derekcai-OT commited on
Commit
faf983c
·
verified ·
1 Parent(s): f4467f4

hub_archive: flex_to_biotek_v2/raw +54 files (2026-10-29)

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 +1 -0
  2. flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000014_20261026_165733.hdf5 +3 -0
  3. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.json +501 -0
  4. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.npz +3 -0
  5. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.json +488 -0
  6. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.npz +3 -0
  7. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.json +493 -0
  8. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.npz +3 -0
  9. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.json +516 -0
  10. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz +3 -0
  11. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.json +500 -0
  12. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.npz +3 -0
  13. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.json +496 -0
  14. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz +3 -0
  15. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.json +682 -0
  16. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.npz +3 -0
  17. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.json +679 -0
  18. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.npz +3 -0
  19. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.json +677 -0
  20. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.npz +3 -0
  21. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.json +681 -0
  22. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.npz +3 -0
  23. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.json +675 -0
  24. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.npz +3 -0
  25. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.json +670 -0
  26. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.npz +3 -0
  27. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.json +679 -0
  28. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.npz +3 -0
  29. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.json +689 -0
  30. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.npz +3 -0
  31. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.json +677 -0
  32. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.npz +3 -0
  33. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.json +674 -0
  34. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.npz +3 -0
  35. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.json +668 -0
  36. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.npz +3 -0
  37. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.json +676 -0
  38. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.npz +3 -0
  39. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.json +674 -0
  40. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.npz +3 -0
  41. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json +679 -0
  42. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz +3 -0
  43. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.json +682 -0
  44. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.npz +3 -0
  45. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.json +681 -0
  46. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz +3 -0
  47. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.json +678 -0
  48. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz +3 -0
  49. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.json +674 -0
  50. flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz +3 -0
.gitattributes CHANGED
@@ -1187,3 +1187,4 @@ flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000010_20261026_163508.hdf5 fi
1187
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000011_20261026_163823.hdf5 filter=lfs diff=lfs merge=lfs -text
1188
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000012_20261026_165149.hdf5 filter=lfs diff=lfs merge=lfs -text
1189
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000013_20261026_165530.hdf5 filter=lfs diff=lfs merge=lfs -text
 
 
1187
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000011_20261026_163823.hdf5 filter=lfs diff=lfs merge=lfs -text
1188
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000012_20261026_165149.hdf5 filter=lfs diff=lfs merge=lfs -text
1189
  flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000013_20261026_165530.hdf5 filter=lfs diff=lfs merge=lfs -text
1190
+ flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000014_20261026_165733.hdf5 filter=lfs diff=lfs merge=lfs -text
flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000014_20261026_165733.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8f004529dbbb1ff735e28b49bc443494319639e7aaafd05e2920471b9852b9c
3
+ size 1425709815
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:07:02",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.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": 619,
20
+ "actual_playback_duration_s": 20.90017572196666,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 619,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 619,
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": 0.8455789829658398,
45
+ "image_frame_counts": {
46
+ "cam_scene": 619,
47
+ "cam_wrist": 619
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
54
+ "leadthrough_capture_controller_tm_gap_warn": false,
55
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
56
+ "leadthrough_capture_dropped_ticks": 0,
57
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
58
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
59
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
60
+ "leadthrough_capture_egm_drained_packet_events": 1,
61
+ "leadthrough_capture_egm_drained_packet_max": 37,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.004984289000276476,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003984217008110136,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004306105489376932,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004406560503412038,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 3218,
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": 0.005035381007473916,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.004007370473118499,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004330846996163018,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004434637838276103,
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": 0.005028555984608829,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.004009413503808901,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0043274341587675735,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004421630281140097,
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": 0.010750721965450794,
124
+ "leadthrough_capture_loop_late_median_s": 0.004648620495572686,
125
+ "leadthrough_capture_loop_late_p95_s": 0.005004314851248637,
126
+ "leadthrough_capture_loop_late_p99_s": 0.005114701431011781,
127
+ "leadthrough_capture_loop_late_warn_count": 6951,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.00501602899748832,
130
+ "leadthrough_capture_read_duration_median_s": 0.0039962209993973374,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004319337022025138,
132
+ "leadthrough_capture_read_duration_p99_s": 0.0044221530260983855,
133
+ "leadthrough_capture_read_duration_warn_count": 3417,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 0,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.003997936844825745,
144
+ 0.0023888573050498962,
145
+ 0.002982074860483408,
146
+ 0.0018851198256015778,
147
+ 0.003159046173095703,
148
+ 0.006802856922149658
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.006802856922149658,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0021032392978668213,
153
+ 0.001883152755908668,
154
+ 0.0017067469889298081,
155
+ 0.0007316358969546854,
156
+ 0.0012835264205932617,
157
+ 0.004707584157586098
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0008282612543553114,
161
+ 0.0007095067412592471,
162
+ 0.0007289859931915998,
163
+ 0.0002988351334352046,
164
+ 0.0006351321935653687,
165
+ 0.001556257950142026
166
+ ],
167
+ "leadthrough_delta_samples": 6180,
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": -0.006802856922149658,
172
+ "leadthrough_delta_worst_from_rad": -0.333950012922287,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.536,
175
+ "leadthrough_delta_worst_to_rad": -0.34075286984443665,
176
+ "leadthrough_duration_s": 24.717,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6179,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.6999999999999993,
182
+ "leadthrough_final_stillness_removed_samples": 175,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 6180,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 6951,
188
+ "leadthrough_initial_stillness_first_motion_index": 596,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.379,
192
+ "leadthrough_initial_stillness_removed_samples": 595,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 595,
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
+ 0.003997936844825745,
203
+ 0.0023888573050498962,
204
+ 0.002982074744068086,
205
+ 0.0018851198256015778,
206
+ 0.003159046173095703,
207
+ 0.006802856922149658
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006802856922149658,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 0.99948421120699,
212
+ 0.5972143262622747,
213
+ 0.745518715120603,
214
+ 0.6066014369328587,
215
+ 0.789761543273662,
216
+ 2.253631750742509
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": 79.434,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 24.717,
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
+ 2696,
237
+ 5403
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.449664756955849,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08698251843452454,
244
+ "rapid_planner_max_dt_s": 2.26,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007848130539059639,
247
+ "rapid_planner_median_dt_s": 0.10499999999999865,
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
+ 57,
254
+ 75,
255
+ 90,
256
+ 98,
257
+ 106,
258
+ 119,
259
+ 132,
260
+ 145,
261
+ 158,
262
+ 167,
263
+ 176,
264
+ 185,
265
+ 194,
266
+ 206,
267
+ 219,
268
+ 232,
269
+ 244,
270
+ 256,
271
+ 267,
272
+ 278,
273
+ 290,
274
+ 300,
275
+ 311,
276
+ 322,
277
+ 332,
278
+ 342,
279
+ 353,
280
+ 371,
281
+ 391,
282
+ 425,
283
+ 459,
284
+ 486,
285
+ 514,
286
+ 557,
287
+ 590,
288
+ 636,
289
+ 673,
290
+ 742,
291
+ 759,
292
+ 787,
293
+ 806,
294
+ 835,
295
+ 858,
296
+ 960,
297
+ 1041,
298
+ 1109,
299
+ 1167,
300
+ 1210,
301
+ 1229,
302
+ 1266,
303
+ 1290,
304
+ 1376,
305
+ 1435,
306
+ 1465,
307
+ 1527,
308
+ 1605,
309
+ 1753,
310
+ 2096,
311
+ 2513,
312
+ 2696,
313
+ 3261,
314
+ 3322,
315
+ 3383,
316
+ 3458,
317
+ 3524,
318
+ 3578,
319
+ 3624,
320
+ 3658,
321
+ 3687,
322
+ 3716,
323
+ 3748,
324
+ 3779,
325
+ 3806,
326
+ 3833,
327
+ 3864,
328
+ 3894,
329
+ 3924,
330
+ 3954,
331
+ 3975,
332
+ 3996,
333
+ 4022,
334
+ 4047,
335
+ 4076,
336
+ 4101,
337
+ 4126,
338
+ 4142,
339
+ 4157,
340
+ 4176,
341
+ 4195,
342
+ 4214,
343
+ 4232,
344
+ 4259,
345
+ 4286,
346
+ 4369,
347
+ 4440,
348
+ 4521,
349
+ 4585,
350
+ 4698,
351
+ 5072,
352
+ 5171,
353
+ 5403,
354
+ 5626,
355
+ 5653,
356
+ 5674,
357
+ 5693,
358
+ 5711,
359
+ 5729,
360
+ 5752,
361
+ 5775,
362
+ 5808,
363
+ 5829,
364
+ 5845,
365
+ 5861,
366
+ 5882,
367
+ 5892,
368
+ 5902,
369
+ 5914,
370
+ 5926,
371
+ 5940,
372
+ 5955,
373
+ 5974,
374
+ 5994,
375
+ 6016,
376
+ 6045,
377
+ 6072,
378
+ 6113,
379
+ 6150,
380
+ 6180
381
+ ],
382
+ "rapid_planner_selected_max_joint_step_deg": 4.983731197717137,
383
+ "rapid_planner_selected_samples": 130,
384
+ "rapid_planner_service_configured": true,
385
+ "rapid_planner_source_samples": 6181,
386
+ "rapid_planner_state_done": 6.0,
387
+ "rapid_planner_state_error": 7.0,
388
+ "rapid_planner_tool_command_hz": 30.0,
389
+ "rapid_planner_tool_command_supported": true,
390
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
391
+ "rapid_planner_tool_io_configured": true,
392
+ "rapid_planner_tool_io_supported": true,
393
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
394
+ "rapid_planner_tool_state_supported": true,
395
+ "rapid_planner_tool_transition_source_count": 2,
396
+ "rapid_planner_tool_transitions_uploaded": 2,
397
+ "rapid_planner_tool_upload_enabled": true,
398
+ "rapid_planner_uploaded": true,
399
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
400
+ "rapid_planner_waypoints_uploaded": 130,
401
+ "raw_ramp_max_error_rad": null,
402
+ "raw_replay_max_error_rad": 0.4738019108772278,
403
+ "raw_replay_rms_error_rad": 0.011918772532019502,
404
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9756572415390056,
405
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9804428056921394,
406
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9899376865679728,
407
+ "replay_smoothing_applied": true,
408
+ "replay_smoothing_blend": 0.9390237331390381,
409
+ "replay_smoothing_blend_by_joint": [
410
+ 1.0,
411
+ 1.0,
412
+ 1.0,
413
+ 1.0,
414
+ 1.0,
415
+ 0.9390237331390381
416
+ ],
417
+ "replay_smoothing_edge_taper_s": 0.2,
418
+ "replay_smoothing_edge_taper_samples": 50,
419
+ "replay_smoothing_enabled": true,
420
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9947659580758689,
421
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9920818747072987,
422
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9963263360419196,
423
+ "replay_smoothing_max_deviation_by_joint_rad": [
424
+ 0.0005687475204467773,
425
+ 0.0004312461242079735,
426
+ 0.00050392746925354,
427
+ 0.0031786710023880005,
428
+ 0.0018768310546875,
429
+ 0.00872659683227539
430
+ ],
431
+ "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
432
+ "replay_smoothing_max_deviation_rad": 0.00872659683227539,
433
+ "replay_smoothing_method": "scipy_savgol",
434
+ "replay_smoothing_p95_deviation_rad": 0.0016587115824222565,
435
+ "replay_smoothing_passes": 8,
436
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.938094139099121,
437
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.81320190429688,
438
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.020910044079918,
439
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1098.2508544921875,
440
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17841.28515625,
441
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1020.4889619105785,
442
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.013327121734619,
443
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22468528315725136,
444
+ "replay_smoothing_rms_deviation_rad": 0.0009546473715185647,
445
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.817887306213379,
446
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 65.50652313232422,
447
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9804503869343995,
448
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1092.5025634765625,
449
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17700.015625,
450
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1016.7400283915887,
451
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9967559576034546,
452
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22374344692925666,
453
+ "replay_smoothing_tolerance_by_joint_rad": [
454
+ 0.03490658476948738,
455
+ 0.03490658476948738,
456
+ 0.02617993950843811,
457
+ 0.008726646192371845,
458
+ 0.008726646192371845,
459
+ 0.008726646192371845
460
+ ],
461
+ "replay_smoothing_tolerance_rad": 0.034906585,
462
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9917692639451023,
463
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9958081979613433,
464
+ "replay_smoothing_window_s": 0.2,
465
+ "replay_smoothing_window_samples": 51,
466
+ "replay_smoothing_within_tolerance": true,
467
+ "replay_smoothing_worst_joint": 5,
468
+ "replay_smoothing_worst_time_s": 3.1439999999999997,
469
+ "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
470
+ "safety_abort": false,
471
+ "safety_path_error_rad": 0.4738019108772278,
472
+ "saved_data_source": "measured_rapid_planner_playback",
473
+ "send_failures": 0,
474
+ "stage_planned_to_measured_max_error_rad": 0.6469032764434814,
475
+ "stage_planned_to_measured_rms_error_rad": 0.01563525124336481,
476
+ "stage_sent_to_measured_max_error_rad": null,
477
+ "stage_sent_to_measured_rms_error_rad": null,
478
+ "stage_sent_to_planned_max_error_rad": null,
479
+ "stage_sent_to_planned_rms_error_rad": null,
480
+ "stage_target_to_sent_max_error_rad": null,
481
+ "stage_target_to_sent_rms_error_rad": null,
482
+ "state_frame_count": 619,
483
+ "stopped_early": true,
484
+ "strict_tracking_pass": false,
485
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
486
+ "tcp_pose_count": 619,
487
+ "timestamp_count": 619,
488
+ "tool_failures": 0,
489
+ "tracking_geometry_pass": false,
490
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
491
+ "tracking_pass": false,
492
+ "tracking_reason": "diagnostics_skipped_operator_stop",
493
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
494
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
495
+ "tracking_threshold_max_lag_s": 0.1,
496
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
497
+ "tracking_timing_pass": false,
498
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
499
+ "window_lag_count": 0
500
+ }
501
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17c60beb1796d9ddc92403d53ef13622fc9abeb7128fb6d6241544503db32c33
3
+ size 66493
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.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": "2026-10-26T16:12:46",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.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": 606,
20
+ "actual_playback_duration_s": 20.66115025198087,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 606,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 606,
