_p95_abs_rad_s3": null,
613
+ "sent_wall_jerk_peak_abs_rad_s3": null,
614
+ "sent_wall_jerk_peak_joint": -1,
615
+ "sent_wall_jerk_peak_time_s": null,
616
+ "sent_wall_jerk_rms_rad_s3": null,
617
+ "sent_wall_smoothness_samples": 0,
618
+ "sent_wall_velocity_peak_abs_rad_s": null,
619
+ "sent_wall_velocity_peak_joint": -1,
620
+ "sent_wall_velocity_peak_time_s": null,
621
+ "sent_wall_velocity_rms_rad_s": null,
622
+ "stage_planned_to_measured_max_error_rad": 0.636520504951477,
623
+ "stage_planned_to_measured_rms_error_rad": 0.014049413210714309,
624
+ "stage_sent_to_measured_max_error_rad": null,
625
+ "stage_sent_to_measured_rms_error_rad": null,
626
+ "stage_sent_to_planned_max_error_rad": null,
627
+ "stage_sent_to_planned_rms_error_rad": null,
628
+ "stage_target_to_sent_max_error_rad": null,
629
+ "stage_target_to_sent_rms_error_rad": null,
630
+ "state_frame_count": 1186,
631
+ "stopped_early": false,
632
+ "strict_tracking_pass": false,
633
+ "strict_tracking_reason": "max_error_rad=0.5037",
634
+ "target_wall_accel_p95_abs_rad_s2": 0.9215992093086243,
635
+ "target_wall_accel_peak_abs_rad_s2": 101.18555450439453,
636
+ "target_wall_accel_peak_joint": 2,
637
+ "target_wall_accel_peak_time_s": 6.2659382820129395e-06,
638
+ "target_wall_accel_rms_rad_s2": 2.3752162934061185,
639
+ "target_wall_jerk_p95_abs_rad_s3": 22.5982666015625,
640
+ "target_wall_jerk_peak_abs_rad_s3": 1514.25244140625,
641
+ "target_wall_jerk_peak_joint": 2,
642
+ "target_wall_jerk_peak_time_s": 0.0667018098756671,
643
+ "target_wall_jerk_rms_rad_s3": 30.177647320450983,
644
+ "target_wall_smoothness_samples": 1186,
645
+ "target_wall_velocity_peak_abs_rad_s": 6.748625755310059,
646
+ "target_wall_velocity_peak_joint": 2,
647
+ "target_wall_velocity_peak_time_s": 6.2659382820129395e-06,
648
+ "target_wall_velocity_rms_rad_s": 0.15430713950132582,
649
+ "tcp_pose_count": 1186,
650
+ "timestamp_count": 1186,
651
+ "tool_failures": 0,
652
+ "tracking_geometry_pass": false,
653
+ "tracking_geometry_reason": "max_error_rad=0.5037",
654
+ "tracking_pass": true,
655
+ "tracking_reason": "ok",
656
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
657
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
658
+ "tracking_threshold_max_lag_s": 0.1,
659
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
660
+ "tracking_timing_pass": true,
661
+ "tracking_timing_reason": "ok",
662
+ "window_lag_best_lag_max_s": 0.010000000000001563,
663
+ "window_lag_best_lag_median_s": 0.0,
664
+ "window_lag_best_lag_min_s": -1.0899999999999992,
665
+ "window_lag_best_lag_p95_abs_s": 1.024999999999999,
666
+ "window_lag_count": 26,
667
+ "window_lag_window_s": 1.0,
668
+ "window_lag_worst_best_lag_s": 0.0,
669
+ "window_lag_worst_end_s": 1.0,
670
+ "window_lag_worst_max_error_rad": 0.5037071704864502,
671
+ "window_lag_worst_rms_error_rad": 0.04153203639089236,
672
+ "window_lag_worst_start_s": 0.0,
673
+ "zero_lag_max_error_rad": 0.5037071704864502,
674
+ "zero_lag_p95_error_rad": 0.0017828848212957382,
675
+ "zero_lag_rms_error_rad": 0.011776874000327292,
676
+ "zero_lag_samples": 1186,
677
+ "zero_lag_worst_joint": 1,
678
+ "zero_lag_worst_time_s": 0.5199999999999996
679
+ }
680
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_155746.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6e57c24a8ea62a955e8c6ef52b5e2b7e2e0cbe9c6802f0a4081956ae6448c25
3
+ size 124031
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.json ADDED
@@ -0,0 +1,671 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:00:03",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.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": 1157,
20
+ "actual_playback_duration_s": 38.587925070896745,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004943370819091797,
23
+ "aligned_p95_error_rad": 0.0018040051218122244,
24
+ "aligned_rms_error_rad": 0.0007907912191723522,
25
+ "aligned_samples": 1157,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 1.608,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1157,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1157,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6308661963102464,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1157,
46
+ "cam_wrist": 1157
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
+ 0.003758653998374939,
58
+ 0.0034707635641098022,
59
+ 0.0034229159355163574,
60
+ 0.004607478156685829,
61
+ 0.0039011240005493164,
62
+ 0.004943370819091797
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016265687299892306,
66
+ 0.0019280178239569068,
67
+ 0.001970529556274414,
68
+ 0.0013039156328886747,
69
+ 0.0013617872027680278,
70
+ 0.0023657551500946283
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007163034435839407,
74
+ 0.0008832060398519283,
75
+ 0.0009091147400756691,
76
+ 0.000516881844549346,
77
+ 0.0006104787819363324,
78
+ 0.0009963032604369917
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1157,
82
+ 1157,
83
+ 1157,
84
+ 1157,
85
+ 1157,
86
+ 1157
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 12.554,
90
+ 21.481,
91
+ 21.565,
92
+ 4.595000000000001,
93
+ 4.987,
94
+ 1.608
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": 2,
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": 0,
107
+ "leadthrough_capture_egm_drained_packet_max": 1,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.009771879762411118,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003970806021243334,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004347424954175949,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004746754076331854,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2670,
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": 0.0500806737691164,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039957850240170956,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004374333587475121,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004799816915765405,
122
+ "leadthrough_capture_host_loop_gap_warn": true,
123
+ "leadthrough_capture_host_loop_gap_warn_count": 2,
124
+ "leadthrough_capture_host_receive_dt_max_s": 0.00590382469817996,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003999926615506411,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004365042317658663,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004747429145500068,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.10783527046442032,
170
+ "leadthrough_capture_loop_late_median_s": 0.10540793184190989,
171
+ "leadthrough_capture_loop_late_p95_s": 0.10577995819039643,
172
+ "leadthrough_capture_loop_late_p99_s": 0.10612765541300177,
173
+ "leadthrough_capture_loop_late_warn_count": 6511,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.050077336840331554,
176
+ "leadthrough_capture_read_duration_median_s": 0.0039849127642810345,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004362194100394845,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004787563905119896,
179
+ "leadthrough_capture_read_duration_warn_count": 2941,
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": 1,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004033885896205902,
190
+ 0.0050234198570251465,
191
+ 0.007403075695037842,
192
+ 0.0018401779234409332,
193
+ 0.0028319358825683594,
194
+ 0.0055654942989349365
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007403075695037842,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018069194629788399,
199
+ 0.00258849561214447,
200
+ 0.0035616159439086914,
201
+ 0.0003560816403478384,
202
+ 0.0015856772661209106,
203
+ 0.0036288504488766193
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007347974460572004,
207
+ 0.0010770264780148864,
208
+ 0.0014423953834921122,
209
+ 0.00019338972924742848,
210
+ 0.0005742213106714189,
211
+ 0.0013259671395644546
212
+ ],
213
+ "leadthrough_delta_samples": 5916,