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": 0.9169285160422878,
45
+ "image_frame_counts": {
46
+ "cam_scene": 606,
47
+ "cam_wrist": 606
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
54
+ "leadthrough_capture_controller_tm_gap_warn": false,
55
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
56
+ "leadthrough_capture_dropped_ticks": 0,
57
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
58
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
59
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
60
+ "leadthrough_capture_egm_drained_packet_events": 1,
61
+ "leadthrough_capture_egm_drained_packet_max": 20,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006355365039780736,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003951480030082166,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004464170400751755,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005055333097698165,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2512,
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": 0.006417567026801407,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003975023981183767,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004492096049943939,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.005099610355100594,
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": 0.006291829980909824,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.00397998999687843,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004483332423842511,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00505758191400673,
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": 0.13544823898700997,
124
+ "leadthrough_capture_loop_late_median_s": 0.12861363781848922,
125
+ "leadthrough_capture_loop_late_p95_s": 0.12911577101331204,
126
+ "leadthrough_capture_loop_late_p99_s": 0.12979398683295584,
127
+ "leadthrough_capture_loop_late_warn_count": 6515,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.006393407005816698,
130
+ "leadthrough_capture_read_duration_median_s": 0.003964158007875085,
131
+ "leadthrough_capture_read_duration_p95_s": 0.00447847341420129,
132
+ "leadthrough_capture_read_duration_p99_s": 0.005082427122397347,
133
+ "leadthrough_capture_read_duration_warn_count": 2691,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999893,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 3,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.0035285502672195435,
144
+ 0.0023952461779117584,
145
+ 0.002546638250350952,
146
+ 0.0009695235639810562,
147
+ 0.002502918243408203,
148
+ 0.005440235137939453
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.005440235137939453,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.002094442257657647,
153
+ 0.001807662658393383,
154
+ 0.0018508806824684143,
155
+ 0.00035455304896458983,
156
+ 0.0011870265007019043,
157
+ 0.004365334287285805
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0008256735163740814,
161
+ 0.0007296159747056663,
162
+ 0.0007863232167437673,
163
+ 0.0001493967865826562,
164
+ 0.0005290884873829782,
165
+ 0.0014830916188657284
166
+ ],
167
+ "leadthrough_delta_samples": 5634,
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": -0.005440235137939453,
172
+ "leadthrough_delta_worst_from_rad": -0.646979808807373,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.7680000000000002,
175
+ "leadthrough_delta_worst_to_rad": -0.6524200439453125,
176
+ "leadthrough_duration_s": 22.533,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 5633,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 1.1000000000000014,
182
+ "leadthrough_final_stillness_removed_samples": 275,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 5634,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 6515,
188
+ "leadthrough_initial_stillness_first_motion_index": 606,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.42,
192
+ "leadthrough_initial_stillness_removed_samples": 605,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 605,
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
+ 0.0035285502672195435,
203
+ 0.0023952461779117584,
204
+ 0.002546638250350952,
205
+ 0.0009695235639810562,
206
+ 0.002502918243408203,
207
+ 0.005440235137939453
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.005440235137939453,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.159404714902198,
212
+ 0.7932223379611668,
213
+ 0.8275757233301485,
214
+ 0.2686468263467051,
215
+ 0.8299152056375825,
216
+ 1.808603604634802
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": 75.066,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 22.533,
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
+ 2528,
237
+ 4994
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.4262242947763057,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08710732311010361,
244
+ "rapid_planner_max_dt_s": 2.366999999999999,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007439017295837402,
247
+ "rapid_planner_median_dt_s": 0.09250000000000114,
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
+ 18,
253
+ 34,
254
+ 51,
255
+ 69,
256
+ 80,
257
+ 90,
258
+ 100,
259
+ 110,
260
+ 120,
261
+ 130,
262
+ 140,
263
+ 150,
264
+ 160,
265
+ 170,
266
+ 180,
267
+ 190,
268
+ 200,
269
+ 210,
270
+ 220,
271
+ 231,
272
+ 246,
273
+ 262,
274
+ 277,
275
+ 292,
276
+ 305,
277
+ 318,
278
+ 331,
279
+ 344,
280
+ 364,
281
+ 380,
282
+ 395,
283
+ 412,
284
+ 446,
285
+ 481,
286
+ 518,
287
+ 554,
288
+ 584,
289
+ 648,
290
+ 731,
291
+ 776,
292
+ 881,
293
+ 941,
294
+ 1007,
295
+ 1123,
296
+ 1165,
297
+ 1199,
298
+ 1257,
299
+ 1300,
300
+ 1355,
301
+ 1477,
302
+ 1562,
303
+ 1936,
304
+ 2528,
305
+ 3102,
306
+ 3175,
307
+ 3267,
308
+ 3324,
309
+ 3379,
310
+ 3432,
311
+ 3468,
312
+ 3498,
313
+ 3527,
314
+ 3552,
315
+ 3576,
316
+ 3606,
317
+ 3636,
318
+ 3662,
319
+ 3688,
320
+ 3740,
321
+ 3766,
322
+ 3791,
323
+ 3821,
324
+ 3851,
325
+ 3875,
326
+ 3895,
327
+ 3912,
328
+ 3930,
329
+ 3947,
330
+ 3964,
331
+ 3982,
332
+ 4001,
333
+ 4014,
334
+ 4026,
335
+ 4038,
336
+ 4050,
337
+ 4068,
338
+ 4087,
339
+ 4134,
340
+ 4182,
341
+ 4229,
342
+ 4276,
343
+ 4333,
344
+ 4373,
345
+ 4467,
346
+ 4730,
347
+ 4994,
348
+ 5172,
349
+ 5226,
350
+ 5268,
351
+ 5287,
352
+ 5309,
353
+ 5341,
354
+ 5362,
355
+ 5382,
356
+ 5404,
357
+ 5426,
358
+ 5449,
359
+ 5472,
360
+ 5496,
361
+ 5521,
362
+ 5540,
363
+ 5558,
364
+ 5576,
365
+ 5595,
366
+ 5614,
367
+ 5634
368
+ ],
369
+ "rapid_planner_selected_max_joint_step_deg": 4.990881978891316,
370
+ "rapid_planner_selected_samples": 117,
371
+ "rapid_planner_service_configured": true,
372
+ "rapid_planner_source_samples": 5635,
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": 0.007063627243041992,
390
+ "raw_replay_rms_error_rad": 0.0007348794652736661,
391
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.970597808009295,
392
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9786579755018256,
393
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.990554683334048,
394
+ "replay_smoothing_applied": true,
395
+ "replay_smoothing_blend": 1.0,
396
+ "replay_smoothing_blend_by_joint": [
397
+ 1.0,
398
+ 1.0,
399
+ 1.0,
400
+ 1.0,
401
+ 1.0,
402
+ 1.0
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": 1.001515560130175,
408
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 1.0027339025904707,
409
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.99616744179787,
410
+ "replay_smoothing_max_deviation_by_joint_rad": [
411
+ 0.0005317404866218567,
412
+ 0.0003723949193954468,
413
+ 0.0005605816841125488,
414
+ 0.0017466824501752853,
415
+ 0.0012909173965454102,
416
+ 0.0043256282806396484
417
+ ],
418
+ "replay_smoothing_max_deviation_normalized": 0.49568049228588823,
419
+ "replay_smoothing_max_deviation_rad": 0.0043256282806396484,
420
+ "replay_smoothing_method": "scipy_savgol",
421
+ "replay_smoothing_p95_deviation_rad": 0.001370654790662229,
422
+ "replay_smoothing_passes": 8,
423
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.129819869995117,
424
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.31257629394531,
425
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.4994176824067074,
426
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1372.40087890625,
427
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14126.369140625,
428
+ "replay_smoothing_raw_jerk_rms_rad_s3": 915.663617341791,
429
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.614320158958435,
430
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21714126225394714,
431
+ "replay_smoothing_rms_deviation_rad": 0.0006351651761791094,
432
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.949589729309082,
433
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 52.17477798461914,
434
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.466364574249944,
435
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1374.4808349609375,
436
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14164.9892578125,
437
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 912.1542832347557,
438
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5991231203079224,
439
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21663899491841315,
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": 0.9905861061288376,
450
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9976869097548738,
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": 1.564,
456
+ "replay_smoothing_wrist_max_deviation_rad": 0.0043256282806396484,
457
+ "safety_abort": false,
458
+ "safety_path_error_rad": 0.007063627243041992,
459
+ "saved_data_source": "measured_rapid_planner_playback",
460
+ "send_failures": 0,
461
+ "stage_planned_to_measured_max_error_rad": 0.03209871053695679,
462
+ "stage_planned_to_measured_rms_error_rad": 0.006534157720863881,
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": 606,
470
+ "stopped_early": true,
471
+ "strict_tracking_pass": false,
472
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
473
+ "tcp_pose_count": 606,
474
+ "timestamp_count": 606,
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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a82a09a07c6a7c9ab393212f2f8f79493ba096f75b0a498c4d7dd4d9735af338
3
+ size 63635
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.json ADDED
@@ -0,0 +1,493 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:26:53",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.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": 606,
20
+ "actual_playback_duration_s": 20.577192731027026,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 606,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 606,
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": 0.8322423753701528,
45
+ "image_frame_counts": {
46
+ "cam_scene": 606,
47
+ "cam_wrist": 606
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 32,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.00596214400138706,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003957282489864156,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004487342893844471,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004848972903564575,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2687,
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": 0.006003933027386665,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039809030131436884,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004516642016824335,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.00487504501361401,
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": 0.005935708002652973,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.003985372022725642,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004516105982474983,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004845313401892788,
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": 0.03497695899568498,
124
+ "leadthrough_capture_loop_late_median_s": 0.03180867590708658,
125
+ "leadthrough_capture_loop_late_p95_s": 0.03231157018744853,
126
+ "leadthrough_capture_loop_late_p99_s": 0.032884782989858655,
127
+ "leadthrough_capture_loop_late_warn_count": 6742,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.005988012999296188,
130
+ "leadthrough_capture_read_duration_median_s": 0.003970316989580169,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004503528200439177,
132
+ "leadthrough_capture_read_duration_p99_s": 0.0048645254713483195,
133
+ "leadthrough_capture_read_duration_warn_count": 2865,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 0,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.0040938109159469604,
144
+ 0.0021315962076187134,
145
+ 0.0025222301483154297,
146
+ 0.0014357101172208786,
147
+ 0.003574967384338379,
148
+ 0.0063582658767700195
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.0063582658767700195,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.002036100020632148,
153
+ 0.0014460575766861439,
154
+ 0.0018202404025942087,
155
+ 0.0005170886288397014,
156
+ 0.001343908254057169,
157
+ 0.004337540362030268
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0008221064344979823,
161
+ 0.0005689550307579339,
162
+ 0.0007058006594888866,
163
+ 0.00021169648971408606,
164
+ 0.0006312959594652057,
165
+ 0.0015026916516944766
166
+ ],
167
+ "leadthrough_delta_samples": 6182,
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": -0.0063582658767700195,
172
+ "leadthrough_delta_worst_from_rad": -1.2730680704116821,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 1.264,
175
+ "leadthrough_delta_worst_to_rad": -1.2794263362884521,
176
+ "leadthrough_duration_s": 24.724999999999998,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6181,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.46799999999999997,
182
+ "leadthrough_final_stillness_removed_samples": 117,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 6182,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 6742,
188
+ "leadthrough_initial_stillness_first_motion_index": 443,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 1.768,
192
+ "leadthrough_initial_stillness_removed_samples": 442,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 442,
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": 0.0040000000000000036,
200
+ "leadthrough_sample_gap_warn": false,
201
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
202
+ 0.0040938109159469604,
203
+ 0.0021315962076187134,
204
+ 0.0025222301483154297,
205
+ 0.0014357101172208786,
206
+ 0.003574967384338379,
207
+ 0.0063582658767700195
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0063582658767700195,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.3146698474883536,
212
+ 0.7021427154540749,
213
+ 0.6431539853413656,
214
+ 0.4100607087214632,
215
+ 1.1872450510660357,
216
+ 1.6682048638661071
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": 79.44999999999999,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 24.724999999999998,
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
+ 2618,
237
+ 5444
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.4214978038706569,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08644016087055206,
244
+ "rapid_planner_max_dt_s": 2.532,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007356524467468262,
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
+ 50,
253
+ 66,
254
+ 81,
255
+ 94,
256
+ 108,
257
+ 122,
258
+ 136,
259
+ 145,
260
+ 154,
261
+ 163,
262
+ 172,
263
+ 181,
264
+ 190,
265
+ 198,
266
+ 207,
267
+ 218,
268
+ 228,
269
+ 238,
270
+ 248,
271
+ 260,
272
+ 272,
273
+ 284,
274
+ 297,
275
+ 308,
276
+ 319,
277
+ 330,
278
+ 341,
279
+ 353,
280
+ 364,
281
+ 389,
282
+ 455,
283
+ 482,
284
+ 509,
285
+ 530,
286
+ 609,
287
+ 674,
288
+ 716,
289
+ 748,
290
+ 801,
291
+ 833,
292
+ 884,
293
+ 936,
294
+ 982,
295
+ 1006,
296
+ 1068,
297
+ 1123,
298
+ 1191,
299
+ 1272,
300
+ 1342,
301
+ 1619,
302
+ 1721,
303
+ 1802,
304
+ 1952,
305
+ 2174,
306
+ 2618,
307
+ 3251,
308
+ 3318,
309
+ 3400,
310
+ 3474,
311
+ 3552,
312
+ 3594,
313
+ 3641,
314
+ 3677,
315
+ 3713,
316
+ 3742,
317
+ 3772,
318
+ 3815,
319
+ 3850,
320
+ 3878,
321
+ 3905,
322
+ 3944,
323
+ 3968,
324
+ 3991,
325
+ 4024,
326
+ 4056,
327
+ 4077,
328
+ 4097,
329
+ 4108,
330
+ 4120,
331
+ 4131,
332
+ 4142,
333
+ 4163,
334
+ 4184,
335
+ 4198,
336
+ 4212,
337
+ 4241,
338
+ 4261,
339
+ 4281,
340
+ 4313,
341
+ 4378,
342
+ 4448,
343
+ 4599,
344
+ 4933,
345
+ 5444,
346
+ 5636,
347
+ 5663,
348
+ 5682,
349
+ 5705,
350
+ 5729,
351
+ 5748,
352
+ 5766,
353
+ 5785,
354
+ 5803,
355
+ 5821,
356
+ 5837,
357
+ 5849,
358
+ 5860,
359
+ 5872,
360
+ 5884,
361
+ 5896,
362
+ 5916,
363
+ 5938,
364
+ 5957,
365
+ 5972,
366
+ 5986,
367
+ 6004,
368
+ 6023,
369
+ 6052,
370
+ 6089,
371
+ 6136,
372
+ 6182
373
+ ],
374
+ "rapid_planner_selected_max_joint_step_deg": 4.9526563983145175,
375
+ "rapid_planner_selected_samples": 122,
376
+ "rapid_planner_service_configured": true,
377
+ "rapid_planner_source_samples": 6183,
378
+ "rapid_planner_state_done": 6.0,
379
+ "rapid_planner_state_error": 7.0,
380
+ "rapid_planner_tool_command_hz": 30.0,
381
+ "rapid_planner_tool_command_supported": true,
382
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
383
+ "rapid_planner_tool_io_configured": true,
384
+ "rapid_planner_tool_io_supported": true,
385
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
386
+ "rapid_planner_tool_state_supported": true,
387
+ "rapid_planner_tool_transition_source_count": 2,
388
+ "rapid_planner_tool_transitions_uploaded": 2,
389
+ "rapid_planner_tool_upload_enabled": true,
390
+ "rapid_planner_uploaded": true,
391
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
392
+ "rapid_planner_waypoints_uploaded": 122,
393
+ "raw_ramp_max_error_rad": null,
394
+ "raw_replay_max_error_rad": 0.006464481353759766,
395
+ "raw_replay_rms_error_rad": 0.0008256706991188828,
396
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9874234073630427,
397
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9318559945903412,
398
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9783743579861236,
399
+ "replay_smoothing_applied": true,
400
+ "replay_smoothing_blend": 1.0,
401
+ "replay_smoothing_blend_by_joint": [
402
+ 1.0,
403
+ 1.0,
404
+ 1.0,
405
+ 1.0,
406
+ 1.0,
407
+ 1.0
408
+ ],
409
+ "replay_smoothing_edge_taper_s": 0.2,
410
+ "replay_smoothing_edge_taper_samples": 50,
411
+ "replay_smoothing_enabled": true,
412
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0059276679510427,
413
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9361599127207881,
414
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.990010267231717,
415
+ "replay_smoothing_max_deviation_by_joint_rad": [
416
+ 0.0006168484687805176,
417
+ 0.0004050731658935547,
418
+ 0.0007575750350952148,
419
+ 0.0018832497298717499,
420
+ 0.0028225183486938477,
421
+ 0.006569266319274902
422
+ ],
423
+ "replay_smoothing_max_deviation_normalized": 0.7527824750151144,
424
+ "replay_smoothing_max_deviation_rad": 0.006569266319274902,
425
+ "replay_smoothing_method": "scipy_savgol",
426
+ "replay_smoothing_p95_deviation_rad": 0.002300691558048129,
427
+ "replay_smoothing_passes": 8,
428
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.7450947761535645,
429
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.18511962890625,
430
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.0243702101610395,
431
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1015.2914428710938,
432
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13313.9521484375,
433
+ "replay_smoothing_raw_jerk_rms_rad_s3": 774.3107212814289,
434
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.588582992553711,
435
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21251446270967342,
436
+ "replay_smoothing_rms_deviation_rad": 0.000971678767559823,
437
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.685417652130127,
438
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 46.76530456542969,
439
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.958966262678665,
440
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1021.3097534179688,
441
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 12463.98828125,
442
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 766.575564096211,
443
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5655606985092163,
444
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21136421926558147,
445
+ "replay_smoothing_tolerance_by_joint_rad": [
446
+ 0.03490658476948738,
447
+ 0.03490658476948738,
448
+ 0.02617993950843811,
449
+ 0.008726646192371845,
450
+ 0.008726646192371845,
451
+ 0.008726646192371845
452
+ ],
453
+ "replay_smoothing_tolerance_rad": 0.034906585,
454
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9855076542098155,
455
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9945874580514392,
456
+ "replay_smoothing_window_s": 0.2,
457
+ "replay_smoothing_window_samples": 51,
458
+ "replay_smoothing_within_tolerance": true,
459
+ "replay_smoothing_worst_joint": 5,
460
+ "replay_smoothing_worst_time_s": 1.4720000000000002,
461
+ "replay_smoothing_wrist_max_deviation_rad": 0.006569266319274902,
462
+ "safety_abort": false,
463
+ "safety_path_error_rad": 0.006464481353759766,
464
+ "saved_data_source": "measured_rapid_planner_playback",
465
+ "send_failures": 0,
466
+ "stage_planned_to_measured_max_error_rad": 0.04176604747772217,
467
+ "stage_planned_to_measured_rms_error_rad": 0.006207421171530775,
468
+ "stage_sent_to_measured_max_error_rad": null,
469
+ "stage_sent_to_measured_rms_error_rad": null,
470
+ "stage_sent_to_planned_max_error_rad": null,
471
+ "stage_sent_to_planned_rms_error_rad": null,
472
+ "stage_target_to_sent_max_error_rad": null,
473
+ "stage_target_to_sent_rms_error_rad": null,
474
+ "state_frame_count": 606,
475
+ "stopped_early": true,
476
+ "strict_tracking_pass": false,
477
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
478
+ "tcp_pose_count": 606,
479
+ "timestamp_count": 606,
480
+ "tool_failures": 0,
481
+ "tracking_geometry_pass": false,
482
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
483
+ "tracking_pass": false,
484
+ "tracking_reason": "diagnostics_skipped_operator_stop",
485
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
486
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
487
+ "tracking_threshold_max_lag_s": 0.1,
488
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
489
+ "tracking_timing_pass": false,
490
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
491
+ "window_lag_count": 0
492
+ }
493
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:882c542a67a0ed453d7166f39205eab1bb4e40f6c445adc37a8ca77d4700e242
3
+ size 62141
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.json ADDED
@@ -0,0 +1,516 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:28:20",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.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": 643,
20
+ "actual_playback_duration_s": 21.732905629032757,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 643,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 643,
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": 0.7844681500517166,
45
+ "image_frame_counts": {
46
+ "cam_scene": 643,
47
+ "cam_wrist": 643
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
54
+ "leadthrough_capture_controller_tm_gap_warn": false,
55
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
56
+ "leadthrough_capture_dropped_ticks": 0,
57
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
58
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
59
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
60
+ "leadthrough_capture_egm_drained_packet_events": 1,
61
+ "leadthrough_capture_egm_drained_packet_max": 20,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005977725028060377,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003967810014728457,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004394324662280269,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004647561774472705,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 3035,
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": 0.006026080052834004,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003989983000792563,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004416513803880662,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.00467901133815758,
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": 0.005972301994916052,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.003989958029706031,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004413382202619687,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00466288399649784,
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": 0.012757709017023444,
124
+ "leadthrough_capture_loop_late_median_s": 0.006679839687421918,
125
+ "leadthrough_capture_loop_late_p95_s": 0.0070650441222824155,
126
+ "leadthrough_capture_loop_late_p99_s": 0.0075098429835634304,
127
+ "leadthrough_capture_loop_late_warn_count": 7564,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.006008282012771815,
130
+ "leadthrough_capture_read_duration_median_s": 0.003979868517490104,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004406518279574811,
132
+ "leadthrough_capture_read_duration_p99_s": 0.004667221093550324,
133
+ "leadthrough_capture_read_duration_warn_count": 3326,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 1,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.004524841904640198,
144
+ 0.0026029758155345917,
145
+ 0.0022746026515960693,
146
+ 0.0019432418048381805,
147
+ 0.00328671932220459,
148
+ 0.007850885391235352
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.007850885391235352,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.001816093223169446,
153
+ 0.0015568699454888701,
154
+ 0.0017552971839904785,
155
+ 0.0005343171069398522,
156
+ 0.0013830239186063409,
157
+ 0.004612539429217577
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0008085847948677838,
161
+ 0.0006726167630404234,
162
+ 0.000690421205945313,
163
+ 0.00023547005548607558,
164
+ 0.0005717077874578536,
165
+ 0.0015910007059574127
166
+ ],
167
+ "leadthrough_delta_samples": 6927,
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": -0.007850885391235352,
172
+ "leadthrough_delta_worst_from_rad": -0.6481494307518005,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.8239999999999998,
175
+ "leadthrough_delta_worst_to_rad": -0.6560003161430359,
176
+ "leadthrough_duration_s": 27.704,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6913,
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": 6914,
186
+ "leadthrough_final_stillness_trimmed": false,
187
+ "leadthrough_frame_count": 7564,
188
+ "leadthrough_initial_stillness_first_motion_index": 637,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.544,
192
+ "leadthrough_initial_stillness_removed_samples": 636,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 636,
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
+ 0.004524841904640198,
203
+ 0.0026029758155345917,
204
+ 0.0022746026515960693,
205
+ 0.0019432418048381805,
206
+ 0.00328671932220459,
207
+ 0.007850885391235352
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007850885391235352,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.4937669038772017,
212
+ 0.6507439538834306,
213
+ 0.7582008838653277,
214
+ 0.6447508931159729,
215
+ 0.821679830550873,
216
+ 2.6131669680276515
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": 85.408,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 27.704,
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
+ 3240,
237
+ 6073
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.44278835728723287,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08615145087242126,
244
+ "rapid_planner_max_dt_s": 3.444000000000001,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007728114724159241,
247
+ "rapid_planner_median_dt_s": 0.09600000000000009,
248
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
249
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
250
+ "rapid_planner_selected_indices": [
251
+ 0,
252
+ 38,
253
+ 63,
254
+ 86,
255
+ 100,
256
+ 115,
257
+ 130,
258
+ 138,
259
+ 146,
260
+ 154,
261
+ 161,
262
+ 168,
263
+ 176,
264
+ 184,
265
+ 192,
266
+ 200,
267
+ 207,
268
+ 214,
269
+ 222,
270
+ 230,
271
+ 238,
272
+ 245,
273
+ 252,
274
+ 259,
275
+ 266,
276
+ 273,
277
+ 280,
278
+ 286,
279
+ 293,
280
+ 301,
281
+ 309,
282
+ 324,
283
+ 354,
284
+ 402,
285
+ 463,
286
+ 499,
287
+ 554,
288
+ 578,
289
+ 616,
290
+ 633,
291
+ 670,
292
+ 710,
293
+ 746,
294
+ 789,
295
+ 835,
296
+ 881,
297
+ 926,
298
+ 969,
299
+ 989,
300
+ 1006,
301
+ 1022,
302
+ 1039,
303
+ 1105,
304
+ 1197,
305
+ 1247,
306
+ 1281,
307
+ 1343,
308
+ 1448,
309
+ 1492,
310
+ 1582,
311
+ 1651,
312
+ 1718,
313
+ 1770,
314
+ 1869,
315
+ 1964,
316
+ 2058,
317
+ 2171,
318
+ 2237,
319
+ 2379,
320
+ 3240,
321
+ 3810,
322
+ 3909,
323
+ 3996,
324
+ 4064,
325
+ 4098,
326
+ 4129,
327
+ 4164,
328
+ 4198,
329
+ 4252,
330
+ 4305,
331
+ 4349,
332
+ 4393,
333
+ 4416,
334
+ 4438,
335
+ 4460,
336
+ 4483,
337
+ 4527,
338
+ 4553,
339
+ 4579,
340
+ 4603,
341
+ 4621,
342
+ 4640,
343
+ 4650,
344
+ 4660,
345
+ 4670,
346
+ 4679,
347
+ 4690,
348
+ 4700,
349
+ 4710,
350
+ 4721,
351
+ 4735,
352
+ 4749,
353
+ 4770,
354
+ 4797,
355
+ 4830,
356
+ 4917,
357
+ 4994,
358
+ 5036,
359
+ 5107,
360
+ 5213,
361
+ 5280,
362
+ 5418,
363
+ 5777,
364
+ 5895,
365
+ 6073,
366
+ 6213,
367
+ 6279,
368
+ 6302,
369
+ 6322,
370
+ 6342,
371
+ 6369,
372
+ 6386,
373
+ 6404,
374
+ 6437,
375
+ 6454,
376
+ 6470,
377
+ 6484,
378
+ 6497,
379
+ 6512,
380
+ 6528,
381
+ 6536,
382
+ 6543,
383
+ 6552,
384
+ 6562,
385
+ 6571,
386
+ 6580,
387
+ 6596,
388
+ 6612,
389
+ 6642,
390
+ 6660,
391
+ 6702,
392
+ 6747,
393
+ 6792,
394
+ 6819,
395
+ 6927
396
+ ],
397
+ "rapid_planner_selected_max_joint_step_deg": 4.936114533918393,
398
+ "rapid_planner_selected_samples": 145,
399
+ "rapid_planner_service_configured": true,
400
+ "rapid_planner_source_samples": 6928,
401
+ "rapid_planner_state_done": 6.0,
402
+ "rapid_planner_state_error": 7.0,
403
+ "rapid_planner_tool_command_hz": 30.0,
404
+ "rapid_planner_tool_command_supported": true,
405
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
406
+ "rapid_planner_tool_io_configured": true,
407
+ "rapid_planner_tool_io_supported": true,
408
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
409
+ "rapid_planner_tool_state_supported": true,
410
+ "rapid_planner_tool_transition_source_count": 2,
411
+ "rapid_planner_tool_transitions_uploaded": 2,
412
+ "rapid_planner_tool_upload_enabled": true,
413
+ "rapid_planner_uploaded": true,
414
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
415
+ "rapid_planner_waypoints_uploaded": 145,
416
+ "raw_ramp_max_error_rad": null,
417
+ "raw_replay_max_error_rad": 0.005078792572021484,
418
+ "raw_replay_rms_error_rad": 0.0008704168896770222,
419
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9794437593103544,
420
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9885101239202044,
421
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9905161055317107,
422
+ "replay_smoothing_applied": true,
423
+ "replay_smoothing_blend": 0.7041729688644409,
424
+ "replay_smoothing_blend_by_joint": [
425
+ 1.0,
426
+ 1.0,
427
+ 1.0,
428
+ 1.0,
429
+ 1.0,
430
+ 0.7041729688644409
431
+ ],
432
+ "replay_smoothing_edge_taper_s": 0.2,
433
+ "replay_smoothing_edge_taper_samples": 50,
434
+ "replay_smoothing_enabled": true,
435
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.990490788250758,
436
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9834668026234679,
437
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9954428935984246,
438
+ "replay_smoothing_max_deviation_by_joint_rad": [
439
+ 0.0006007850170135498,
440
+ 0.00038820505142211914,
441
+ 0.000696823000907898,
442
+ 0.0034469738602638245,
443
+ 0.0024046897888183594,
444
+ 0.00872659683227539
445
+ ],
446
+ "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
447
+ "replay_smoothing_max_deviation_rad": 0.00872659683227539,
448
+ "replay_smoothing_method": "scipy_savgol",
449
+ "replay_smoothing_p95_deviation_rad": 0.0016823296900838614,
450
+ "replay_smoothing_passes": 8,
451
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.026154518127441,
452
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 76.35784912109375,
453
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.841506595412849,
454
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1667.752197265625,
455
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 20793.982421875,
456
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1246.8994767624672,
457
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.334404468536377,
458
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22419952290054984,
459
+ "replay_smoothing_rms_deviation_rad": 0.0009128420386707626,
460
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.861166954040527,
461
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 75.48050689697266,
462
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.7955902577944265,
463
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1651.8931884765625,
464
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 20450.19140625,
465
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1241.217223174792,
466
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.3033087253570557,
467
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22307497741574644,
468
+ "replay_smoothing_tolerance_by_joint_rad": [
469
+ 0.03490658476948738,
470
+ 0.03490658476948738,
471
+ 0.02617993950843811,
472
+ 0.008726646192371845,
473
+ 0.008726646192371845,
474
+ 0.008726646192371845
475
+ ],
476
+ "replay_smoothing_tolerance_rad": 0.034906585,
477
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9866793678651508,
478
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.994984175388713,
479
+ "replay_smoothing_window_s": 0.2,
480
+ "replay_smoothing_window_samples": 51,
481
+ "replay_smoothing_within_tolerance": true,
482
+ "replay_smoothing_worst_joint": 5,
483
+ "replay_smoothing_worst_time_s": 4.103,
484
+ "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
485
+ "safety_abort": false,
486
+ "safety_path_error_rad": 0.005078792572021484,
487
+ "saved_data_source": "measured_rapid_planner_playback",
488
+ "send_failures": 0,
489
+ "stage_planned_to_measured_max_error_rad": 0.044701576232910156,
490
+ "stage_planned_to_measured_rms_error_rad": 0.0064578541719315504,
491
+ "stage_sent_to_measured_max_error_rad": null,
492
+ "stage_sent_to_measured_rms_error_rad": null,
493
+ "stage_sent_to_planned_max_error_rad": null,
494
+ "stage_sent_to_planned_rms_error_rad": null,
495
+ "stage_target_to_sent_max_error_rad": null,
496
+ "stage_target_to_sent_rms_error_rad": null,
497
+ "state_frame_count": 643,
498
+ "stopped_early": true,
499
+ "strict_tracking_pass": false,
500
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
501
+ "tcp_pose_count": 643,
502
+ "timestamp_count": 643,
503
+ "tool_failures": 0,
504
+ "tracking_geometry_pass": false,
505
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
506
+ "tracking_pass": false,
507
+ "tracking_reason": "diagnostics_skipped_operator_stop",
508
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
509
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
510
+ "tracking_threshold_max_lag_s": 0.1,
511
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
512
+ "tracking_timing_pass": false,
513
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
514
+ "window_lag_count": 0
515
+ }
516
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26a3899efffc7b5411a825771e4868f2101d2956fe7576df19302fd9cc8afda7
3
+ size 68296
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.json ADDED
@@ -0,0 +1,500 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:29:43",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.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": 598,
20