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": 0.007403075695037842,
218
+ "leadthrough_delta_worst_from_rad": -0.44175979495048523,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 11.17,
221
+ "leadthrough_delta_worst_to_rad": -0.4343567192554474,
222
+ "leadthrough_duration_s": 23.661,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5891,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5892,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6509,
234
+ "leadthrough_initial_stillness_first_motion_index": 593,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.368,
238
+ "leadthrough_initial_stillness_removed_samples": 592,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 592,
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
+ 0.004033885896205902,
249
+ 0.0050234198570251465,
250
+ 0.007403075695037842,
251
+ 0.0018401779234409332,
252
+ 0.0028319358825683594,
253
+ 0.0055654942989349365
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007403075695037842,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0084714740511387,
258
+ 1.6355713208515819,
259
+ 2.4676918983458536,
260
+ 0.46004448086007965,
261
+ 0.9158054987589171,
262
+ 1.8485685189564323
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.1381208896636963,
265
+ "leadthrough_velocity_rms_rad_s": 0.25408274780113244,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004943370819091797,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.38921672105789185,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.118675470352173,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 39.18841035896912,
274
+ "measured_wall_accel_rms_rad_s2": 0.20736817559132575,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.1783223152160645,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 52.643524169921875,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 30.01693515200168,
279
+ "measured_wall_jerk_rms_rad_s3": 3.792184566290539,
280
+ "measured_wall_smoothness_samples": 1157,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6008556485176086,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.315602583345026,
284
+ "measured_wall_velocity_rms_rad_s": 0.10103372360991277,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004943370819091797,
287
+ "moving_aligned_p95_error_rad": 0.0019782218150794506,
288
+ "moving_aligned_rms_error_rad": 0.0009023705924403225,
289
+ "moving_aligned_samples": 859,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 1.608,
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
+ 0.003758653998374939,
302
+ 0.0034707635641098022,
303
+ 0.0034229159355163574,
304
+ 0.004607478156685829,
305
+ 0.0036311745643615723,
306
+ 0.004943370819091797
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0020096171647310257,
310
+ 0.002051645889878273,
311
+ 0.0022231056354939938,
312
+ 0.0019150329753756523,
313
+ 0.001457899808883667,
314
+ 0.00279390811920166
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009001168015425749,
318
+ 0.0010345917001012138,
319
+ 0.0011386732960102577,
320
+ 0.001029383163751805,
321
+ 0.0007419615722885153,
322
+ 0.0014148294267566821
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 673,
326
+ 802,
327
+ 709,
328
+ 196,
329
+ 586,
330
+ 499
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 12.554,
334
+ 21.481,
335
+ 21.565,
336
+ 4.595000000000001,
337
+ 14.626,
338
+ 1.608
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": 2.9028639793395996,
348
+ "playback_velocity_rms_rad_s": 0.5263839842363607,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.322,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.661,
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
+ 2043,
357
+ 4876
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.42647530422830365,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08721482753753662,
364
+ "rapid_planner_max_dt_s": 2.419999999999998,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.0074433982372283936,
367
+ "rapid_planner_median_dt_s": 0.08099999999999952,
368
+ "rapid_planner_path_max_error_rad": 0.004943370819091797,
369
+ "rapid_planner_path_p95_error_rad": 0.00271289348602295,
370
+ "rapid_planner_path_rms_error_rad": 0.001375267098645284,
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
+ 57,
376
+ 99,
377
+ 117,
378
+ 134,
379
+ 146,
380
+ 157,
381
+ 168,
382
+ 178,
383
+ 188,
384
+ 198,
385
+ 210,
386
+ 223,
387
+ 236,
388
+ 248,
389
+ 260,
390
+ 273,
391
+ 286,
392
+ 298,
393
+ 312,
394
+ 326,
395
+ 340,
396
+ 354,
397
+ 364,
398
+ 374,
399
+ 384,
400
+ 393,
401
+ 413,
402
+ 431,
403
+ 444,
404
+ 456,
405
+ 479,
406
+ 499,
407
+ 519,
408
+ 542,
409
+ 564,
410
+ 593,
411
+ 612,
412
+ 671,
413
+ 729,
414
+ 777,
415
+ 822,
416
+ 932,
417
+ 1102,
418
+ 1177,
419
+ 1782,
420
+ 2043,
421
+ 2317,
422
+ 2385,
423
+ 2630,
424
+ 2670,
425
+ 2713,
426
+ 2737,
427
+ 2756,
428
+ 2764,
429
+ 2773,
430
+ 2780,
431
+ 2788,
432
+ 2797,
433
+ 2806,
434
+ 2814,
435
+ 2823,
436
+ 2832,
437
+ 2841,
438
+ 2861,
439
+ 2884,
440
+ 2907,
441
+ 2924,
442
+ 2941,
443
+ 2975,
444
+ 3012,
445
+ 3052,
446
+ 3084,
447
+ 3116,
448
+ 3148,
449
+ 3179,
450
+ 3198,
451
+ 3218,
452
+ 3232,
453
+ 3246,
454
+ 3270,
455
+ 3293,
456
+ 3328,
457
+ 3363,
458
+ 3410,
459
+ 3467,
460
+ 3496,
461
+ 3588,
462
+ 3702,
463
+ 3950,
464
+ 4170,
465
+ 4470,
466
+ 4592,
467
+ 4665,
468
+ 4876,
469
+ 5150,
470
+ 5192,
471
+ 5235,
472
+ 5258,
473
+ 5282,
474
+ 5300,
475
+ 5318,
476
+ 5338,
477
+ 5358,
478
+ 5380,
479
+ 5400,
480
+ 5412,
481
+ 5425,
482
+ 5441,
483
+ 5457,
484
+ 5479,
485
+ 5506,
486
+ 5538,
487
+ 5593,
488
+ 5796,
489
+ 5916
490
+ ],
491
+ "rapid_planner_selected_max_joint_step_deg": 4.997041528862199,
492
+ "rapid_planner_selected_samples": 116,
493
+ "rapid_planner_service_configured": true,
494
+ "rapid_planner_source_samples": 5917,
495
+ "rapid_planner_state_done": 6.0,
496
+ "rapid_planner_state_error": 7.0,
497
+ "rapid_planner_tool_command_hz": 30.0,
498
+ "rapid_planner_tool_command_supported": true,
499
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
500
+ "rapid_planner_tool_io_configured": true,
501
+ "rapid_planner_tool_io_supported": true,
502
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
503
+ "rapid_planner_tool_state_supported": true,
504
+ "rapid_planner_tool_transition_source_count": 2,
505
+ "rapid_planner_tool_transitions_uploaded": 2,
506
+ "rapid_planner_tool_upload_enabled": true,
507
+ "rapid_planner_uploaded": true,
508
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
509
+ "rapid_planner_waypoints_uploaded": 116,
510
+ "raw_ramp_max_error_rad": null,
511
+ "raw_replay_max_error_rad": 0.004943370819091797,
512
+ "raw_replay_rms_error_rad": 0.0007907912191723522,
513
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 1.0104754185986478,
514
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9027002042463061,
515
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9902778015597538,
516
+ "replay_smoothing_applied": true,
517
+ "replay_smoothing_blend": 1.0,
518
+ "replay_smoothing_blend_by_joint": [
519
+ 1.0,
520
+ 1.0,
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0
525
+ ],
526
+ "replay_smoothing_edge_taper_s": 0.2,
527
+ "replay_smoothing_edge_taper_samples": 50,
528
+ "replay_smoothing_enabled": true,
529
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9763217013107212,
530
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9807131552888427,
531
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9960009932371393,
532
+ "replay_smoothing_max_deviation_by_joint_rad": [
533
+ 0.0006347000598907471,
534
+ 0.0013465285301208496,
535
+ 0.0022363364696502686,
536
+ 0.0018281545490026474,
537
+ 0.0030243396759033203,
538
+ 0.006742954254150391
539
+ ],
540
+ "replay_smoothing_max_deviation_normalized": 0.7726856464107089,
541