+ "actual_playback_duration_s": 20.266044257034082,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 598,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 598,
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": 0.7909934919415356,
45
+ "image_frame_counts": {
46
+ "cam_scene": 598,
47
+ "cam_wrist": 598
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 7,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005861410987563431,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003956480999477208,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004462049517314881,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004562329198233784,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 2794,
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": 0.005951207946054637,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003979385510319844,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044875607185531395,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004589462710428051,
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": 0.005765151989180595,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.003983138507464901,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004482767556328327,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004563040648354217,
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": 0.016673292964696884,
124
+ "leadthrough_capture_loop_late_median_s": 0.011372401670087129,
125
+ "leadthrough_capture_loop_late_p95_s": 0.011872601811774075,
126
+ "leadthrough_capture_loop_late_p99_s": 0.012013507832307369,
127
+ "leadthrough_capture_loop_late_warn_count": 7171,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.00593757297610864,
130
+ "leadthrough_capture_read_duration_median_s": 0.00396874500438571,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004474239482078701,
132
+ "leadthrough_capture_read_duration_p99_s": 0.004576262319460511,
133
+ "leadthrough_capture_read_duration_warn_count": 2972,
134
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.005000000000002558,
135
+ "leadthrough_capture_recorded_timestamp_dt_median_s": 0.0040000000000000036,
136
+ "leadthrough_capture_recorded_timestamp_dt_p95_s": 0.004999999999999005,
137
+ "leadthrough_capture_recorded_timestamp_dt_p99_s": 0.005000000000000782,
138
+ "leadthrough_capture_recorded_timestamp_gap_warn": false,
139
+ "leadthrough_capture_recorded_timestamp_gap_warn_count": 0,
140
+ "leadthrough_capture_slow_ticks": 0,
141
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
142
+ "leadthrough_delta_max_abs_by_joint_rad": [
143
+ 0.0037127137184143066,
144
+ 0.002231862396001816,
145
+ 0.002267807722091675,
146
+ 0.0009018126875162125,
147
+ 0.002611398696899414,
148
+ 0.006956875324249268
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.006956875324249268,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0019274577498435974,
153
+ 0.0017955368384718895,
154
+ 0.0018250904977321625,
155
+ 0.00048760976642370224,
156
+ 0.0012610554695129395,
157
+ 0.003880634903907776
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.000792842882219702,
161
+ 0.0007108185673132539,
162
+ 0.0007323491154238582,
163
+ 0.00017604901222512126,
164
+ 0.0005228975205682218,
165
+ 0.0014055136125534773
166
+ ],
167
+ "leadthrough_delta_samples": 6406,
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": -0.006956875324249268,
172
+ "leadthrough_delta_worst_from_rad": -0.8032073378562927,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 0.9950000000000001,
175
+ "leadthrough_delta_worst_to_rad": -0.810164213180542,
176
+ "leadthrough_duration_s": 25.621,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6405,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.2959999999999994,
182
+ "leadthrough_final_stillness_removed_samples": 74,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 6406,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 7171,
188
+ "leadthrough_initial_stillness_first_motion_index": 691,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.759,
192
+ "leadthrough_initial_stillness_removed_samples": 690,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 690,
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
+ 0.0037127137184143066,
203
+ 0.002231862396001816,
204
+ 0.002267807722091675,
205
+ 0.0009018126875162125,
206
+ 0.002611398696899414,
207
+ 0.006956875324249268
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006956875324249268,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 0.9281784296032667,
212
+ 0.5579655990007631,
213
+ 0.6817678610483547,
214
+ 0.22670129934945837,
215
+ 0.6528496742252153,
216
+ 2.3117462793985126
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": 81.24199999999999,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 25.621,
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
+ 2660,
237
+ 5486
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.4378970880678575,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08647715300321579,
244
+ "rapid_planner_max_dt_s": 2.633000000000001,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.0076427459716796875,
247
+ "rapid_planner_median_dt_s": 0.10599999999999987,
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
+ 62,
254
+ 89,
255
+ 102,
256
+ 116,
257
+ 128,
258
+ 140,
259
+ 154,
260
+ 167,
261
+ 176,
262
+ 184,
263
+ 192,
264
+ 200,
265
+ 208,
266
+ 216,
267
+ 224,
268
+ 232,
269
+ 238,
270
+ 245,
271
+ 252,
272
+ 258,
273
+ 264,
274
+ 271,
275
+ 284,
276
+ 294,
277
+ 304,
278
+ 314,
279
+ 323,
280
+ 338,
281
+ 353,
282
+ 368,
283
+ 383,
284
+ 410,
285
+ 436,
286
+ 479,
287
+ 522,
288
+ 546,
289
+ 576,
290
+ 605,
291
+ 636,
292
+ 668,
293
+ 715,
294
+ 772,
295
+ 808,
296
+ 851,
297
+ 927,
298
+ 978,
299
+ 1036,
300
+ 1074,
301
+ 1129,
302
+ 1237,
303
+ 1295,
304
+ 1402,
305
+ 1673,
306
+ 1824,
307
+ 1987,
308
+ 2075,
309
+ 2660,
310
+ 3318,
311
+ 3459,
312
+ 3549,
313
+ 3606,
314
+ 3648,
315
+ 3675,
316
+ 3702,
317
+ 3757,
318
+ 3798,
319
+ 3829,
320
+ 3859,
321
+ 3889,
322
+ 3910,
323
+ 3932,
324
+ 3954,
325
+ 3975,
326
+ 4002,
327
+ 4030,
328
+ 4060,
329
+ 4089,
330
+ 4114,
331
+ 4140,
332
+ 4169,
333
+ 4193,
334
+ 4217,
335
+ 4242,
336
+ 4260,
337
+ 4278,
338
+ 4291,
339
+ 4304,
340
+ 4331,
341
+ 4354,
342
+ 4403,
343
+ 4425,
344
+ 4460,
345
+ 4479,
346
+ 4549,
347
+ 4666,
348
+ 4713,
349
+ 4862,
350
+ 5179,
351
+ 5259,
352
+ 5486,
353
+ 5714,
354
+ 5749,
355
+ 5779,
356
+ 5806,
357
+ 5833,
358
+ 5854,
359
+ 5876,
360
+ 5908,
361
+ 5925,
362
+ 5942,
363
+ 5956,
364
+ 5969,
365
+ 5984,
366
+ 5999,
367
+ 6008,
368
+ 6018,
369
+ 6028,
370
+ 6037,
371
+ 6054,
372
+ 6078,
373
+ 6108,
374
+ 6133,
375
+ 6158,
376
+ 6206,
377
+ 6269,
378
+ 6327,
379
+ 6406
380
+ ],
381
+ "rapid_planner_selected_max_joint_step_deg": 4.9547758913913365,
382
+ "rapid_planner_selected_samples": 129,
383
+ "rapid_planner_service_configured": true,
384
+ "rapid_planner_source_samples": 6407,
385
+ "rapid_planner_state_done": 6.0,
386
+ "rapid_planner_state_error": 7.0,
387
+ "rapid_planner_tool_command_hz": 30.0,
388
+ "rapid_planner_tool_command_supported": true,
389
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
390
+ "rapid_planner_tool_io_configured": true,
391
+ "rapid_planner_tool_io_supported": true,
392
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
393
+ "rapid_planner_tool_state_supported": true,
394
+ "rapid_planner_tool_transition_source_count": 2,
395
+ "rapid_planner_tool_transitions_uploaded": 2,
396
+ "rapid_planner_tool_upload_enabled": true,
397
+ "rapid_planner_uploaded": true,
398
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
399
+ "rapid_planner_waypoints_uploaded": 129,
400
+ "raw_ramp_max_error_rad": null,
401
+ "raw_replay_max_error_rad": 0.5809723734855652,
402
+ "raw_replay_rms_error_rad": 0.014053657601849888,
403
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.987815784101173,
404
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.97647641691526,
405
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9883801854214443,
406
+ "replay_smoothing_applied": true,
407
+ "replay_smoothing_blend": 1.0,
408
+ "replay_smoothing_blend_by_joint": [
409
+ 1.0,
410
+ 1.0,
411
+ 1.0,
412
+ 1.0,
413
+ 1.0,
414
+ 1.0
415
+ ],
416
+ "replay_smoothing_edge_taper_s": 0.2,
417
+ "replay_smoothing_edge_taper_samples": 50,
418
+ "replay_smoothing_enabled": true,
419
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0005941677033912,
420
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9850373839322447,
421
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9961288187157021,
422
+ "replay_smoothing_max_deviation_by_joint_rad": [
423
+ 0.00038014352321624756,
424
+ 0.000340193510055542,
425
+ 0.000646933913230896,
426
+ 0.001588849350810051,
427
+ 0.002623319625854492,
428
+ 0.006724953651428223
429
+ ],
430
+ "replay_smoothing_max_deviation_normalized": 0.7706229292653864,
431
+ "replay_smoothing_max_deviation_rad": 0.006724953651428223,
432
+ "replay_smoothing_method": "scipy_savgol",
433
+ "replay_smoothing_p95_deviation_rad": 0.0018524525221437216,
434
+ "replay_smoothing_passes": 8,
435
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.591902732849121,
436
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 68.34208679199219,
437
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.5346185560199324,
438
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 929.7529907226562,
439
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 18358.123046875,
440
+ "replay_smoothing_raw_jerk_rms_rad_s3": 894.5606496417656,
441
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0663774013519287,
442
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2068285071497078,
443
+ "replay_smoothing_rms_deviation_rad": 0.0008598650976923568,
444
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.535953998565674,
445
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 66.73443603515625,
446
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.4935469437930586,
447
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 930.305419921875,
448
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18083.4375,
449
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 891.0976431972031,
450
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.0404727458953857,
451
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20602728882550023,
452
+ "replay_smoothing_tolerance_by_joint_rad": [
453
+ 0.03490658476948738,
454
+ 0.03490658476948738,
455
+ 0.02617993950843811,
456
+ 0.008726646192371845,
457
+ 0.008726646192371845,
458
+ 0.008726646192371845
459
+ ],
460
+ "replay_smoothing_tolerance_rad": 0.034906585,
461
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9874637346306658,
462
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.996126170733188,
463
+ "replay_smoothing_window_s": 0.2,
464
+ "replay_smoothing_window_samples": 51,
465
+ "replay_smoothing_within_tolerance": true,
466
+ "replay_smoothing_worst_joint": 5,
467
+ "replay_smoothing_worst_time_s": 3.0189999999999997,
468
+ "replay_smoothing_wrist_max_deviation_rad": 0.006724953651428223,
469
+ "safety_abort": false,
470
+ "safety_path_error_rad": 0.5809723734855652,
471
+ "saved_data_source": "measured_rapid_planner_playback",
472
+ "send_failures": 0,
473
+ "stage_planned_to_measured_max_error_rad": 0.7795794606208801,
474
+ "stage_planned_to_measured_rms_error_rad": 0.01942921814991466,
475
+ "stage_sent_to_measured_max_error_rad": null,
476
+ "stage_sent_to_measured_rms_error_rad": null,
477
+ "stage_sent_to_planned_max_error_rad": null,
478
+ "stage_sent_to_planned_rms_error_rad": null,
479
+ "stage_target_to_sent_max_error_rad": null,
480
+ "stage_target_to_sent_rms_error_rad": null,
481
+ "state_frame_count": 598,
482
+ "stopped_early": true,
483
+ "strict_tracking_pass": false,
484
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
485
+ "tcp_pose_count": 598,
486
+ "timestamp_count": 598,
487
+ "tool_failures": 0,
488
+ "tracking_geometry_pass": false,
489
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
490
+ "tracking_pass": false,
491
+ "tracking_reason": "diagnostics_skipped_operator_stop",
492
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
493
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
494
+ "tracking_threshold_max_lag_s": 0.1,
495
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
496
+ "tracking_timing_pass": false,
497
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
498
+ "window_lag_count": 0
499
+ }
500
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0bb0981b1ff2d73ec4bb0736acc6720a8e4d200d74e391893e6be80f565225ec
3
+ size 62472
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.json ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:36:36",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.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": 641,
20
+ "actual_playback_duration_s": 21.912837514013518,
21
+ "aligned_best_lag_s": null,
22
+ "aligned_max_error_rad": null,
23
+ "aligned_p95_error_rad": null,
24
+ "aligned_rms_error_rad": null,
25
+ "aligned_worst_joint": -1,
26
+ "aligned_worst_time_s": null,
27
+ "attempt": 1,
28
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
29
+ "completed": false,
30
+ "debug_sidecar_event_count": 0,
31
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.json",
32
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz",
33
+ "debug_sidecar_saved": true,
34
+ "diagnostic_connect_to_path_samples": 0,
35
+ "diagnostic_ramp_samples": 0,
36
+ "diagnostic_replay_samples": 641,
37
+ "diagnostic_return_to_start_samples": 0,
38
+ "diagnostic_samples": 641,
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": 0.7932248873851047,
45
+ "image_frame_counts": {
46
+ "cam_scene": 641,
47
+ "cam_wrist": 641
48
+ },
49
+ "incomplete_reason": "operator_stop",
50
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
51
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
52
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
53
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 2,
62
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
63
+ "leadthrough_capture_egm_poll_duration_max_s": 0.0061912499950267375,
64
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003964017960242927,
65
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004412138613406569,
66
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004623563146451489,
67
+ "leadthrough_capture_egm_poll_duration_warn_count": 3213,
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": 0.0062349530053325,
73
+ "leadthrough_capture_host_loop_dt_median_s": 0.003987666015746072,
74
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044361002917867156,
75
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0046521289314841825,
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": 0.006235741020645946,
79
+ "leadthrough_capture_host_receive_dt_median_s": 0.0039910749765113,
80
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004435635439585894,
81
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0046495480497833344,
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": 0.1045941449701786,
124
+ "leadthrough_capture_loop_late_median_s": 0.09778295800788328,
125
+ "leadthrough_capture_loop_late_p95_s": 0.09818442277028225,
126
+ "leadthrough_capture_loop_late_p99_s": 0.09849799082265236,
127
+ "leadthrough_capture_loop_late_warn_count": 7683,
128
+ "leadthrough_capture_none_reads": 0,
129
+ "leadthrough_capture_read_duration_max_s": 0.006218489026650786,
130
+ "leadthrough_capture_read_duration_median_s": 0.003977521962951869,
131
+ "leadthrough_capture_read_duration_p95_s": 0.004424917517462745,
132
+ "leadthrough_capture_read_duration_p99_s": 0.004638457391411068,
133
+ "leadthrough_capture_read_duration_warn_count": 3433,
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
+ 0.004263192415237427,
144
+ 0.0025098957121372223,
145
+ 0.002171538770198822,
146
+ 0.0011133328080177307,
147
+ 0.00297391414642334,
148
+ 0.005165219306945801
149
+ ],
150
+ "leadthrough_delta_max_abs_rad": 0.005165219306945801,
151
+ "leadthrough_delta_p95_abs_by_joint_rad": [
152
+ 0.0015436038374900818,
153
+ 0.0016301341820508242,
154
+ 0.0017361149657517672,
155
+ 0.0004015308222733438,
156
+ 0.0013235782971605659,
157
+ 0.0037135693710297346
158
+ ],
159
+ "leadthrough_delta_rms_by_joint_rad": [
160
+ 0.0007324812468141317,
161
+ 0.000683657533954829,
162
+ 0.0006905713817104697,
163
+ 0.0001646379823796451,
164
+ 0.0006043581524863839,
165
+ 0.0012524576159194112
166
+ ],
167
+ "leadthrough_delta_samples": 6907,
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": -0.005165219306945801,
172
+ "leadthrough_delta_worst_from_rad": -1.1971611976623535,
173
+ "leadthrough_delta_worst_joint": 5,
174
+ "leadthrough_delta_worst_time_s": 1.3319999999999999,
175
+ "leadthrough_delta_worst_to_rad": -1.2023264169692993,
176
+ "leadthrough_duration_s": 27.625,
177
+ "leadthrough_expected_dt_s": 0.004,
178
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
179
+ "leadthrough_final_stillness_last_motion_index": 6906,
180
+ "leadthrough_final_stillness_min_trim_s": 0.25,
181
+ "leadthrough_final_stillness_removed_s": 0.7930000000000028,
182
+ "leadthrough_final_stillness_removed_samples": 198,
183
+ "leadthrough_final_stillness_tool_tol": 0.005,
184
+ "leadthrough_final_stillness_trim_enabled": true,
185
+ "leadthrough_final_stillness_trim_end_index": 6907,
186
+ "leadthrough_final_stillness_trimmed": true,
187
+ "leadthrough_frame_count": 7683,
188
+ "leadthrough_initial_stillness_first_motion_index": 578,
189
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
190
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
191
+ "leadthrough_initial_stillness_removed_s": 2.307,
192
+ "leadthrough_initial_stillness_removed_samples": 577,
193
+ "leadthrough_initial_stillness_tool_tol": 0.005,
194
+ "leadthrough_initial_stillness_trim_enabled": true,
195
+ "leadthrough_initial_stillness_trim_start_index": 577,
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
+ 0.004263192415237427,