+ "replay_smoothing_max_deviation_rad": 0.006742954254150391,
542
+ "replay_smoothing_method": "scipy_savgol",
543
+ "replay_smoothing_p95_deviation_rad": 0.0019339912105351686,
544
+ "replay_smoothing_passes": 8,
545
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.158185005187988,
546
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 78.22278594970703,
547
+ "replay_smoothing_raw_accel_rms_rad_s2": 5.097047970523966,
548
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1857.4373779296875,
549
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20317.443359375,
550
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1295.3917829103464,
551
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.198241710662842,
552
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2548946172698052,
553
+ "replay_smoothing_rms_deviation_rad": 0.0008976708412546374,
554
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.254120826721191,
555
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 70.61172485351562,
556
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 5.047493458695078,
557
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1813.4564208984375,
558
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19925.583984375,
559
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1290.2115024099337,
560
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1381208896636963,
561
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.25408274780113244,
562
+ "replay_smoothing_tolerance_by_joint_rad": [
563
+ 0.03490658476948738,
564
+ 0.03490658476948738,
565
+ 0.02617993950843811,
566
+ 0.008726646192371845,
567
+ 0.008726646192371845,
568
+ 0.008726646192371845
569
+ ],
570
+ "replay_smoothing_tolerance_rad": 0.034906585,
571
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9726504957541647,
572
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968148818622818,
573
+ "replay_smoothing_window_s": 0.2,
574
+ "replay_smoothing_window_samples": 51,
575
+ "replay_smoothing_within_tolerance": true,
576
+ "replay_smoothing_worst_joint": 5,
577
+ "replay_smoothing_worst_time_s": 1.6430000000000002,
578
+ "replay_smoothing_wrist_max_deviation_rad": 0.006742954254150391,
579
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
580
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
581
+ "return_measured_wall_accel_peak_joint": -1,
582
+ "return_measured_wall_accel_peak_time_s": null,
583
+ "return_measured_wall_accel_rms_rad_s2": null,
584
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
585
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
586
+ "return_measured_wall_jerk_peak_joint": -1,
587
+ "return_measured_wall_jerk_peak_time_s": null,
588
+ "return_measured_wall_jerk_rms_rad_s3": null,
589
+ "return_measured_wall_smoothness_samples": 0,
590
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
591
+ "return_measured_wall_velocity_peak_joint": -1,
592
+ "return_measured_wall_velocity_peak_time_s": null,
593
+ "return_measured_wall_velocity_rms_rad_s": null,
594
+ "safety_abort": false,
595
+ "safety_path_error_rad": 0.004943370819091797,
596
+ "saved_data_source": "measured_rapid_planner_playback",
597
+ "send_failures": 0,
598
+ "sent_wall_accel_p95_abs_rad_s2": null,
599
+ "sent_wall_accel_peak_abs_rad_s2": null,
600
+ "sent_wall_accel_peak_joint": -1,
601
+ "sent_wall_accel_peak_time_s": null,
602
+ "sent_wall_accel_rms_rad_s2": null,
603
+ "sent_wall_jerk_p95_abs_rad_s3": null,
604
+ "sent_wall_jerk_peak_abs_rad_s3": null,
605
+ "sent_wall_jerk_peak_joint": -1,
606
+ "sent_wall_jerk_peak_time_s": null,
607
+ "sent_wall_jerk_rms_rad_s3": null,
608
+ "sent_wall_smoothness_samples": 0,
609
+ "sent_wall_velocity_peak_abs_rad_s": null,
610
+ "sent_wall_velocity_peak_joint": -1,
611
+ "sent_wall_velocity_peak_time_s": null,
612
+ "sent_wall_velocity_rms_rad_s": null,
613
+ "stage_planned_to_measured_max_error_rad": 0.0359196662902832,
614
+ "stage_planned_to_measured_rms_error_rad": 0.005995890409630717,
615
+ "stage_sent_to_measured_max_error_rad": null,
616
+ "stage_sent_to_measured_rms_error_rad": null,
617
+ "stage_sent_to_planned_max_error_rad": null,
618
+ "stage_sent_to_planned_rms_error_rad": null,
619
+ "stage_target_to_sent_max_error_rad": null,
620
+ "stage_target_to_sent_rms_error_rad": null,
621
+ "state_frame_count": 1157,
622
+ "stopped_early": false,
623
+ "strict_tracking_pass": true,
624
+ "strict_tracking_reason": "ok",
625
+ "target_wall_accel_p95_abs_rad_s2": 0.8985106348991394,
626
+ "target_wall_accel_peak_abs_rad_s2": 3.5960311889648438,
627
+ "target_wall_accel_peak_joint": 3,
628
+ "target_wall_accel_peak_time_s": 9.00006213504821,
629
+ "target_wall_accel_rms_rad_s2": 0.37618459770348,
630
+ "target_wall_jerk_p95_abs_rad_s3": 20.547414779663086,
631
+ "target_wall_jerk_peak_abs_rad_s3": 100.19908905029297,
632
+ "target_wall_jerk_peak_joint": 3,
633
+ "target_wall_jerk_peak_time_s": 8.966740554664284,
634
+ "target_wall_jerk_rms_rad_s3": 9.310299311081799,
635
+ "target_wall_smoothness_samples": 1157,
636
+ "target_wall_velocity_peak_abs_rad_s": 0.6344980597496033,
637
+ "target_wall_velocity_peak_joint": 5,
638
+ "target_wall_velocity_peak_time_s": 25.300055583007634,
639
+ "target_wall_velocity_rms_rad_s": 0.10206267846296097,
640
+ "tcp_pose_count": 1157,
641
+ "timestamp_count": 1157,
642
+ "tool_failures": 0,
643
+ "tracking_geometry_pass": true,
644
+ "tracking_geometry_reason": "ok",
645
+ "tracking_pass": true,
646
+ "tracking_reason": "ok",
647
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
648
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
649
+ "tracking_threshold_max_lag_s": 0.1,
650
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
651
+ "tracking_timing_pass": true,
652
+ "tracking_timing_reason": "ok",
653
+ "window_lag_best_lag_max_s": 0.8800000000000026,
654
+ "window_lag_best_lag_median_s": 0.0,
655
+ "window_lag_best_lag_min_s": -1.1299999999999992,
656
+ "window_lag_best_lag_p95_abs_s": 1.0939999999999992,
657
+ "window_lag_count": 27,
658
+ "window_lag_window_s": 1.0,
659
+ "window_lag_worst_best_lag_s": 0.8800000000000026,
660
+ "window_lag_worst_end_s": 20.5,
661
+ "window_lag_worst_max_error_rad": 0.001953721046447754,
662
+ "window_lag_worst_rms_error_rad": 0.001170054573654859,
663
+ "window_lag_worst_start_s": 19.5,
664
+ "zero_lag_max_error_rad": 0.004943370819091797,
665
+ "zero_lag_p95_error_rad": 0.0018040051218122244,
666
+ "zero_lag_rms_error_rad": 0.0007907912191723522,
667
+ "zero_lag_samples": 1157,
668
+ "zero_lag_worst_joint": 5,
669
+ "zero_lag_worst_time_s": 1.608
670
+ }
671
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160002.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb0dfd4053ddfc33a0aa71d61dae4d29b8cceac6ee6c597e44f6a1cbecd8afe5
3
+ size 120327
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.json ADDED
@@ -0,0 +1,672 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:02:39",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.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": 1163,
20
+ "actual_playback_duration_s": 38.78038558922708,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004352688789367676,
23
+ "aligned_p95_error_rad": 0.0016593413893133402,
24
+ "aligned_rms_error_rad": 0.0007185538963219917,
25
+ "aligned_samples": 1163,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 2.5029999999999997,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1163,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1163,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.4977169732834001,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1163,
46
+ "cam_wrist": 1163
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
+ 0.004238486289978027,
58
+ 0.004100203514099121,
59
+ 0.003104269504547119,
60
+ 0.0026988601312041283,
61
+ 0.0034465789794921875,
62
+ 0.004352688789367676