203
+ 0.0025098957121372223,
204
+ 0.002171538770198822,
205
+ 0.0011133328080177307,
206
+ 0.00297391414642334,
207
+ 0.005165219306945801
208
+ ],
209
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.005165219306945801,
210
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
211
+ 1.407350103060351,
212
+ 0.8341018110513371,
213
+ 0.7238462567337705,
214
+ 0.36711742480594517,
215
+ 0.9870926539102816,
216
+ 1.7217397689821232
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": 85.25,
231
+ "rapid_planner_done_timeout_scale": 2.0,
232
+ "rapid_planner_duration_s": 27.625,
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
+ 3161,
237
+ 6210
238
+ ],
239
+ "rapid_planner_event_upload_enabled": true,
240
+ "rapid_planner_event_wait_s": 0.2,
241
+ "rapid_planner_keypoint_error_deg": 0.44808559587540087,
242
+ "rapid_planner_last_state": 5.0,
243
+ "rapid_planner_max_delta_rad": 0.08570241928100586,
244
+ "rapid_planner_max_dt_s": 2.8640000000000008,
245
+ "rapid_planner_max_joint_step_deg": 5.0,
246
+ "rapid_planner_max_keypoint_error_rad": 0.007820568978786469,
247
+ "rapid_planner_median_dt_s": 0.11050000000000049,
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
+ 19,
253
+ 37,
254
+ 55,
255
+ 73,
256
+ 92,
257
+ 110,
258
+ 128,
259
+ 146,
260
+ 158,
261
+ 171,
262
+ 184,
263
+ 196,
264
+ 206,
265
+ 215,
266
+ 224,
267
+ 234,
268
+ 252,
269
+ 269,
270
+ 286,
271
+ 304,
272
+ 316,
273
+ 328,
274
+ 340,
275
+ 353,
276
+ 366,
277
+ 379,
278
+ 398,
279
+ 412,
280
+ 426,
281
+ 442,
282
+ 504,
283
+ 565,
284
+ 599,
285
+ 633,
286
+ 695,
287
+ 748,
288
+ 776,
289
+ 870,
290
+ 924,
291
+ 965,
292
+ 994,
293
+ 1051,
294
+ 1091,
295
+ 1177,
296
+ 1248,
297
+ 1312,
298
+ 1358,
299
+ 1383,
300
+ 1443,
301
+ 1474,
302
+ 1544,
303
+ 1662,
304
+ 1730,
305
+ 1855,
306
+ 1989,
307
+ 2383,
308
+ 2463,
309
+ 2643,
310
+ 3161,
311
+ 3877,
312
+ 3939,
313
+ 4007,
314
+ 4076,
315
+ 4130,
316
+ 4171,
317
+ 4194,
318
+ 4218,
319
+ 4242,
320
+ 4266,
321
+ 4308,
322
+ 4350,
323
+ 4391,
324
+ 4420,
325
+ 4448,
326
+ 4488,
327
+ 4528,
328
+ 4568,
329
+ 4608,
330
+ 4653,
331
+ 4693,
332
+ 4720,
333
+ 4747,
334
+ 4781,
335
+ 4812,
336
+ 4830,
337
+ 4849,
338
+ 4863,
339
+ 4877,
340
+ 4891,
341
+ 4905,
342
+ 4931,
343
+ 4963,
344
+ 5006,
345
+ 5057,
346
+ 5113,
347
+ 5181,
348
+ 5290,
349
+ 5365,
350
+ 5625,
351
+ 5945,
352
+ 6060,
353
+ 6210,
354
+ 6416,
355
+ 6458,
356
+ 6484,
357
+ 6511,
358
+ 6532,
359
+ 6553,
360
+ 6570,
361
+ 6589,
362
+ 6613,
363
+ 6626,
364
+ 6639,
365
+ 6658,
366
+ 6676,
367
+ 6698,
368
+ 6725,
369
+ 6744,
370
+ 6765,
371
+ 6782,
372
+ 6799,
373
+ 6822,
374
+ 6861,
375
+ 6907
376
+ ],
377
+ "rapid_planner_selected_max_joint_step_deg": 4.910386918862247,
378
+ "rapid_planner_selected_samples": 125,
379
+ "rapid_planner_service_configured": true,
380
+ "rapid_planner_source_samples": 6908,
381
+ "rapid_planner_state_done": 6.0,
382
+ "rapid_planner_state_error": 7.0,
383
+ "rapid_planner_tool_command_hz": 30.0,
384
+ "rapid_planner_tool_command_supported": true,
385
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
386
+ "rapid_planner_tool_io_configured": true,
387
+ "rapid_planner_tool_io_supported": true,
388
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
389
+ "rapid_planner_tool_state_supported": true,
390
+ "rapid_planner_tool_transition_source_count": 2,
391
+ "rapid_planner_tool_transitions_uploaded": 2,
392
+ "rapid_planner_tool_upload_enabled": true,
393
+ "rapid_planner_uploaded": true,
394
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
395
+ "rapid_planner_waypoints_uploaded": 125,
396
+ "raw_ramp_max_error_rad": null,
397
+ "raw_replay_max_error_rad": 0.005418544635176659,
398
+ "raw_replay_rms_error_rad": 0.0007802026920124044,
399
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9966341356889638,
400
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9759371614756724,
401
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9908592225120425,
402
+ "replay_smoothing_applied": true,
403
+ "replay_smoothing_blend": 1.0,
404
+ "replay_smoothing_blend_by_joint": [
405
+ 1.0,
406
+ 1.0,
407
+ 1.0,
408
+ 1.0,
409
+ 1.0,
410
+ 1.0
411
+ ],
412
+ "replay_smoothing_edge_taper_s": 0.2,
413
+ "replay_smoothing_edge_taper_samples": 50,
414
+ "replay_smoothing_enabled": true,
415
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9929050332894787,
416
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9899258614774581,
417
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9955263338542979,
418
+ "replay_smoothing_max_deviation_by_joint_rad": [
419
+ 0.0005745887756347656,
420
+ 0.00043383799493312836,
421
+ 0.000840306282043457,
422
+ 0.002286241389811039,
423
+ 0.001743912696838379,
424
+ 0.006584525108337402
425
+ ],
426
+ "replay_smoothing_max_deviation_normalized": 0.7545310034561825,
427
+ "replay_smoothing_max_deviation_rad": 0.006584525108337402,
428
+ "replay_smoothing_method": "scipy_savgol",
429
+ "replay_smoothing_p95_deviation_rad": 0.0015861450228840113,
430
+ "replay_smoothing_passes": 8,
431
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.572648048400879,
432
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.80732727050781,
433
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.1426724821206875,
434
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1764.565185546875,
435
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13540.8212890625,
436
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1071.0648571042275,
437
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.5359776020050049,
438
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.1958998054564481,
439
+ "replay_smoothing_rms_deviation_rad": 0.0007990105952067293,
440
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.543793678283691,
441
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.58475875854492,
442
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.104805234756138,
443
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1752.045654296875,
444
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13404.4091796875,
445
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1066.273270513149,
446
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.5147058963775635,
447
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19516328119912377,
448
+ "replay_smoothing_tolerance_by_joint_rad": [
449
+ 0.03490658476948738,
450
+ 0.03490658476948738,
451
+ 0.02617993950843811,
452
+ 0.008726646192371845,
453
+ 0.008726646192371845,
454
+ 0.008726646192371845
455
+ ],
456
+ "replay_smoothing_tolerance_rad": 0.034906585,
457
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9861510313694196,
458
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9962403012314982,
459
+ "replay_smoothing_window_s": 0.2,
460
+ "replay_smoothing_window_samples": 51,
461
+ "replay_smoothing_within_tolerance": true,
462
+ "replay_smoothing_worst_joint": 5,
463
+ "replay_smoothing_worst_time_s": 3.664,
464
+ "replay_smoothing_wrist_max_deviation_rad": 0.006584525108337402,
465
+ "safety_abort": false,
466
+ "safety_path_error_rad": 0.005418544635176659,
467
+ "saved_data_source": "measured_rapid_planner_playback",
468
+ "send_failures": 0,
469
+ "stage_planned_to_measured_max_error_rad": 0.03721010684967041,
470
+ "stage_planned_to_measured_rms_error_rad": 0.006374863544860457,
471
+ "stage_sent_to_measured_max_error_rad": null,
472
+ "stage_sent_to_measured_rms_error_rad": null,
473
+ "stage_sent_to_planned_max_error_rad": null,
474
+ "stage_sent_to_planned_rms_error_rad": null,
475
+ "stage_target_to_sent_max_error_rad": null,
476
+ "stage_target_to_sent_rms_error_rad": null,
477
+ "state_frame_count": 641,
478
+ "stopped_early": true,
479
+ "strict_tracking_pass": false,
480
+ "strict_tracking_reason": "diagnostics_skipped_operator_stop",
481
+ "tcp_pose_count": 641,
482
+ "timestamp_count": 641,
483
+ "tool_failures": 0,
484
+ "tracking_geometry_pass": false,
485
+ "tracking_geometry_reason": "diagnostics_skipped_operator_stop",
486
+ "tracking_pass": false,
487
+ "tracking_reason": "diagnostics_skipped_operator_stop",
488
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
489
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
490
+ "tracking_threshold_max_lag_s": 0.1,
491
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
492
+ "tracking_timing_pass": false,
493
+ "tracking_timing_reason": "diagnostics_skipped_operator_stop",
494
+ "window_lag_count": 0
495
+ }
496
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c40fe77e8844c7b2ceda6a6129d3c7abfbcccd778f8675dd6b39d61c6b47c57
3
+ size 67488
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.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": "2026-10-26T16:04:39",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.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": 1140,
20
+ "actual_playback_duration_s": 38.01620518998243,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006629034876823425,
23
+ "aligned_p95_error_rad": 0.0019012013217434287,
24
+ "aligned_rms_error_rad": 0.0008464901550913839,
25
+ "aligned_samples": 1140,
26
+ "aligned_worst_joint": 2,
27
+ "aligned_worst_time_s": 12.831,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1140,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1140,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.4235080202944068,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1140,
46
+ "cam_wrist": 1140
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
+ 0.004111036658287048,
58
+ 0.0064849853515625,
59
+ 0.006629034876823425,
60
+ 0.006519097834825516,
61
+ 0.005737781524658203,
62
+ 0.00533294677734375
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0017025176202878356,
66
+ 0.0017687947256490588,
67
+ 0.0014908236917108297,
68
+ 0.0007762198802083731,
69
+ 0.0022189070004969835,
70
+ 0.0026527687441557646
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007677452782920126,
74
+ 0.0008982981685671482,
75
+ 0.0007653512146249054,
76
+ 0.0005025346174574186,
77
+ 0.0009476439881555521,
78
+ 0.0010800779750790158
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1140,
82
+ 1140,
83
+ 1140,
84
+ 1140,
85
+ 1140,
86
+ 1140
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 3.952,
90
+ 12.831,
91
+ 12.831,
92
+ 16.114,
93
+ 16.082,
94
+ 3.872
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 3,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.007213541015516967,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.0039575315022375435,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004480023073847405,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004715707690920681,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2869,
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": 0.007285552972462028,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.00398022000445053,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004509129771031439,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0047585968789644545,
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": 0.00711034401319921,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003984935989137739,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004501660377718508,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004726734112482522,
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": 0.015209484961815178,
170
+ "leadthrough_capture_loop_late_median_s": 0.007390854618279263,
171
+ "leadthrough_capture_loop_late_p95_s": 0.007883275829954073,
172
+ "leadthrough_capture_loop_late_p99_s": 0.008174410136416555,
173
+ "leadthrough_capture_loop_late_warn_count": 7238,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.007250239956192672,
176
+ "leadthrough_capture_read_duration_median_s": 0.003969573008362204,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004495322285220027,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004739822723786346,
179
+ "leadthrough_capture_read_duration_warn_count": 3062,
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": 0.004999999999999183,
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": 1,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.003645598888397217,
190
+ 0.002710830420255661,
191
+ 0.0023297369480133057,
192
+ 0.0009659286588430405,
193
+ 0.0033136606216430664,
194
+ 0.007273197174072266
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007273197174072266,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0019711696077138186,
199
+ 0.0014948263997212052,
200
+ 0.0018625077791512012,
201
+ 0.00024459604173898697,
202
+ 0.0015458090929314494,
203
+ 0.004346191883087158
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007657718961127102,
207
+ 0.0006489173392765224,
208
+ 0.0007105339900590479,
209
+ 0.00014394101162906736,
210
+ 0.000607040012255311,
211
+ 0.0014857894275337458
212
+ ],
213
+ "leadthrough_delta_samples": 6677,
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": -0.007273197174072266,
218
+ "leadthrough_delta_worst_from_rad": -1.1939764022827148,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.416,
221
+ "leadthrough_delta_worst_to_rad": -1.201249599456787,
222
+ "leadthrough_duration_s": 26.706,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6670,
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": 6671,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7238,
234
+ "leadthrough_initial_stillness_first_motion_index": 561,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.239,
238
+ "leadthrough_initial_stillness_removed_samples": 560,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 560,
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
+ 0.003645598888397217,
249
+ 0.002710830420255661,
250
+ 0.0023297369480133057,
251
+ 0.0009659286588430405,
252
+ 0.0033136606216430664,
253
+ 0.007273197174072266
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007273197174072266,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2026876211165927,
258
+ 0.9036101400851861,
259
+ 0.7540757457414977,
260
+ 0.3193790713945904,
261
+ 1.101950804392455,
262
+ 2.4243990580243557
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.1483941078186035,
265
+ "leadthrough_velocity_rms_rad_s": 0.2125838279747117,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006629034876823425,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5552688241004944,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.094550848007202,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 23.087517581006978,
274
+ "measured_wall_accel_rms_rad_s2": 0.29273394249220863,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 9.086175918579102,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 65.5705337524414,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 23.120733099989593,
279
+ "measured_wall_jerk_rms_rad_s3": 4.735657306085455,
280
+ "measured_wall_smoothness_samples": 1140,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7873538732528687,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.72068708803272,
284
+ "measured_wall_velocity_rms_rad_s": 0.10767051567723719,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006629034876823425,
287
+ "moving_aligned_p95_error_rad": 0.0021533991675823927,
288
+ "moving_aligned_rms_error_rad": 0.0009845822543312738,
289
+ "moving_aligned_samples": 830,
290
+ "moving_aligned_worst_joint": 2,
291
+ "moving_aligned_worst_time_s": 12.831,
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
+ 0.004111036658287048,
302
+ 0.0064849853515625,
303
+ 0.0055606067180633545,
304
+ 0.006519097834825516,
305
+ 0.005737781524658203,
306
+ 0.00533294677734375
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.001942574861459434,
310
+ 0.001979912631213665,
311
+ 0.0017992479261010885,
312
+ 0.0023660326842218637,
313
+ 0.0030439007095992565,
314
+ 0.003089225385338068
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009579929650643998,
318
+ 0.001103513838680203,
319
+ 0.0008617188379933127,
320
+ 0.0013782492854486094,
321
+ 0.001340798765114462,
322
+ 0.0016116444925411988
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 680,
326
+ 690,
327
+ 618,
328
+ 72,
329
+ 522,
330
+ 430
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 3.952,
334
+ 12.831,
335
+ 12.771,
336
+ 16.114,
337
+ 16.082,
338
+ 3.872
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": 2.209240436553955,
348
+ "playback_velocity_rms_rad_s": 0.37269748298205496,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 83.412,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 26.706,
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
+ 2227,
357
+ 5705
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4482789756062769,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08677680790424347,
364
+ "rapid_planner_max_dt_s": 2.053000000000001,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007823944091796875,
367
+ "rapid_planner_median_dt_s": 0.09999999999999876,
368
+ "rapid_planner_path_max_error_rad": 0.006629034876823425,
369
+ "rapid_planner_path_p95_error_rad": 0.0029378771781921383,
370
+ "rapid_planner_path_rms_error_rad": 0.0014832422683252215,
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
+ 83,
376
+ 101,
377
+ 118,
378
+ 133,
379
+ 148,
380
+ 164,
381
+ 179,
382
+ 188,
383
+ 198,
384
+ 207,
385
+ 216,
386
+ 233,
387
+ 250,
388
+ 262,
389
+ 274,
390
+ 286,
391
+ 298,
392
+ 306,
393
+ 313,
394
+ 320,
395
+ 328,
396
+ 340,
397
+ 352,
398
+ 364,
399
+ 375,
400
+ 387,
401
+ 399,
402
+ 411,
403
+ 423,
404
+ 435,
405
+ 451,
406
+ 476,
407
+ 500,
408
+ 525,
409
+ 556,
410
+ 588,
411
+ 621,
412
+ 648,
413
+ 678,
414
+ 709,
415
+ 760,
416
+ 777,
417
+ 799,
418
+ 821,
419
+ 883,
420
+ 945,
421
+ 1014,
422
+ 1057,
423
+ 1195,
424
+ 1215,
425
+ 1267,
426
+ 1409,
427
+ 1486,
428
+ 1633,
429
+ 1700,
430
+ 1863,
431
+ 1992,
432
+ 2227,
433
+ 2740,
434
+ 2968,
435
+ 3159,
436
+ 3284,
437
+ 3330,
438
+ 3366,
439
+ 3412,
440
+ 3458,
441
+ 3504,
442
+ 3550,
443
+ 3594,
444
+ 3637,
445
+ 3664,
446
+ 3691,
447