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001582097727805376,
66
+ 0.0017475784989073873,
67
+ 0.0017935391515493393,
68
+ 0.0007038604817353189,
69
+ 0.001609862083569169,
70
+ 0.0019491295097395778
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0006922832799480387,
74
+ 0.0008497026650645405,
75
+ 0.0008057581070650646,
76
+ 0.00028397888069837696,
77
+ 0.0006948257698047559,
78
+ 0.0008270395822662576
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1163,
82
+ 1163,
83
+ 1163,
84
+ 1163,
85
+ 1163,
86
+ 1163
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 2.5429999999999997,
90
+ 2.5029999999999997,
91
+ 23.845000000000002,
92
+ 17.062,
93
+ 3.595,
94
+ 2.5029999999999997
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": 25,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006619882769882679,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003986743977293372,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0042537055676802995,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004903678540140386,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3291,
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": 0.0066827163100242615,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004015496000647545,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004287588968873024,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0049458994995802644,
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": 0.00664523895829916,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004016079939901829,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004267386579886079,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004894936690106988,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.017762173898518085,
170
+ "leadthrough_capture_loop_late_median_s": 0.01339355087839067,
171
+ "leadthrough_capture_loop_late_p95_s": 0.013700740900821984,
172
+ "leadthrough_capture_loop_late_p99_s": 0.014379530805163085,
173
+ "leadthrough_capture_loop_late_warn_count": 7248,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006657076068222523,
176
+ "leadthrough_capture_read_duration_median_s": 0.004002767615020275,
177
+ "leadthrough_capture_read_duration_p95_s": 0.00427238205447793,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004931311854161322,
179
+ "leadthrough_capture_read_duration_warn_count": 3703,
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": 3,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004005126655101776,
190
+ 0.0040274858474731445,
191
+ 0.00552794337272644,
192
+ 0.0010126680135726929,
193
+ 0.0026047229766845703,
194
+ 0.006162285804748535
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006162285804748535,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0014210708905011415,
199
+ 0.0024911765940487385,
200
+ 0.0040740943513810635,
201
+ 0.0003218359488528222,
202
+ 0.0016233029309660196,
203
+ 0.0026613378431648016
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0006467647617682815,
207
+ 0.001011859392747283,
208
+ 0.0013627945445477962,
209
+ 0.0001482352236052975,
210
+ 0.0005871863686479628,
211
+ 0.0012048933422192931
212
+ ],
213
+ "leadthrough_delta_samples": 6474,
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": -0.006162285804748535,
218
+ "leadthrough_delta_worst_from_rad": -0.46664416790008545,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.8479999999999999,
221
+ "leadthrough_delta_worst_to_rad": -0.472806453704834,
222
+ "leadthrough_duration_s": 25.893,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6464,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6465,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7248,
234
+ "leadthrough_initial_stillness_first_motion_index": 774,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.092,
238
+ "leadthrough_initial_stillness_removed_samples": 773,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 773,
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
+ 0.004005126655101776,
249
+ 0.0040274858474731445,
250
+ 0.00552794337272644,
251
+ 0.0010126680135726929,
252
+ 0.0026047229766845703,
253
+ 0.006162285804748535
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006162285804748535,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0012816637751096,
258
+ 1.2831091880797854,
259
+ 1.8225411574045127,
260
+ 0.2531670033930887,
261
+ 0.6511807441709251,
262
+ 1.5405714511871325
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.5742874145507812,
265
+ "leadthrough_velocity_rms_rad_s": 0.23215347645001716,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004352688789367676,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4286178648471832,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.6480865478515625,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 25.360758502036333,
274
+ "measured_wall_accel_rms_rad_s2": 0.23250678664558153,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.658066749572754,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 64.2379379272461,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 25.292758862953633,
279
+ "measured_wall_jerk_rms_rad_s3": 4.083290845118939,
280
+ "measured_wall_smoothness_samples": 1163,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7640954256057739,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 41.05914851371199,
284
+ "measured_wall_velocity_rms_rad_s": 0.10114482273214936,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004352688789367676,
287
+ "moving_aligned_p95_error_rad": 0.0018307095160707831,
288
+ "moving_aligned_rms_error_rad": 0.0008332650140959925,
289
+ "moving_aligned_samples": 857,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 2.5029999999999997,
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
+ 0.004238486289978027,
302
+ 0.004100203514099121,
303
+ 0.003104269504547119,
304
+ 0.0026988601312041283,
305
+ 0.0034465789794921875,
306
+ 0.004352688789367676
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002234461484476924,
310
+ 0.0019499030895531178,
311
+ 0.0020486563444137573,
312
+ 0.0012611085548996925,
313
+ 0.0018770155729725957,
314
+ 0.002556324005126953
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010009265133660047,
318
+ 0.0010031989971084525,
319
+ 0.001051614357654435,
320
+ 0.000752221001855058,
321
+ 0.0008857699326958881,
322
+ 0.0012271627970570187
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 505,
326
+ 809,
327
+ 666,
328
+ 136,
329
+ 564,
330
+ 481
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 2.5429999999999997,
334
+ 2.5029999999999997,
335
+ 23.845000000000002,
336
+ 17.062,
337
+ 3.595,
338
+ 2.5029999999999997
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": 2.4162638187408447,
348
+ "playback_velocity_rms_rad_s": 0.4862076282496357,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 81.786,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.893,
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
+ 2571,
357
+ 5389
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4463221264090682,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08564907312393188,
364
+ "rapid_planner_max_dt_s": 2.507999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007789790630340576,
367
+ "rapid_planner_median_dt_s": 0.0919999999999992,
368
+ "rapid_planner_path_max_error_rad": 0.004352688789367676,
369
+ "rapid_planner_path_p95_error_rad": 0.0024903297424316395,
370
+ "rapid_planner_path_rms_error_rad": 0.0012448463817403576,
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
+ 37,
376
+ 74,
377
+ 95,
378
+ 116,
379
+ 126,
380
+ 137,
381
+ 150,
382
+ 162,
383
+ 176,
384
+ 190,
385
+ 204,
386
+ 217,
387
+ 228,
388
+ 240,
389
+ 252,
390
+ 264,
391
+ 276,
392
+ 287,
393
+ 298,
394
+ 310,
395
+ 327,
396
+ 342,
397
+ 360,
398
+ 375,
399
+ 390,
400
+ 413,
401
+ 445,