+ 3725,
448
+ 3759,
449
+ 3787,
450
+ 3815,
451
+ 3838,
452
+ 3864,
453
+ 3876,
454
+ 3889,
455
+ 3902,
456
+ 3914,
457
+ 3925,
458
+ 3936,
459
+ 3948,
460
+ 3959,
461
+ 3972,
462
+ 3984,
463
+ 4004,
464
+ 4069,
465
+ 4094,
466
+ 4119,
467
+ 4149,
468
+ 4219,
469
+ 4345,
470
+ 4428,
471
+ 4654,
472
+ 4719,
473
+ 4798,
474
+ 5118,
475
+ 5371,
476
+ 5705,
477
+ 5967,
478
+ 6000,
479
+ 6033,
480
+ 6066,
481
+ 6102,
482
+ 6120,
483
+ 6139,
484
+ 6159,
485
+ 6179,
486
+ 6196,
487
+ 6211,
488
+ 6226,
489
+ 6241,
490
+ 6261,
491
+ 6283,
492
+ 6302,
493
+ 6321,
494
+ 6346,
495
+ 6367,
496
+ 6391,
497
+ 6411,
498
+ 6480,
499
+ 6623,
500
+ 6677
501
+ ],
502
+ "rapid_planner_selected_max_joint_step_deg": 4.971944852530633,
503
+ "rapid_planner_selected_samples": 127,
504
+ "rapid_planner_service_configured": true,
505
+ "rapid_planner_source_samples": 6678,
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": 0.006629034876823425,
523
+ "raw_replay_rms_error_rad": 0.0008464901550913839,
524
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9857535411298359,
525
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9913864952946064,
526
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9903108322409782,
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": 1.0048990400096447,
541
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9858814189562,
542
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9949609193000356,
543
+ "replay_smoothing_max_deviation_by_joint_rad": [
544
+ 0.00045108795166015625,
545
+ 0.0003875214606523514,
546
+ 0.0004423856735229492,
547
+ 0.001540081575512886,
548
+ 0.0021265745162963867,
549
+ 0.0072171688079833984
550
+ ],
551
+ "replay_smoothing_max_deviation_normalized": 0.8270266318682755,
552
+ "replay_smoothing_max_deviation_rad": 0.0072171688079833984,
553
+ "replay_smoothing_method": "scipy_savgol",
554
+ "replay_smoothing_p95_deviation_rad": 0.0021223542280495167,
555
+ "replay_smoothing_passes": 8,
556
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.140377998352051,
557
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 71.08039093017578,
558
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.485215204744587,
559
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1492.4898681640625,
560
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19327.3671875,
561
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1150.090678993549,
562
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1636202335357666,
563
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2136515281592939,
564
+ "replay_smoothing_rms_deviation_rad": 0.0009850261237177346,
565
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.0386528968811035,
566
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 70.4681396484375,
567
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.441757202190501,
568
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1499.8016357421875,
569
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 19054.4921875,
570
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1144.2952792498238,
571
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1483941078186035,
572
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2125838279747117,
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": 0.9929626625406989,
583
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9950026091843063,
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": 3.252,
589
+ "replay_smoothing_wrist_max_deviation_rad": 0.0072171688079833984,
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": 0.006629034876823425,
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": 0.04653722047805786,
625
+ "stage_planned_to_measured_rms_error_rad": 0.00638853109607742,
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": 1140,
633
+ "stopped_early": false,
634
+ "strict_tracking_pass": true,
635
+ "strict_tracking_reason": "ok",
636
+ "target_wall_accel_p95_abs_rad_s2": 0.8375219106674194,
637
+ "target_wall_accel_peak_abs_rad_s2": 4.272800445556641,
638
+ "target_wall_accel_peak_joint": 5,
639
+ "target_wall_accel_peak_time_s": 25.066721131966915,
640
+ "target_wall_accel_rms_rad_s2": 0.39144763004105837,
641
+ "target_wall_jerk_p95_abs_rad_s3": 17.99014663696289,
642
+ "target_wall_jerk_peak_abs_rad_s3": 80.0291748046875,
643
+ "target_wall_jerk_peak_joint": 5,
644
+ "target_wall_jerk_peak_time_s": 24.933387889002915,
645
+ "target_wall_jerk_rms_rad_s3": 8.316130261680241,
646
+ "target_wall_smoothness_samples": 1140,
647
+ "target_wall_velocity_peak_abs_rad_s": 0.8647019863128662,
648
+ "target_wall_velocity_peak_joint": 5,
649
+ "target_wall_velocity_peak_time_s": 2.833387191989459,
650
+ "target_wall_velocity_rms_rad_s": 0.10863415471777424,
651
+ "tcp_pose_count": 1140,
652
+ "timestamp_count": 1140,
653
+ "tool_failures": 0,
654
+ "tracking_geometry_pass": true,
655
+ "tracking_geometry_reason": "ok",
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": 1.4300000000000033,
665
+ "window_lag_best_lag_median_s": 0.0,
666
+ "window_lag_best_lag_min_s": -0.9799999999999991,
667
+ "window_lag_best_lag_p95_abs_s": 1.0100000000000025,
668
+ "window_lag_count": 32,
669
+ "window_lag_window_s": 1.0,
670
+ "window_lag_worst_best_lag_s": 1.4300000000000033,
671
+ "window_lag_worst_end_s": 23.5,
672
+ "window_lag_worst_max_error_rad": 0.004236876964569092,
673
+ "window_lag_worst_rms_error_rad": 0.002119296365328166,
674
+ "window_lag_worst_start_s": 22.5,
675
+ "zero_lag_max_error_rad": 0.006629034876823425,
676
+ "zero_lag_p95_error_rad": 0.0019012013217434287,
677
+ "zero_lag_rms_error_rad": 0.0008464901550913839,
678
+ "zero_lag_samples": 1140,
679
+ "zero_lag_worst_joint": 2,
680
+ "zero_lag_worst_time_s": 12.831
681
+ }
682
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:199ecf9e18cd39d0de4b0d6fd5f663053566fafb1dcd6b2c640a48c29628ef7a
3
+ size 119630
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.json ADDED
@@ -0,0 +1,679 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:08:44",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.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": 37.87816925405059,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.00611221045255661,
23
+ "aligned_p95_error_rad": 0.0019545257091522217,
24
+ "aligned_rms_error_rad": 0.0008636126453941601,
25
+ "aligned_samples": 1136,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 22.773,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.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": 1.591720353576106,
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
+ 0.005074888467788696,
58
+ 0.00611221045255661,
59
+ 0.004427745938301086,
60
+ 0.0032903123646974564,
61
+ 0.005496323108673096,
62
+ 0.006038665771484375
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0018521621823310852,
66
+ 0.0018307194113731384,
67
+ 0.001652400940656662,
68
+ 0.0008338144980370998,
69
+ 0.0022472739219665527,
70
+ 0.0027640312910079956
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008605574719819525,
74
+ 0.0008875252378075475,
75
+ 0.0007761298128684743,
76
+ 0.0004020656663634951,
77
+ 0.0009759995167020147,
78
+ 0.0011090947904867031
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
+ 22.773,
90
+ 22.773,
91
+ 3.8880000000000003,
92
+ 5.555,
93
+ 22.820999999999998,
94
+ 22.785
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 27,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005322807002812624,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003958638000767678,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004455529595725238,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004585279559250921,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2664,
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": 0.005401332979090512,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003983059519669041,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044871627615066245,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004616365482797846,
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": 0.005284613987896591,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003986277006333694,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.00447388224711176,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.00458289383095689,
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": 0.028117734007537365,
170
+ "leadthrough_capture_loop_late_median_s": 0.021448248939123005,
171
+ "leadthrough_capture_loop_late_p95_s": 0.02193379863165319,
172
+ "leadthrough_capture_loop_late_p99_s": 0.02207097601145506,
173
+ "leadthrough_capture_loop_late_warn_count": 6737,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005373582011088729,
176
+ "leadthrough_capture_read_duration_median_s": 0.003971402999013662,
177
+ "leadthrough_capture_read_duration_p95_s": 0.0044745635939762,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004606546121649444,
179
+ "leadthrough_capture_read_duration_warn_count": 2859,
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
+ 0.004144132137298584,
190
+ 0.002381652593612671,
191
+ 0.0024311989545822144,
192
+ 0.0009892955422401428,
193
+ 0.0029918551445007324,
194
+ 0.007247507572174072
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007247507572174072,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0022489847615361214,
199
+ 0.0019255044171586633,
200
+ 0.0018685802351683378,
201
+ 0.0004314333200454712,
202
+ 0.0015683169476687908,
203
+ 0.004958171863108873
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008721895865164697,
207
+ 0.000677189149428159,
208
+ 0.0007543287938460708,
209
+ 0.00017698259034659714,
210
+ 0.0006417196709662676,
211
+ 0.001600850373506546
212
+ ],
213
+ "leadthrough_delta_samples": 5950,
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": -0.007247507572174072,
218
+ "leadthrough_delta_worst_from_rad": -0.5713317394256592,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7040000000000002,
221
+ "leadthrough_delta_worst_to_rad": -0.5785792469978333,
222
+ "leadthrough_duration_s": 23.796999999999997,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5949,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.2680000000000007,
228
+ "leadthrough_final_stillness_removed_samples": 67,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5950,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6737,
234
+ "leadthrough_initial_stillness_first_motion_index": 720,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.876,
238
+ "leadthrough_initial_stillness_removed_samples": 719,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 719,
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
+ 0.004144132137298584,
249
+ 0.002381652593612671,
250
+ 0.0024311989545822144,
251
+ 0.0009892955422401428,
252
+ 0.0029918551445007324,
253
+ 0.007247507572174072
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007247507572174072,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.3813773790994757,
258
+ 0.7817745208739938,
259
+ 0.8044069012005819,
260
+ 0.30300145347911955,
261
+ 0.9964903195698679,
262
+ 2.2240728139876476
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9725502729415894,
265
+ "leadthrough_velocity_rms_rad_s": 0.22724286997400067,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.00611221045255661,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5030087232589722,
271
+ "measured_wall_accel_peak_abs_rad_s2": 4.081185817718506,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 39.34562348102918,
274
+ "measured_wall_accel_rms_rad_s2": 0.27655955607288063,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.641050338745117,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 49.84860610961914,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 39.037226676009595,
279
+ "measured_wall_jerk_rms_rad_s3": 4.569053351034188,
280
+ "measured_wall_smoothness_samples": 1136,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.9164640307426453,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.46974766004132,
284
+ "measured_wall_velocity_rms_rad_s": 0.10554942631006937,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.00611221045255661,
287
+ "moving_aligned_p95_error_rad": 0.0022459346801042557,
288
+ "moving_aligned_rms_error_rad": 0.0009992942395937374,
289
+ "moving_aligned_samples": 836,
290
+ "moving_aligned_worst_joint": 1,
291
+ "moving_aligned_worst_time_s": 22.773,
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
+ 0.005074888467788696,
302
+ 0.00611221045255661,
303
+ 0.004427745938301086,
304
+ 0.0031741540879011154,
305
+ 0.005496323108673096,
306
+ 0.006038665771484375
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002157524460926652,
310
+ 0.0021221116185188293,
311
+ 0.0022004644852131605,
312
+ 0.0017527095042169094,
313
+ 0.002583408495411277,
314
+ 0.003810212016105652
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010754276036173533,
318
+ 0.001081239691992065,
319
+ 0.000950735769609512,
320
+ 0.0007558017841204871,
321
+ 0.0012424929800572374,
322
+ 0.0018883634966913093
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 707,
326
+ 727,
327
+ 710,
328
+ 155,
329
+ 612,
330
+ 356
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.773,
334
+ 22.773,
335
+ 3.8880000000000003,
336
+ 5.511000000000001,
337
+ 22.820999999999998,
338
+ 22.785
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": 3.0460891723632812,
348
+ "playback_velocity_rms_rad_s": 0.42634166114807537,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.594,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.796999999999997,
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
+ 2432,
357
+ 5150
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4186581527232241,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08653363585472107,
364
+ "rapid_planner_max_dt_s": 2.4079999999999995,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007306963205337524,
367
+ "rapid_planner_median_dt_s": 0.0920000000000023,
368
+ "rapid_planner_path_max_error_rad": 0.00611221045255661,
369
+ "rapid_planner_path_p95_error_rad": 0.0029782913625240326,
370
+ "rapid_planner_path_rms_error_rad": 0.0014619092027358988,
371
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
372
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
373
+ "rapid_planner_selected_indices": [
374
+ 0,
375
+ 27,
376
+ 46,
377
+ 64,
378
+ 82,
379
+ 92,
380
+ 102,
381
+ 114,
382
+ 126,
383
+ 133,
384
+ 140,
385
+ 147,
386
+ 154,
387
+ 161,
388
+ 168,
389
+ 174,
390
+ 181,
391
+ 192,
392
+ 204,
393
+ 215,
394
+ 226,
395
+ 239,
396
+ 252,
397
+ 264,
398
+ 275,
399
+ 286,
400
+ 297,
401
+ 318,
402
+ 337,
403
+ 361,
404
+ 382,
405
+ 404,
406
+ 423,
407
+ 450,
408
+ 476,
409
+ 511,
410
+ 546,
411
+ 576,
412
+ 606,
413
+ 642,
414
+ 694,
415
+ 724,
416
+ 752,
417
+ 822,
418
+ 882,
419
+ 935,
420
+ 1006,
421
+ 1090,
422
+ 1151,
423
+ 1228,
424
+ 1272,
425
+ 1357,
426
+ 1432,
427
+ 1529,
428
+ 1614,
429
+ 1830,
430
+ 2432,
431
+ 2993,
432
+ 3042,
433
+ 3135,
434
+ 3180,
435
+ 3228,
436
+ 3263,
437
+ 3305,
438
+ 3335,
439
+ 3365,
440
+ 3390,
441
+ 3416,
442
+ 3441,
443
+ 3466,
444
+ 3500,
445
+ 3535,
446
+ 3554,
447
+ 3573,
448
+ 3595,
449
+ 3617,
450
+ 3641,
451
+ 3674,
452
+ 3689,
453
+ 3706,
454
+ 3725,
455
+ 3736,
456
+ 3748,
457
+ 3757,
458
+ 3766,
459
+ 3783,
460
+ 3800,
461
+ 3817,
462
+ 3840,
463
+ 3862,
464
+ 3922,
465
+ 3975,
466
+ 4017,
467
+ 4069,
468
+ 4162,
469
+ 4266,
470
+ 4353,
471
+ 4669,
472
+ 4796,
473
+ 5150,
474
+ 5328,
475
+ 5363,
476
+ 5387,
477
+ 5406,
478
+ 5429,
479
+ 5449,
480
+ 5469,
481
+ 5496,
482
+ 5526,
483
+ 5545,
484
+ 5564,
485
+ 5580,
486
+ 5597,
487
+ 5609,
488
+ 5621,
489
+ 5630,
490
+ 5638,
491
+ 5646,
492
+ 5654,
493
+ 5668,
494
+ 5682,
495
+ 5720,
496
+ 5758,
497
+ 5950
498
+ ],
499
+ "rapid_planner_selected_max_joint_step_deg": 4.958012120397453,
500
+ "rapid_planner_selected_samples": 124,
501
+ "rapid_planner_service_configured": true,
502
+ "rapid_planner_source_samples": 5951,
503
+ "rapid_planner_state_done": 6.0,
504
+ "rapid_planner_state_error": 7.0,
505
+ "rapid_planner_tool_command_hz": 30.0,
506
+ "rapid_planner_tool_command_supported": true,
507
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
508
+ "rapid_planner_tool_io_configured": true,
509
+ "rapid_planner_tool_io_supported": true,
510
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
511
+ "rapid_planner_tool_state_supported": true,
512
+ "rapid_planner_tool_transition_source_count": 2,
513
+ "rapid_planner_tool_transitions_uploaded": 2,
514
+ "rapid_planner_tool_upload_enabled": true,
515
+ "rapid_planner_uploaded": true,
516
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
517
+ "rapid_planner_waypoints_uploaded": 124,
518
+ "raw_ramp_max_error_rad": null,
519
+ "raw_replay_max_error_rad": 0.00611221045255661,
520
+ "raw_replay_rms_error_rad": 0.0008636126453941601,
521
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9833457599475255,
522
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9874996411189892,
523
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9872514712046963,
524
+ "replay_smoothing_applied": true,
525
+ "replay_smoothing_blend": 1.0,
526
+ "replay_smoothing_blend_by_joint": [
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0
533
+ ],
534
+ "replay_smoothing_edge_taper_s": 0.2,
535
+ "replay_smoothing_edge_taper_samples": 50,
536
+ "replay_smoothing_enabled": true,
537
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9824735361872323,
538
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9875501330925207,
539
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9941556373446737,
540
+ "replay_smoothing_max_deviation_by_joint_rad": [
541
+ 0.0005978047847747803,
542
+ 0.000612407922744751,
543
+ 0.0006667971611022949,
544
+ 0.0024359039962291718,
545
+ 0.0026456117630004883,
546
+ 0.0043132007122039795
547
+ ],
548
+ "replay_smoothing_max_deviation_normalized": 0.49425639783290903,
549