402
+ 472,
403
+ 498,
404
+ 545,
405
+ 590,
406
+ 686,
407
+ 855,
408
+ 962,
409
+ 1099,
410
+ 1252,
411
+ 1396,
412
+ 1749,
413
+ 1834,
414
+ 1944,
415
+ 2571,
416
+ 2836,
417
+ 2915,
418
+ 3123,
419
+ 3220,
420
+ 3243,
421
+ 3262,
422
+ 3273,
423
+ 3284,
424
+ 3294,
425
+ 3304,
426
+ 3314,
427
+ 3323,
428
+ 3339,
429
+ 3355,
430
+ 3374,
431
+ 3393,
432
+ 3412,
433
+ 3428,
434
+ 3444,
435
+ 3466,
436
+ 3495,
437
+ 3528,
438
+ 3561,
439
+ 3616,
440
+ 3664,
441
+ 3713,
442
+ 3749,
443
+ 3777,
444
+ 3810,
445
+ 3843,
446
+ 3884,
447
+ 3905,
448
+ 3926,
449
+ 3955,
450
+ 3984,
451
+ 4002,
452
+ 4020,
453
+ 4044,
454
+ 4067,
455
+ 4093,
456
+ 4137,
457
+ 4186,
458
+ 4248,
459
+ 4310,
460
+ 4379,
461
+ 4541,
462
+ 4726,
463
+ 4867,
464
+ 5085,
465
+ 5183,
466
+ 5389,
467
+ 5675,
468
+ 5730,
469
+ 5774,
470
+ 5794,
471
+ 5813,
472
+ 5842,
473
+ 5869,
474
+ 5890,
475
+ 5909,
476
+ 5931,
477
+ 5952,
478
+ 5972,
479
+ 5991,
480
+ 6014,
481
+ 6032,
482
+ 6049,
483
+ 6070,
484
+ 6092,
485
+ 6110,
486
+ 6129,
487
+ 6181,
488
+ 6277,
489
+ 6376,
490
+ 6474
491
+ ],
492
+ "rapid_planner_selected_max_joint_step_deg": 4.907330409208666,
493
+ "rapid_planner_selected_samples": 117,
494
+ "rapid_planner_service_configured": true,
495
+ "rapid_planner_source_samples": 6475,
496
+ "rapid_planner_state_done": 6.0,
497
+ "rapid_planner_state_error": 7.0,
498
+ "rapid_planner_tool_command_hz": 30.0,
499
+ "rapid_planner_tool_command_supported": true,
500
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
501
+ "rapid_planner_tool_io_configured": true,
502
+ "rapid_planner_tool_io_supported": true,
503
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
504
+ "rapid_planner_tool_state_supported": true,
505
+ "rapid_planner_tool_transition_source_count": 2,
506
+ "rapid_planner_tool_transitions_uploaded": 2,
507
+ "rapid_planner_tool_upload_enabled": true,
508
+ "rapid_planner_uploaded": true,
509
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
510
+ "rapid_planner_waypoints_uploaded": 117,
511
+ "raw_ramp_max_error_rad": null,
512
+ "raw_replay_max_error_rad": 0.004352688789367676,
513
+ "raw_replay_rms_error_rad": 0.0007185538963219917,
514
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.7673370690414627,
515
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8303414358302764,
516
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9354213943438806,
517
+ "replay_smoothing_applied": true,
518
+ "replay_smoothing_blend": 1.0,
519
+ "replay_smoothing_blend_by_joint": [
520
+ 1.0,
521
+ 1.0,
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0
526
+ ],
527
+ "replay_smoothing_edge_taper_s": 0.2,
528
+ "replay_smoothing_edge_taper_samples": 50,
529
+ "replay_smoothing_enabled": true,
530
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.48275107017521357,
531
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8409896609809053,
532
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9534758086373253,
533
+ "replay_smoothing_max_deviation_by_joint_rad": [
534
+ 0.0005735158920288086,
535
+ 0.0016939640045166016,
536
+ 0.0025067031383514404,
537
+ 0.0015167908277362585,
538
+ 0.0026917457580566406,
539
+ 0.004857659339904785
540
+ ],
541
+ "replay_smoothing_max_deviation_normalized": 0.5566467612896892,
542
+ "replay_smoothing_max_deviation_rad": 0.004857659339904785,
543
+ "replay_smoothing_method": "scipy_savgol",
544
+ "replay_smoothing_p95_deviation_rad": 0.0014746274100616574,
545
+ "replay_smoothing_passes": 8,
546
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.6576132774353027,
547
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.00880432128906,
548
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.6110142573585025,
549
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 373.5866394042969,
550
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17551.267578125,
551
+ "replay_smoothing_raw_jerk_rms_rad_s3": 649.3958311285717,
552
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6291496753692627,
553
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.23275453670278112,
554
+ "replay_smoothing_rms_deviation_rad": 0.0007092444844051577,
555
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.039285182952881,
556
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.48847961425781,
557
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.442398597270042,
558
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 180.34934997558594,
559
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14760.4345703125,
560
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 619.1832152110228,
561
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5742874145507812,
562
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23215347645001716,
563
+ "replay_smoothing_tolerance_by_joint_rad": [
564
+ 0.03490658476948738,
565
+ 0.03490658476948738,
566
+ 0.02617993950843811,
567
+ 0.008726646192371845,
568
+ 0.008726646192371845,
569
+ 0.008726646192371845
570
+ ],
571
+ "replay_smoothing_tolerance_rad": 0.034906585,
572
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9663246037807751,
573
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9974176217517449,
574
+ "replay_smoothing_window_s": 0.2,
575
+ "replay_smoothing_window_samples": 51,
576
+ "replay_smoothing_within_tolerance": true,
577
+ "replay_smoothing_worst_joint": 5,
578
+ "replay_smoothing_worst_time_s": 1.392,
579
+ "replay_smoothing_wrist_max_deviation_rad": 0.004857659339904785,
580
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
581
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
582
+ "return_measured_wall_accel_peak_joint": -1,
583
+ "return_measured_wall_accel_peak_time_s": null,
584
+ "return_measured_wall_accel_rms_rad_s2": null,
585
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
586
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
587
+ "return_measured_wall_jerk_peak_joint": -1,
588
+ "return_measured_wall_jerk_peak_time_s": null,
589
+ "return_measured_wall_jerk_rms_rad_s3": null,
590
+ "return_measured_wall_smoothness_samples": 0,
591
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
592
+ "return_measured_wall_velocity_peak_joint": -1,
593
+ "return_measured_wall_velocity_peak_time_s": null,
594
+ "return_measured_wall_velocity_rms_rad_s": null,
595
+ "safety_abort": false,
596
+ "safety_path_error_rad": 0.004352688789367676,
597
+ "saved_data_source": "measured_rapid_planner_playback",
598
+ "send_failures": 0,
599
+ "sent_wall_accel_p95_abs_rad_s2": null,
600
+ "sent_wall_accel_peak_abs_rad_s2": null,
601
+ "sent_wall_accel_peak_joint": -1,
602
+ "sent_wall_accel_peak_time_s": null,
603
+ "sent_wall_accel_rms_rad_s2": null,
604
+ "sent_wall_jerk_p95_abs_rad_s3": null,
605
+ "sent_wall_jerk_peak_abs_rad_s3": null,
606
+ "sent_wall_jerk_peak_joint": -1,
607
+ "sent_wall_jerk_peak_time_s": null,
608
+ "sent_wall_jerk_rms_rad_s3": null,
609
+ "sent_wall_smoothness_samples": 0,
610
+ "sent_wall_velocity_peak_abs_rad_s": null,
611
+ "sent_wall_velocity_peak_joint": -1,
612
+ "sent_wall_velocity_peak_time_s": null,
613
+ "sent_wall_velocity_rms_rad_s": null,
614
+ "stage_planned_to_measured_max_error_rad": 0.04513305425643921,
615
+ "stage_planned_to_measured_rms_error_rad": 0.0059958727329229074,
616
+ "stage_sent_to_measured_max_error_rad": null,
617
+ "stage_sent_to_measured_rms_error_rad": null,
618
+ "stage_sent_to_planned_max_error_rad": null,
619
+ "stage_sent_to_planned_rms_error_rad": null,
620
+ "stage_target_to_sent_max_error_rad": null,
621
+ "stage_target_to_sent_rms_error_rad": null,
622
+ "state_frame_count": 1163,
623
+ "stopped_early": false,
624
+ "strict_tracking_pass": true,
625
+ "strict_tracking_reason": "ok",
626
+ "target_wall_accel_p95_abs_rad_s2": 0.8623573184013367,
627
+ "target_wall_accel_peak_abs_rad_s2": 3.0596044063568115,
628
+ "target_wall_accel_peak_joint": 3,
629
+ "target_wall_accel_peak_time_s": 26.333386596292257,
630
+ "target_wall_accel_rms_rad_s2": 0.35772509638874606,
631
+ "target_wall_jerk_p95_abs_rad_s3": 19.174043655395508,
632
+ "target_wall_jerk_peak_abs_rad_s3": 67.7738265991211,
633
+ "target_wall_jerk_peak_joint": 5,
634
+ "target_wall_jerk_peak_time_s": 8.566727282945067,
635
+ "target_wall_jerk_rms_rad_s3": 8.482371088152748,
636
+ "target_wall_smoothness_samples": 1163,
637
+ "target_wall_velocity_peak_abs_rad_s": 0.7810584306716919,
638
+ "target_wall_velocity_peak_joint": 5,
639
+ "target_wall_velocity_peak_time_s": 24.33338768221438,
640
+ "target_wall_velocity_rms_rad_s": 0.10186852721671949,
641
+ "tcp_pose_count": 1163,
642
+ "timestamp_count": 1163,
643
+ "tool_failures": 0,
644
+ "tracking_geometry_pass": true,
645
+ "tracking_geometry_reason": "ok",
646
+ "tracking_pass": true,
647
+ "tracking_reason": "ok",
648
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
649
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
650
+ "tracking_threshold_max_lag_s": 0.1,
651
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
652
+ "tracking_timing_pass": true,
653
+ "tracking_timing_reason": "ok",
654
+ "window_lag_best_lag_max_s": 0.8000000000000025,
655
+ "window_lag_best_lag_median_s": 0.0,
656
+ "window_lag_best_lag_min_s": -1.0399999999999991,
657
+ "window_lag_best_lag_p95_abs_s": 0.839999999999999,
658
+ "window_lag_count": 30,
659
+ "window_lag_window_s": 1.0,
660
+ "window_lag_worst_best_lag_s": 0.0,
661
+ "window_lag_worst_end_s": 3.5,
662
+ "window_lag_worst_max_error_rad": 0.004352688789367676,
663
+ "window_lag_worst_rms_error_rad": 0.0016576508258746012,
664
+ "window_lag_worst_start_s": 2.5,
665
+ "zero_lag_max_error_rad": 0.004352688789367676,
666
+ "zero_lag_p95_error_rad": 0.0016593413893133402,
667
+ "zero_lag_rms_error_rad": 0.0007185538963219917,
668
+ "zero_lag_samples": 1163,
669
+ "zero_lag_worst_joint": 5,
670
+ "zero_lag_worst_time_s": 2.5029999999999997
671
+ }
672
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160238.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df804101a52f5db5514400db4b574d66782f5c469e34e88714e9cc175f37123d
3
+ size 123062
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.json ADDED
@@ -0,0 +1,682 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-09-21T16:04:46",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.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": 1175,
20
+ "actual_playback_duration_s": 39.18457850208506,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.35555827617645264,
23
+ "aligned_p95_error_rad": 0.002090547000989318,
24
+ "aligned_rms_error_rad": 0.008389715678691666,
25
+ "aligned_samples": 1175,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 0.9279999999999999,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1175,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1175,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.531784469023301,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1175,
46
+ "cam_wrist": 1175
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
+ 0.06295770406723022,
58
+ 0.35555827617645264,
59
+ 0.20471203327178955,
60
+ 0.3201655149459839,
61
+ 0.30171656608581543,
62
+ 0.35396215319633484
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0017485391581431031,
66
+ 0.0022040950134396553,
67
+ 0.002400933997705579,
68
+ 0.0011828253045678139,
69
+ 0.0017929006135091186,
70
+ 0.002448298502713442
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0019769356174298073,
74
+ 0.010420365989662292,
75
+ 0.006060533785915893,
76
+ 0.009351608993625584,
77
+ 0.008835370416089755,
78
+ 0.010372330610443079
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1175,
82
+ 1175,
83
+ 1175,
84
+ 1175,
85
+ 1175,
86
+ 1175
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 0.9279999999999999,
90
+ 0.9279999999999999,
91
+ 0.9279999999999999,
92
+ 0.9279999999999999,
93
+ 0.9279999999999999,
94
+ 0.9279999999999999
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": 7,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005665412172675133,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003979976754635572,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004335897043347359,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004530841950327158,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3237,
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": 0.0056870910339057446,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004005264025181532,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004362469003535807,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004579496188089254,
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": 0.005479910876601934,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004006015602499247,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004362993687391281,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004531164313666525,
128
+ "leadthrough_capture_host_receive_gap_warn": false,
129
+ "leadthrough_capture_host_receive_gap_warn_count": 0,
130
+ "leadthrough_capture_leadthrough_start_arm_mode": "",
131
+ "leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
132
+ "leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
133
+ "leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
134
+ "leadthrough_capture_leadthrough_start_joints_deg": [
135
+ 16.926,
136
+ -0.49,
137
+ 52.285,
138
+ 4.341,
139
+ 41.395,
140
+ 7.983
141
+ ],
142
+ "leadthrough_capture_leadthrough_start_joints_rad": [
143
+ 0.295419,
144
+ -0.008551,
145
+ 0.912542,
146
+ 0.075773,
147
+ 0.722472,
148
+ 0.139336
149
+ ],
150
+ "leadthrough_capture_leadthrough_start_pose_enabled": true,
151
+ "leadthrough_capture_leadthrough_start_pose_locked": true,
152
+ "leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
153
+ "leadthrough_capture_leadthrough_start_pose_notes": "",
154
+ "leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
155
+ "leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
156
+ "leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
157
+ "leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
158
+ "leadthrough_capture_leadthrough_start_pose_uploaded": true,
159
+ "leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
160
+ "leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
161
+ "leadthrough_capture_leadthrough_start_tcp_pos_m": [],
162
+ "leadthrough_capture_leadthrough_start_tcp_quat": [],
163
+ "leadthrough_capture_leadthrough_start_tool_command_supported": false,
164
+ "leadthrough_capture_leadthrough_start_tool_commanded": false,
165
+ "leadthrough_capture_leadthrough_start_tool_io_backend": "",
166
+ "leadthrough_capture_leadthrough_start_tool_state": 0.0,
167
+ "leadthrough_capture_leadthrough_start_tool_state_valid": true,
168
+ "leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
169
+ "leadthrough_capture_loop_late_max_s": 0.017982542980462313,
170
+ "leadthrough_capture_loop_late_median_s": 0.011182839050889015,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01144524896517396,
172
+ "leadthrough_capture_loop_late_p99_s": 0.011760244611650705,
173
+ "leadthrough_capture_loop_late_warn_count": 7501,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005677646957337856,
176
+ "leadthrough_capture_read_duration_median_s": 0.003994468133896589,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004351743962615728,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004565338138490915,
179
+ "leadthrough_capture_read_duration_warn_count": 3594,
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": 0,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.003887280821800232,
190
+ 0.005159616470336914,
191
+ 0.007574856281280518,
192
+ 0.002408236265182495,
193
+ 0.0036096572875976562,
194
+ 0.006633251905441284