+ "replay_smoothing_max_deviation_rad": 0.0043132007122039795,
550
+ "replay_smoothing_method": "scipy_savgol",
551
+ "replay_smoothing_p95_deviation_rad": 0.0018451213836669922,
552
+ "replay_smoothing_passes": 8,
553
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.291130542755127,
554
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 66.16814422607422,
555
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.458389471582732,
556
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1511.5325927734375,
557
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17758.880859375,
558
+ "replay_smoothing_raw_jerk_rms_rad_s3": 906.0279925150568,
559
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9853298664093018,
560
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22803100815652447,
561
+ "replay_smoothing_rms_deviation_rad": 0.0008024419158376164,
562
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.186356544494629,
563
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 65.34101867675781,
564
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.414300093818884,
565
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1485.040771484375,
566
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 17537.78515625,
567
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 900.7328363509215,
568
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9725502729415894,
569
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22724286997400067,
570
+ "replay_smoothing_tolerance_by_joint_rad": [
571
+ 0.03490658476948738,
572
+ 0.03490658476948738,
573
+ 0.02617993950843811,
574
+ 0.008726646192371845,
575
+ 0.008726646192371845,
576
+ 0.008726646192371845
577
+ ],
578
+ "replay_smoothing_tolerance_rad": 0.034906585,
579
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9935629873483817,
580
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965437236413794,
581
+ "replay_smoothing_window_s": 0.2,
582
+ "replay_smoothing_window_samples": 51,
583
+ "replay_smoothing_within_tolerance": true,
584
+ "replay_smoothing_worst_joint": 5,
585
+ "replay_smoothing_worst_time_s": 22.701,
586
+ "replay_smoothing_wrist_max_deviation_rad": 0.0043132007122039795,
587
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
588
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
589
+ "return_measured_wall_accel_peak_joint": -1,
590
+ "return_measured_wall_accel_peak_time_s": null,
591
+ "return_measured_wall_accel_rms_rad_s2": null,
592
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
593
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
594
+ "return_measured_wall_jerk_peak_joint": -1,
595
+ "return_measured_wall_jerk_peak_time_s": null,
596
+ "return_measured_wall_jerk_rms_rad_s3": null,
597
+ "return_measured_wall_smoothness_samples": 0,
598
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
599
+ "return_measured_wall_velocity_peak_joint": -1,
600
+ "return_measured_wall_velocity_peak_time_s": null,
601
+ "return_measured_wall_velocity_rms_rad_s": null,
602
+ "safety_abort": false,
603
+ "safety_path_error_rad": 0.00611221045255661,
604
+ "saved_data_source": "measured_rapid_planner_playback",
605
+ "send_failures": 0,
606
+ "sent_wall_accel_p95_abs_rad_s2": null,
607
+ "sent_wall_accel_peak_abs_rad_s2": null,
608
+ "sent_wall_accel_peak_joint": -1,
609
+ "sent_wall_accel_peak_time_s": null,
610
+ "sent_wall_accel_rms_rad_s2": null,
611
+ "sent_wall_jerk_p95_abs_rad_s3": null,
612
+ "sent_wall_jerk_peak_abs_rad_s3": null,
613
+ "sent_wall_jerk_peak_joint": -1,
614
+ "sent_wall_jerk_peak_time_s": null,
615
+ "sent_wall_jerk_rms_rad_s3": null,
616
+ "sent_wall_smoothness_samples": 0,
617
+ "sent_wall_velocity_peak_abs_rad_s": null,
618
+ "sent_wall_velocity_peak_joint": -1,
619
+ "sent_wall_velocity_peak_time_s": null,
620
+ "sent_wall_velocity_rms_rad_s": null,
621
+ "stage_planned_to_measured_max_error_rad": 0.055826544761657715,
622
+ "stage_planned_to_measured_rms_error_rad": 0.006266210849984658,
623
+ "stage_sent_to_measured_max_error_rad": null,
624
+ "stage_sent_to_measured_rms_error_rad": null,
625
+ "stage_sent_to_planned_max_error_rad": null,
626
+ "stage_sent_to_planned_rms_error_rad": null,
627
+ "stage_target_to_sent_max_error_rad": null,
628
+ "stage_target_to_sent_rms_error_rad": null,
629
+ "state_frame_count": 1136,
630
+ "stopped_early": false,
631
+ "strict_tracking_pass": true,
632
+ "strict_tracking_reason": "ok",
633
+ "target_wall_accel_p95_abs_rad_s2": 0.7821087837219238,
634
+ "target_wall_accel_peak_abs_rad_s2": 4.44222354888916,
635
+ "target_wall_accel_peak_joint": 5,
636
+ "target_wall_accel_peak_time_s": 25.666731887031347,
637
+ "target_wall_accel_rms_rad_s2": 0.400773844579297,
638
+ "target_wall_jerk_p95_abs_rad_s3": 17.02664566040039,
639
+ "target_wall_jerk_peak_abs_rad_s3": 90.58869171142578,
640
+ "target_wall_jerk_peak_joint": 5,
641
+ "target_wall_jerk_peak_time_s": 1.1334142870036885,
642
+ "target_wall_jerk_rms_rad_s3": 8.813365161626724,
643
+ "target_wall_smoothness_samples": 1136,
644
+ "target_wall_velocity_peak_abs_rad_s": 0.9373374581336975,
645
+ "target_wall_velocity_peak_joint": 5,
646
+ "target_wall_velocity_peak_time_s": 25.433387083001435,
647
+ "target_wall_velocity_rms_rad_s": 0.1065801733266957,
648
+ "tcp_pose_count": 1136,
649
+ "timestamp_count": 1136,
650
+ "tool_failures": 0,
651
+ "tracking_geometry_pass": true,
652
+ "tracking_geometry_reason": "ok",
653
+ "tracking_pass": true,
654
+ "tracking_reason": "ok",
655
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
656
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
657
+ "tracking_threshold_max_lag_s": 0.1,
658
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
659
+ "tracking_timing_pass": true,
660
+ "tracking_timing_reason": "ok",
661
+ "window_lag_best_lag_max_s": 1.480000000000003,
662
+ "window_lag_best_lag_median_s": 0.0,
663
+ "window_lag_best_lag_min_s": -2.0,
664
+ "window_lag_best_lag_p95_abs_s": 1.7605,
665
+ "window_lag_count": 30,
666
+ "window_lag_window_s": 1.0,
667
+ "window_lag_worst_best_lag_s": -2.0,
668
+ "window_lag_worst_end_s": 11.0,
669
+ "window_lag_worst_max_error_rad": 0.11310827732086182,
670
+ "window_lag_worst_rms_error_rad": 0.013115358442358309,
671
+ "window_lag_worst_start_s": 10.0,
672
+ "zero_lag_max_error_rad": 0.00611221045255661,
673
+ "zero_lag_p95_error_rad": 0.0019545257091522217,
674
+ "zero_lag_rms_error_rad": 0.0008636126453941601,
675
+ "zero_lag_samples": 1136,
676
+ "zero_lag_worst_joint": 1,
677
+ "zero_lag_worst_time_s": 22.773
678
+ }
679
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f1efb6fe3ce7714a38f12d6a979cdd86c5178d5c95b0de215d399c00ac915ae
3
+ size 119492
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.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": "2026-10-26T16:10:27",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.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": 1116,
20
+ "actual_playback_duration_s": 37.21127659600461,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.004929021000862122,
23
+ "aligned_p95_error_rad": 0.0017739851027727127,
24
+ "aligned_rms_error_rad": 0.0007752196618050816,
25
+ "aligned_samples": 1116,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 17.922,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1116,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1116,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.600278527330005,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1116,
46
+ "cam_wrist": 1116
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
+ 0.00396960973739624,
58
+ 0.004929021000862122,
59
+ 0.003699183464050293,
60
+ 0.004909541457891464,
61
+ 0.004135847091674805,
62
+ 0.004875462502241135
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0015718219801783562,
66
+ 0.0017268285155296326,
67
+ 0.0014786794781684875,
68
+ 0.0006568473763763905,
69
+ 0.00225752592086792,
70
+ 0.002293989062309265
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0006994919873868075,
74
+ 0.0008317537976849812,
75
+ 0.000673717948089065,
76
+ 0.0004241518221743855,
77
+ 0.0009105330091862731,
78
+ 0.000980723570260435
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1116,
82
+ 1116,
83
+ 1116,
84
+ 1116,
85
+ 1116,
86
+ 1116
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 5.575,
90
+ 17.922,
91
+ 17.922,
92
+ 17.922,
93
+ 15.937999999999999,
94
+ 22.769
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.0060972850187681615,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003959373018005863,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.00445131883607246,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.0045943577191792425,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2603,
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": 0.006141760968603194,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003983868984505534,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.00447896639816463,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004625048538437113,
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": 0.006174792011734098,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003988753946032375,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004468640591949224,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004616051899502054,
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": 0.014380805019754916,
170
+ "leadthrough_capture_loop_late_median_s": 0.010878579400014132,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01135988800378982,
172
+ "leadthrough_capture_loop_late_p99_s": 0.01151186250091996,
173
+ "leadthrough_capture_loop_late_warn_count": 6668,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.0061259790090844035,
176
+ "leadthrough_capture_read_duration_median_s": 0.0039725009992253035,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004466282331850379,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004611246337299235,
179
+ "leadthrough_capture_read_duration_warn_count": 2826,
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
+ 0.004374250769615173,
190
+ 0.0025861957110464573,
191
+ 0.0025066956877708435,
192
+ 0.0012074112892150879,
193
+ 0.0034089088439941406,
194
+ 0.008395552635192871
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.008395552635192871,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0021128382068127394,
199
+ 0.0018527806969359517,
200
+ 0.0019508276600390673,
201
+ 0.00034415701520629227,
202
+ 0.001358288573101163,
203
+ 0.004102474078536034
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.000885121407918632,
207
+ 0.0006943876505829394,
208
+ 0.0007523993845097721,
209
+ 0.00016108863928820938,
210
+ 0.0006371953641064465,
211
+ 0.001606884878128767
212
+ ],
213
+ "leadthrough_delta_samples": 5814,
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": -0.008395552635192871,
218
+ "leadthrough_delta_worst_from_rad": -0.944300651550293,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7920000000000003,
221
+ "leadthrough_delta_worst_to_rad": -0.9526962041854858,
222
+ "leadthrough_duration_s": 23.253,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5813,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 1.5079999999999991,
228
+ "leadthrough_final_stillness_removed_samples": 377,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5814,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6668,
234
+ "leadthrough_initial_stillness_first_motion_index": 477,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 1.904,
238
+ "leadthrough_initial_stillness_removed_samples": 476,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 476,
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": 0.0040000000000000036,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.004374250769615173,
249
+ 0.002586195827461779,
250
+ 0.0025066956877708435,
251
+ 0.0012074112892150879,
252
+ 0.0034089088439941406,
253
+ 0.008395552635192871
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008395552635192871,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.458083589871669,
258
+ 0.8609999592105221,
259
+ 0.8287752668062531,
260
+ 0.3018528223037717,
261
+ 1.1359055836995011,
262
+ 2.098888158798216
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.088576555252075,
265
+ "leadthrough_velocity_rms_rad_s": 0.2283219177544517,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.004929021000862122,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4666150212287903,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.0537991523742676,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 13.513920277007855,
274
+ "measured_wall_accel_rms_rad_s2": 0.25504877633114564,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.175537109375,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 52.478511810302734,
277
+ "measured_wall_jerk_peak_joint": 3,
278
+ "measured_wall_jerk_peak_time_s": 40.04625854099868,
279
+ "measured_wall_jerk_rms_rad_s3": 4.125918976655531,
280
+ "measured_wall_smoothness_samples": 1116,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7372098565101624,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 37.680989412998315,
284
+ "measured_wall_velocity_rms_rad_s": 0.10299508195528398,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.004875462502241135,
287
+ "moving_aligned_p95_error_rad": 0.0018658286426216364,
288
+ "moving_aligned_rms_error_rad": 0.0008081232892711757,
289
+ "moving_aligned_samples": 998,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 22.769,
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
+ 0.00396960973739624,
302
+ 0.004351265728473663,
303
+ 0.0033073127269744873,
304
+ 0.003283199155703187,
305
+ 0.003994941711425781,
306
+ 0.004875462502241135
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0016692549688741565,
310
+ 0.0020646173506975174,
311
+ 0.0017617382109165192,
312
+ 0.0014229135122150183,
313
+ 0.0024966238997876644,
314
+ 0.003240513615310192
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008212727822188212,
318
+ 0.0009891774372775865,
319
+ 0.0008239464573891274,
320
+ 0.0006162311999891638,
321
+ 0.0011593542841941713,
322
+ 0.001596598507747069
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 692,
326
+ 732,
327
+ 666,
328
+ 316,
329
+ 525,
330
+ 382
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 5.575,
334
+ 22.778,
335
+ 1.6400000000000001,
336
+ 13.198,
337
+ 1.6600000000000001,
338
+ 22.769
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": 2.4546682834625244,
348
+ "playback_velocity_rms_rad_s": 0.43565275657251173,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 76.506,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.253,
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
+ 2398,
357
+ 5116
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.43562946526341323,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08672314882278442,
364
+ "rapid_planner_max_dt_s": 2.703999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007603168487548828,
367
+ "rapid_planner_median_dt_s": 0.08499999999999908,
368
+ "rapid_planner_path_max_error_rad": 0.004929021000862122,
369
+ "rapid_planner_path_p95_error_rad": 0.002825334668159485,
370
+ "rapid_planner_path_rms_error_rad": 0.001366755735200917,
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
+ 20,
376
+ 35,
377
+ 53,
378
+ 63,
379
+ 73,
380
+ 82,
381
+ 90,
382
+ 99,
383
+ 108,
384
+ 118,
385
+ 129,
386
+ 140,
387
+ 150,
388
+ 162,
389
+ 173,
390
+ 180,
391
+ 186,
392
+ 192,
393
+ 198,
394
+ 204,
395
+ 211,
396
+ 218,
397
+ 224,
398
+ 232,
399
+ 239,
400
+ 253,
401
+ 268,
402
+ 283,
403
+ 298,
404
+ 317,
405
+ 354,
406
+ 392,
407
+ 430,
408
+ 476,
409
+ 521,
410
+ 563,
411
+ 598,
412
+ 679,
413
+ 736,
414
+ 837,
415
+ 920,
416
+ 967,
417
+ 995,
418
+ 1049,
419
+ 1111,
420
+ 1164,
421
+ 1187,
422
+ 1289,
423
+ 1427,
424
+ 1498,
425
+ 1584,
426
+ 1652,
427
+ 1722,
428
+ 2398,
429
+ 3001,
430
+ 3061,
431
+ 3126,
432
+ 3208,
433
+ 3248,
434
+ 3278,
435
+ 3317,
436
+ 3342,
437
+ 3368,
438
+ 3389,
439
+ 3410,
440
+ 3432,
441
+ 3453,
442
+ 3491,
443
+ 3529,
444
+ 3556,
445
+ 3584,
446
+ 3612,
447
+ 3639,
448
+ 3668,
449
+ 3698,
450
+ 3715,
451
+ 3727,
452
+ 3740,
453
+ 3752,
454
+ 3764,
455
+ 3776,
456
+ 3791,
457
+ 3806,
458
+ 3822,
459
+ 3837,
460
+ 3860,
461
+ 3883,
462
+ 3965,
463
+ 4035,
464
+ 4114,
465
+ 4199,
466
+ 4381,
467
+ 4638,
468
+ 4830,
469
+ 4912,
470
+ 5025,
471
+ 5116,
472
+ 5369,
473
+ 5402,
474
+ 5419,
475
+ 5438,
476
+ 5456,
477
+ 5475,
478
+ 5493,
479
+ 5510,
480
+ 5528,
481
+ 5545,
482
+ 5556,
483
+ 5568,
484
+ 5580,
485
+ 5593,
486
+ 5605,
487
+ 5617,
488
+ 5635,
489
+ 5648,
490
+ 5660,
491
+ 5681,
492
+ 5711,
493
+ 5736,
494
+ 5774,
495
+ 5814
496
+ ],
497
+ "rapid_planner_selected_max_joint_step_deg": 4.968870413630481,
498
+ "rapid_planner_selected_samples": 122,
499
+ "rapid_planner_service_configured": true,
500
+ "rapid_planner_source_samples": 5815,
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": 0.004929021000862122,
518
+ "raw_replay_rms_error_rad": 0.0007752196618050816,
519
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9784900451608112,
520
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9252096490041125,
521
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9879025305963494,
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": 1.0009713635573971,
536
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.930463601323229,
537
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.992827768964239,
538
+ "replay_smoothing_max_deviation_by_joint_rad": [
539
+ 0.0006443262100219727,
540
+ 0.0003757178783416748,
541
+ 0.0005397796630859375,
542
+ 0.0024156877771019936,
543
+ 0.0018625259399414062,
544
+ 0.005774021148681641
545
+ ],
546
+ "replay_smoothing_max_deviation_normalized": 0.6616540904028905,
547
+ "replay_smoothing_max_deviation_rad": 0.005774021148681641,
548
+ "replay_smoothing_method": "scipy_savgol",
549
+ "replay_smoothing_p95_deviation_rad": 0.0014877024805173278,
550