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007574856281280518,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.001692967489361763,
199
+ 0.0024184174835681915,
200
+ 0.003428284078836441,
201
+ 0.00018275855109095573,
202
+ 0.001500740647315979,
203
+ 0.003607422113418579
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.000667695770971477,
207
+ 0.0010597368236631155,
208
+ 0.0014286903897300363,
209
+ 0.0002369531139265746,
210
+ 0.0006092431140132248,
211
+ 0.001281245844438672
212
+ ],
213
+ "leadthrough_delta_samples": 6396,
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": 0.007574856281280518,
218
+ "leadthrough_delta_worst_from_rad": -0.4372856914997101,
219
+ "leadthrough_delta_worst_joint": 2,
220
+ "leadthrough_delta_worst_time_s": 12.635000000000002,
221
+ "leadthrough_delta_worst_to_rad": -0.42971083521842957,
222
+ "leadthrough_duration_s": 25.581,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6380,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.0,
228
+ "leadthrough_final_stillness_removed_samples": 0,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6381,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7501,
234
+ "leadthrough_initial_stillness_first_motion_index": 1105,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 4.415,
238
+ "leadthrough_initial_stillness_removed_samples": 1104,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 1104,
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
+ 0.003887280821800232,
249
+ 0.005159616470336914,
250
+ 0.007574856281280518,
251
+ 0.002408236265182495,
252
+ 0.0036096572875976562,
253
+ 0.006633251905441284
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007574856281280518,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2912328044572976,
258
+ 1.558216909567456,
259
+ 1.893714070319497,
260
+ 0.7983470956484174,
261
+ 0.9024143218999142,
262
+ 1.6583129763601354
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.8484406471252441,
265
+ "leadthrough_velocity_rms_rad_s": 0.24617862235331908,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.35555827617645264,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.48532870411872864,
271
+ "measured_wall_accel_peak_abs_rad_s2": 291.51776123046875,
272
+ "measured_wall_accel_peak_joint": 2,
273
+ "measured_wall_accel_peak_time_s": 16.013621625956148,
274
+ "measured_wall_accel_rms_rad_s2": 8.30612212194817,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.546670913696289,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 4480.98779296875,
277
+ "measured_wall_jerk_peak_joint": 2,
278
+ "measured_wall_jerk_peak_time_s": 16.043360479641706,
279
+ "measured_wall_jerk_rms_rad_s3": 103.38702140191468,
280
+ "measured_wall_smoothness_samples": 1175,
281
+ "measured_wall_velocity_peak_abs_rad_s": 17.70061492919922,
282
+ "measured_wall_velocity_peak_joint": 2,
283
+ "measured_wall_velocity_peak_time_s": 15.982636822853237,
284
+ "measured_wall_velocity_rms_rad_s": 0.38474446016615416,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.35555827617645264,
287
+ "moving_aligned_p95_error_rad": 0.002311795949935913,
288
+ "moving_aligned_rms_error_rad": 0.009800094863325795,
289
+ "moving_aligned_samples": 861,
290
+ "moving_aligned_worst_joint": 1,
291
+ "moving_aligned_worst_time_s": 0.9279999999999999,
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
+ 0.06295770406723022,
302
+ 0.35555827617645264,
303
+ 0.20471203327178955,
304
+ 0.0028637684881687164,
305
+ 0.30171656608581543,
306
+ 0.35396215319633484
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0020303295459598303,
310
+ 0.002349984599277377,
311
+ 0.0026751908008009195,
312
+ 0.0022828702349215746,
313
+ 0.0022218823432922363,
314
+ 0.0029365569353103638
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.002722018006428413,
318
+ 0.012373360448771591,
319
+ 0.007782481111992948,
320
+ 0.001164166527210028,
321
+ 0.012891758881992031,
322
+ 0.01721842045389348
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 607,
326
+ 833,
327
+ 712,
328
+ 146,
329
+ 551,
330
+ 426
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 0.9279999999999999,
334
+ 0.9279999999999999,
335
+ 0.9279999999999999,
336
+ 2.176,
337
+ 0.9279999999999999,
338
+ 0.9279999999999999
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": 60.07252883911133,
348
+ "playback_velocity_rms_rad_s": 2.0853370686584354,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 81.162,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.581,
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
+ 2401,
357
+ 5454
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4317102173402953,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08684784173965454,
364
+ "rapid_planner_max_dt_s": 1.7319999999999993,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.0075347647070884705,
367
+ "rapid_planner_median_dt_s": 0.07600000000000051,
368
+ "rapid_planner_path_max_error_rad": 0.35555827617645264,
369
+ "rapid_planner_path_p95_error_rad": 0.0029364615678787224,
370
+ "rapid_planner_path_rms_error_rad": 0.010475500868583659,
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
+ 51,
376
+ 89,
377
+ 117,
378
+ 145,
379
+ 162,
380
+ 181,
381
+ 200,
382
+ 218,
383
+ 232,
384
+ 247,
385
+ 258,
386
+ 270,
387
+ 281,
388
+ 292,
389
+ 301,
390
+ 310,
391
+ 318,
392
+ 327,
393
+ 338,
394
+ 349,
395
+ 360,
396
+ 371,
397
+ 380,
398
+ 390,
399
+ 400,
400
+ 410,
401
+ 427,
402
+ 444,
403
+ 454,
404
+ 465,
405
+ 478,
406
+ 491,
407
+ 511,
408
+ 529,
409
+ 564,
410
+ 598,
411
+ 648,
412
+ 681,
413
+ 714,
414
+ 779,
415
+ 855,
416
+ 976,
417
+ 1124,
418
+ 1181,
419
+ 1279,
420
+ 1496,
421
+ 1659,
422
+ 1781,
423
+ 1989,
424
+ 2401,
425
+ 2676,
426
+ 2745,
427
+ 2973,
428
+ 3024,
429
+ 3076,
430
+ 3098,
431
+ 3117,
432
+ 3127,
433
+ 3137,
434
+ 3146,
435
+ 3154,
436
+ 3163,
437
+ 3172,
438
+ 3182,
439
+ 3192,
440
+ 3202,
441
+ 3212,
442
+ 3223,
443
+ 3234,
444
+ 3245,
445
+ 3256,
446
+ 3274,
447
+ 3293,
448
+ 3326,
449
+ 3359,
450
+ 3398,
451
+ 3426,
452
+ 3456,
453
+ 3468,
454
+ 3480,
455
+ 3492,
456
+ 3503,
457
+ 3514,
458
+ 3526,
459
+ 3538,
460
+ 3550,
461
+ 3563,
462
+ 3576,
463
+ 3609,
464
+ 3649,
465
+ 3689,
466
+ 3747,
467
+ 3872,
468
+ 3948,
469
+ 4147,
470
+ 4229,
471
+ 4662,
472
+ 4810,
473
+ 4880,
474
+ 5188,
475
+ 5263,
476
+ 5454,
477
+ 5648,
478
+ 5696,
479
+ 5714,
480
+ 5732,
481
+ 5761,
482
+ 5786,
483
+ 5808,
484
+ 5830,
485
+ 5850,
486
+ 5869,
487
+ 5881,
488
+ 5893,
489
+ 5910,
490
+ 5930,
491
+ 5950,
492
+ 5967,
493
+ 5982,
494
+ 5997,
495
+ 6017,
496
+ 6045,
497
+ 6075,
498
+ 6125,
499
+ 6260,
500
+ 6396
501
+ ],
502
+ "rapid_planner_selected_max_joint_step_deg": 4.9760147915023145,
503
+ "rapid_planner_selected_samples": 127,
504
+ "rapid_planner_service_configured": true,
505
+ "rapid_planner_source_samples": 6397,
506
+ "rapid_planner_state_done": 6.0,
507
+ "rapid_planner_state_error": 7.0,
508
+ "rapid_planner_tool_command_hz": 30.0,
509
+ "rapid_planner_tool_command_supported": true,
510
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
511
+ "rapid_planner_tool_io_configured": true,
512
+ "rapid_planner_tool_io_supported": true,
513
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
514
+ "rapid_planner_tool_state_supported": true,
515
+ "rapid_planner_tool_transition_source_count": 2,
516
+ "rapid_planner_tool_transitions_uploaded": 2,
517
+ "rapid_planner_tool_upload_enabled": true,
518
+ "rapid_planner_uploaded": true,
519
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
520
+ "rapid_planner_waypoints_uploaded": 127,
521
+ "raw_ramp_max_error_rad": null,
522
+ "raw_replay_max_error_rad": 0.35555827617645264,
523
+ "raw_replay_rms_error_rad": 0.008389715678691666,
524
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9407992708616116,
525
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.8445164669298901,
526
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9711078316383044,
527
+ "replay_smoothing_applied": true,
528
+ "replay_smoothing_blend": 1.0,
529
+ "replay_smoothing_blend_by_joint": [
530
+ 1.0,
531
+ 1.0,
532
+ 1.0,
533
+ 1.0,
534
+ 1.0,
535
+ 1.0
536
+ ],
537
+ "replay_smoothing_edge_taper_s": 0.2,
538
+ "replay_smoothing_edge_taper_samples": 50,
539
+ "replay_smoothing_enabled": true,
540
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.8930497308052506,
541
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.8379564175286345,
542
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9798987905079345,
543
+ "replay_smoothing_max_deviation_by_joint_rad": [
544
+ 0.0006906986236572266,
545
+ 0.0011886358261108398,
546
+ 0.0018552541732788086,
547
+ 0.001821252517402172,
548
+ 0.0032907724380493164,
549
+ 0.005656242370605469
550
+ ],
551
+ "replay_smoothing_max_deviation_normalized": 0.6481576364983967,
552
+ "replay_smoothing_max_deviation_rad": 0.005656242370605469,
553
+ "replay_smoothing_method": "scipy_savgol",
554
+ "replay_smoothing_p95_deviation_rad": 0.0020394334569573402,
555
+ "replay_smoothing_passes": 8,
556
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.439284324645996,
557
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 57.24143600463867,
558
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.80043757261645,
559
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1196.829345703125,
560
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 16466.984375,
561
+ "replay_smoothing_raw_jerk_rms_rad_s3": 955.2191912858561,
562
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8876678943634033,
563
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.24702395099710747,
564
+ "replay_smoothing_rms_deviation_rad": 0.0008512445063233105,
565
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.058073997497559,
566
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 48.34133529663086,
567
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.6906346904203016,
568
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1068.828125,
569
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13798.615234375,
570
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 936.0181302109778,
571
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8484406471252441,
572
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.24617862235331908,
573
+ "replay_smoothing_tolerance_by_joint_rad": [
574
+ 0.03490658476948738,
575
+ 0.03490658476948738,
576
+ 0.02617993950843811,
577
+ 0.008726646192371845,
578
+ 0.008726646192371845,
579
+ 0.008726646192371845
580
+ ],
581
+ "replay_smoothing_tolerance_rad": 0.034906585,
582
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9792192009223168,
583
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965779486548724,
584
+ "replay_smoothing_window_s": 0.2,
585
+ "replay_smoothing_window_samples": 51,
586
+ "replay_smoothing_within_tolerance": true,
587
+ "replay_smoothing_worst_joint": 5,
588
+ "replay_smoothing_worst_time_s": 1.7320000000000002,
589
+ "replay_smoothing_wrist_max_deviation_rad": 0.005656242370605469,
590
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
591
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
592
+ "return_measured_wall_accel_peak_joint": -1,
593
+ "return_measured_wall_accel_peak_time_s": null,
594
+ "return_measured_wall_accel_rms_rad_s2": null,
595
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
596
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
597
+ "return_measured_wall_jerk_peak_joint": -1,
598
+ "return_measured_wall_jerk_peak_time_s": null,
599
+ "return_measured_wall_jerk_rms_rad_s3": null,
600
+ "return_measured_wall_smoothness_samples": 0,
601
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
602
+ "return_measured_wall_velocity_peak_joint": -1,
603
+ "return_measured_wall_velocity_peak_time_s": null,
604
+ "return_measured_wall_velocity_rms_rad_s": null,
605
+ "safety_abort": false,
606
+ "safety_path_error_rad": 0.35555827617645264,
607
+ "saved_data_source": "measured_rapid_planner_playback",
608
+ "send_failures": 0,
609
+ "sent_wall_accel_p95_abs_rad_s2": null,
610
+ "sent_wall_accel_peak_abs_rad_s2": null,
611
+ "sent_wall_accel_peak_joint": -1,
612
+ "sent_wall_accel_peak_time_s": null,
613
+ "sent_wall_accel_rms_rad_s2": null,
614
+ "sent_wall_jerk_p95_abs_rad_s3": null,
615
+ "sent_wall_jerk_peak_abs_rad_s3": null,
616
+ "sent_wall_jerk_peak_joint": -1,
617
+ "sent_wall_jerk_peak_time_s": null,
618
+ "sent_wall_jerk_rms_rad_s3": null,
619
+ "sent_wall_smoothness_samples": 0,
620
+ "sent_wall_velocity_peak_abs_rad_s": null,
621
+ "sent_wall_velocity_peak_joint": -1,
622
+ "sent_wall_velocity_peak_time_s": null,
623
+ "sent_wall_velocity_rms_rad_s": null,
624
+ "stage_planned_to_measured_max_error_rad": 0.5478128790855408,
625
+ "stage_planned_to_measured_rms_error_rad": 0.012001531255456289,
626
+ "stage_sent_to_measured_max_error_rad": null,
627
+ "stage_sent_to_measured_rms_error_rad": null,
628
+ "stage_sent_to_planned_max_error_rad": null,
629
+ "stage_sent_to_planned_rms_error_rad": null,
630
+ "stage_target_to_sent_max_error_rad": null,
631
+ "stage_target_to_sent_rms_error_rad": null,
632
+ "state_frame_count": 1175,
633
+ "stopped_early": false,
634
+ "strict_tracking_pass": false,
635
+ "strict_tracking_reason": "max_error_rad=0.3556",
636
+ "target_wall_accel_p95_abs_rad_s2": 0.9818921089172363,
637
+ "target_wall_accel_peak_abs_rad_s2": 153.56716918945312,
638
+ "target_wall_accel_peak_joint": 2,
639
+ "target_wall_accel_peak_time_s": 0.03355917800217867,
640
+ "target_wall_accel_rms_rad_s2": 3.921469334538761,
641
+ "target_wall_jerk_p95_abs_rad_s3": 23.522573471069336,
642
+ "target_wall_jerk_peak_abs_rad_s3": 2306.44580078125,
643
+ "target_wall_jerk_peak_joint": 2,
644
+ "target_wall_jerk_peak_time_s": 0.06672095507383347,
645
+ "target_wall_jerk_rms_rad_s3": 48.814822840324794,
646
+ "target_wall_smoothness_samples": 1175,
647
+ "target_wall_velocity_peak_abs_rad_s": 10.24481201171875,
648
+ "target_wall_velocity_peak_joint": 2,
649
+ "target_wall_velocity_peak_time_s": 7.16792419552803e-06,
650
+ "target_wall_velocity_rms_rad_s": 0.2200538098845398,
651
+ "tcp_pose_count": 1175,
652
+ "timestamp_count": 1175,
653
+ "tool_failures": 0,
654
+ "tracking_geometry_pass": false,
655
+ "tracking_geometry_reason": "max_error_rad=0.3556",
656
+ "tracking_pass": true,
657
+ "tracking_reason": "ok",
658
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
659
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
660
+ "tracking_threshold_max_lag_s": 0.1,
661
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
662
+ "tracking_timing_pass": true,
663
+ "tracking_timing_reason": "ok",
664
+ "window_lag_best_lag_max_s": 1.6600000000000033,
665
+ "window_lag_best_lag_median_s": 0.0,
666
+ "window_lag_best_lag_min_s": -0.829999999999999,
667
+ "window_lag_best_lag_p95_abs_s": 1.3460000000000012,
668
+ "window_lag_count": 29,
669
+ "window_lag_window_s": 1.0,
670
+ "window_lag_worst_best_lag_s": 0.0,
671
+ "window_lag_worst_end_s": 1.0,
672
+ "window_lag_worst_max_error_rad": 0.35555827617645264,
673
+ "window_lag_worst_rms_error_rad": 0.03604925195954859,
674
+ "window_lag_worst_start_s": 0.0,
675
+ "zero_lag_max_error_rad": 0.35555827617645264,
676
+ "zero_lag_p95_error_rad": 0.002090547000989318,
677
+ "zero_lag_rms_error_rad": 0.008389715678691666,
678
+ "zero_lag_samples": 1175,
679
+ "zero_lag_worst_joint": 1,
680
+ "zero_lag_worst_time_s": 0.9279999999999999
681
+ }
682
+ }
flex_to_biotek_v2/raw/2026-09-21_15-15-22/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260921_160445.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae0da34bb035a3632f826e65a7ded0fc63fbdc943672f3b3892a0d13caf1af30
3
+ size 122180