+ "replay_smoothing_passes": 8,
551
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.490718364715576,
552
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 45.332611083984375,
553
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.5836393288352046,
554
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1446.073486328125,
555
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 12207.6494140625,
556
+ "replay_smoothing_raw_jerk_rms_rad_s3": 925.3278672037263,
557
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.0986571311950684,
558
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22898918266904153,
559
+ "replay_smoothing_rms_deviation_rad": 0.0007479582653148125,
560
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 6.35110330581665,
561
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 41.942169189453125,
562
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.5402863617009017,
563
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1447.4781494140625,
564
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 11358.7734375,
565
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 918.6912019563132,
566
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.088576555252075,
567
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2283219177544517,
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": 0.9951966541875028,
578
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9970860417648889,
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": 14.89,
584
+ "replay_smoothing_wrist_max_deviation_rad": 0.005774021148681641,
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": 0.004929021000862122,
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": 0.042746901512145996,
620
+ "stage_planned_to_measured_rms_error_rad": 0.00611468504639472,
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": 1116,
628
+ "stopped_early": false,
629
+ "strict_tracking_pass": true,
630
+ "strict_tracking_reason": "ok",
631
+ "target_wall_accel_p95_abs_rad_s2": 0.7807669043540955,
632
+ "target_wall_accel_peak_abs_rad_s2": 4.493445873260498,
633
+ "target_wall_accel_peak_joint": 5,
634
+ "target_wall_accel_peak_time_s": 24.10007902502548,
635
+ "target_wall_accel_rms_rad_s2": 0.37227810164859715,
636
+ "target_wall_jerk_p95_abs_rad_s3": 16.063819885253906,
637
+ "target_wall_jerk_peak_abs_rad_s3": 106.74317932128906,
638
+ "target_wall_jerk_peak_joint": 5,
639
+ "target_wall_jerk_peak_time_s": 24.066719996044412,
640
+ "target_wall_jerk_rms_rad_s3": 8.365152834538911,
641
+ "target_wall_smoothness_samples": 1116,
642
+ "target_wall_velocity_peak_abs_rad_s": 0.7535755634307861,
643
+ "target_wall_velocity_peak_joint": 5,
644
+ "target_wall_velocity_peak_time_s": 24.333410353050567,
645
+ "target_wall_velocity_rms_rad_s": 0.1039147699385411,
646
+ "tcp_pose_count": 1116,
647
+ "timestamp_count": 1116,
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": 0.32000000000000206,
660
+ "window_lag_best_lag_median_s": 0.0,
661
+ "window_lag_best_lag_min_s": 0.0,
662
+ "window_lag_best_lag_p95_abs_s": 0.0,
663
+ "window_lag_count": 31,
664
+ "window_lag_window_s": 1.0,
665
+ "window_lag_worst_best_lag_s": 0.0,
666
+ "window_lag_worst_end_s": 16.5,
667
+ "window_lag_worst_max_error_rad": 0.004135847091674805,
668
+ "window_lag_worst_rms_error_rad": 0.001515130848680251,
669
+ "window_lag_worst_start_s": 15.5,
670
+ "zero_lag_max_error_rad": 0.004929021000862122,
671
+ "zero_lag_p95_error_rad": 0.0017739851027727127,
672
+ "zero_lag_rms_error_rad": 0.0007752196618050816,
673
+ "zero_lag_samples": 1116,
674
+ "zero_lag_worst_joint": 1,
675
+ "zero_lag_worst_time_s": 17.922
676
+ }
677
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70bb4be55e03e60fcb7db19539c1d04150071b290fe103311cb1e77af9ab0572
3
+ size 115902
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.json ADDED
@@ -0,0 +1,681 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:15:52",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.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": 1165,
20
+ "actual_playback_duration_s": 38.844565409992356,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.6736815571784973,
23
+ "aligned_p95_error_rad": 0.00191668258048594,
24
+ "aligned_rms_error_rad": 0.011311558398246395,
25
+ "aligned_samples": 1165,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 0.07599999999999962,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1165,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1165,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.725658170146262,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1165,
46
+ "cam_wrist": 1165
47
+ },
48
+ "joint_lag_best_lag_s": [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.08000000000000185,
53
+ 0.08000000000000185,
54
+ 0.0
55
+ ],
56
+ "joint_lag_max_error_rad": [
57
+ 0.1735016405582428,
58
+ 0.28574657440185547,
59
+ 0.09764260053634644,
60
+ 0.056578945368528366,
61
+ 0.0770413875579834,
62
+ 0.4498538374900818
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0017099155811592937,
66
+ 0.0019748201593756676,
67
+ 0.001803743070922792,
68
+ 0.011982154101133347,
69
+ 0.050337910652160645,
70
+ 0.0024864962324500084
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.005142201990477403,
74
+ 0.008421871745274683,
75
+ 0.002976582414798703,
76
+ 0.006922756131443593,
77
+ 0.018810528938875037,
78
+ 0.013219153603598259
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1165,
82
+ 1165,
83
+ 1165,
84
+ 1161,
85
+ 1161,
86
+ 1165
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 0.07599999999999962,
90
+ 0.07599999999999962,
91
+ 0.07599999999999962,
92
+ 1.7199999999999998,
93
+ 20.834,
94
+ 0.07599999999999962
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.027086083020549268,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003963591967476532,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004396843703580089,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.00455375999212265,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2664,
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": 0.05007040500640869,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003986565483501181,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004422524635447189,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004585522568086162,
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": 0.006483941979240626,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003987169009633362,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004418432974489406,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004558602988254279,
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": 0.0788222867413424,
170
+ "leadthrough_capture_loop_late_median_s": 0.07601467636413872,
171
+ "leadthrough_capture_loop_late_p95_s": 0.07640674593858421,
172
+ "leadthrough_capture_loop_late_p99_s": 0.07663683869177476,
173
+ "leadthrough_capture_loop_late_warn_count": 6753,
174
+ "leadthrough_capture_none_reads": 1,
175
+ "leadthrough_capture_read_duration_max_s": 0.05006573995342478,
176
+ "leadthrough_capture_read_duration_median_s": 0.003975775965955108,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004410480393562466,
178
+ "leadthrough_capture_read_duration_p99_s": 0.00457187316380441,
179
+ "leadthrough_capture_read_duration_warn_count": 2898,
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
+ 0.004139348864555359,
190
+ 0.002619752660393715,
191
+ 0.002598181366920471,
192
+ 0.0033513903617858887,
193
+ 0.004054248332977295,
194
+ 0.00859445333480835
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.00859445333480835,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002329596085473895,
199
+ 0.002106747590005398,
200
+ 0.0020703210029751062,
201
+ 0.0005492359050549567,
202
+ 0.0014977528480812907,
203
+ 0.00508861942216754
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0009102969197556376,
207
+ 0.000735236972104758,
208
+ 0.0007817000150680542,
209
+ 0.0003233813331462443,
210
+ 0.0006801176350563765,
211
+ 0.0018299202201887965
212
+ ],
213
+ "leadthrough_delta_samples": 5628,
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": -0.00859445333480835,
218
+ "leadthrough_delta_worst_from_rad": -0.5738269090652466,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.6849999999999996,
221
+ "leadthrough_delta_worst_to_rad": -0.5824213624000549,
222
+ "leadthrough_duration_s": 22.509999999999998,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5627,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 2.3800000000000026,
228
+ "leadthrough_final_stillness_removed_samples": 595,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5628,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6752,
234
+ "leadthrough_initial_stillness_first_motion_index": 529,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.111,
238
+ "leadthrough_initial_stillness_removed_samples": 528,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 528,
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
+ 0.004139348864555359,
249
+ 0.002619752660393715,
250
+ 0.002598181366920471,
251
+ 0.0033513903617858887,
252
+ 0.004054248332977295,
253
+ 0.00859445333480835
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.00859445333480835,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0348372161394133,
258
+ 0.8667254199583997,
259
+ 0.7336934407551805,
260
+ 1.117130120595254,
261
+ 1.328647136688182,
262
+ 2.856036027272434
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.542400598526001,
265
+ "leadthrough_velocity_rms_rad_s": 0.2517633290509968,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.6736815571784973,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5347939133644104,
271
+ "measured_wall_accel_peak_abs_rad_s2": 344.59197998046875,
272
+ "measured_wall_accel_peak_joint": 4,
273
+ "measured_wall_accel_peak_time_s": 13.516031788021792,
274
+ "measured_wall_accel_rms_rad_s2": 8.694959236558406,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.806191444396973,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 5440.2431640625,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 13.578155334980693,
279
+ "measured_wall_jerk_rms_rad_s3": 112.50391052048037,
280
+ "measured_wall_smoothness_samples": 1165,
281
+ "measured_wall_velocity_peak_abs_rad_s": 21.407352447509766,
282
+ "measured_wall_velocity_peak_joint": 4,
283
+ "measured_wall_velocity_peak_time_s": 13.516031788021792,
284
+ "measured_wall_velocity_rms_rad_s": 0.414309995151909,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.0059606581926345825,
287
+ "moving_aligned_p95_error_rad": 0.0021926499903202057,
288
+ "moving_aligned_rms_error_rad": 0.0010036299756284069,
289
+ "moving_aligned_samples": 861,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 16.958,
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
+ 0.0038916021585464478,
302
+ 0.005218856036663055,
303
+ 0.005008861422538757,
304
+ 0.0059606581926345825,
305
+ 0.0054135918617248535,
306
+ 0.005061030387878418
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0018752512987703085,
310
+ 0.0023690457455813885,
311
+ 0.002046758309006691,
312
+ 0.003591318381950259,
313
+ 0.0027266135439276695,
314
+ 0.003608250292018056
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009531250052476382,
318
+ 0.0011214219222562382,
319
+ 0.001010141336537247,
320
+ 0.0015443483160880688,
321
+ 0.0011742977322715612,
322
+ 0.0017153657453101913
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 709,
326
+ 725,
327
+ 710,
328
+ 214,
329
+ 555,
330
+ 387
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.302,
334
+ 16.907,
335
+ 3.44,
336
+ 16.958,
337
+ 16.958,
338
+ 17.455
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": 5.06814432144165,
348
+ "playback_velocity_rms_rad_s": 0.4557155388551008,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.02,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.509999999999998,
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
+ 2473,
357
+ 4968
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.42935252141617153,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08533370494842529,
364
+ "rapid_planner_max_dt_s": 2.3759999999999994,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.00749361515045166,
367
+ "rapid_planner_median_dt_s": 0.09099999999999753,
368
+ "rapid_planner_path_max_error_rad": 0.6736815571784973,
369
+ "rapid_planner_path_p95_error_rad": 0.0031685329973697657,
370
+ "rapid_planner_path_rms_error_rad": 0.01979417253871956,
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
+ 38,
376
+ 56,
377
+ 74,
378
+ 93,
379
+ 102,
380
+ 111,
381
+ 123,
382
+ 129,
383
+ 135,
384
+ 142,
385
+ 150,
386
+ 158,
387
+ 166,
388
+ 176,
389
+ 185,
390
+ 194,
391
+ 204,
392
+ 212,
393
+ 220,
394
+ 228,
395
+ 235,
396
+ 246,
397
+ 257,
398
+ 270,
399
+ 282,
400
+ 292,
401
+ 301,
402
+ 318,
403
+ 343,
404
+ 368,
405
+ 393,
406
+ 410,
407
+ 428,
408
+ 445,
409
+ 460,
410
+ 496,
411
+ 529,
412
+ 594,
413
+ 624,
414
+ 657,
415
+ 694,
416
+ 711,
417
+ 760,
418
+ 809,
419
+ 891,
420
+ 967,
421
+ 1048,
422
+ 1133,
423
+ 1205,
424
+ 1343,
425
+ 1409,
426
+ 1468,
427
+ 1523,
428
+ 2067,
429
+ 2350,
430
+ 2473,
431
+ 3067,
432
+ 3251,
433
+ 3287,
434
+ 3356,
435
+ 3397,
436
+ 3448,
437
+ 3484,
438
+ 3515,
439
+ 3546,
440
+ 3577,
441
+ 3600,
442
+ 3624,
443
+ 3649,
444
+ 3674,
445
+ 3706,
446
+ 3739,
447
+ 3772,
448
+ 3805,
449
+ 3830,
450
+ 3854,
451
+ 3904,
452
+ 3928,
453
+ 3955,
454
+ 3981,
455
+ 4003,
456
+ 4014,
457
+ 4026,
458
+ 4038,
459
+ 4051,
460
+ 4064,
461
+ 4076,
462
+ 4087,
463
+ 4098,
464
+ 4110,
465
+ 4121,
466
+ 4144,
467
+ 4182,
468
+ 4264,
469
+ 4312,
470
+ 4393,
471
+ 4567,
472
+ 4689,
473
+ 4804,
474
+ 4968,
475
+ 5121,
476
+ 5150,
477
+ 5168,
478
+ 5186,
479
+ 5205,
480
+ 5224,
481
+ 5246,
482
+ 5269,
483
+ 5294,
484
+ 5311,
485
+ 5328,
486
+ 5344,
487
+ 5359,
488
+ 5374,
489
+ 5389,
490
+ 5407,
491
+ 5425,
492
+ 5436,
493
+ 5448,
494
+ 5459,
495
+ 5470,
496
+ 5491,
497
+ 5511,
498
+ 5548,
499
+ 5628
500
+ ],
501
+ "rapid_planner_selected_max_joint_step_deg": 4.889261143759398,
502
+ "rapid_planner_selected_samples": 126,
503
+ "rapid_planner_service_configured": true,
504
+ "rapid_planner_source_samples": 5629,
505
+ "rapid_planner_state_done": 6.0,
506
+ "rapid_planner_state_error": 7.0,
507
+ "rapid_planner_tool_command_hz": 30.0,
508
+ "rapid_planner_tool_command_supported": true,
509
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
510
+ "rapid_planner_tool_io_configured": true,
511
+ "rapid_planner_tool_io_supported": true,
512
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
513
+ "rapid_planner_tool_state_supported": true,
514
+ "rapid_planner_tool_transition_source_count": 2,
515
+ "rapid_planner_tool_transitions_uploaded": 2,
516
+ "rapid_planner_tool_upload_enabled": true,
517
+ "rapid_planner_uploaded": true,
518
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
519
+ "rapid_planner_waypoints_uploaded": 126,
520
+ "raw_ramp_max_error_rad": null,
521
+ "raw_replay_max_error_rad": 0.6736815571784973,
522
+ "raw_replay_rms_error_rad": 0.011311558398246395,
523
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9743046923065002,
524
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9935720404585856,
525
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9882810950418044,
526
+ "replay_smoothing_applied": true,
527
+ "replay_smoothing_blend": 1.0,
528
+ "replay_smoothing_blend_by_joint": [
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0,
533
+ 1.0,
534
+ 1.0
535
+ ],
536
+ "replay_smoothing_edge_taper_s": 0.2,
537
+ "replay_smoothing_edge_taper_samples": 50,
538
+ "replay_smoothing_enabled": true,
539
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9801076902858243,
540
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9933503069003009,
541
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9951276992674827,
542
+ "replay_smoothing_max_deviation_by_joint_rad": [
543
+ 0.0006467998027801514,
544
+ 0.0005051642656326294,
545
+ 0.0006651580333709717,
546
+ 0.007094457745552063,
547
+ 0.0020227432250976562,
548
+ 0.006867885589599609
549
+ ],
550
+ "replay_smoothing_max_deviation_normalized": 0.812964979805585,
551
+ "replay_smoothing_max_deviation_rad": 0.007094457745552063,
552
+ "replay_smoothing_method": "scipy_savgol",
553
+ "replay_smoothing_p95_deviation_rad": 0.002049708506092429,
554
+ "replay_smoothing_passes": 8,
555
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.292058944702148,
556
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 83.70903778076172,
557
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.274914741854508,
558
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 972.9666137695312,
559
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 22680.79296875,
560
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1084.1334091112133,
561
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.5528547763824463,
562
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.25277913505655963,
563
+ "replay_smoothing_rms_deviation_rad": 0.0010133898614261578,
564
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.156077861785889,
565
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 83.17095947265625,
566
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.224817422290326,
567
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 953.612060546875,
568
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 22529.97265625,
569
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1078.8511851078542,
570
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.542400598526001,
571
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2517633290509968,
572
+ "replay_smoothing_tolerance_by_joint_rad": [
573
+ 0.03490658476948738,
574
+ 0.03490658476948738,
575
+ 0.02617993950843811,
576
+ 0.008726646192371845,
577
+ 0.008726646192371845,
578
+ 0.008726646192371845
579
+ ],
580
+ "replay_smoothing_tolerance_rad": 0.034906585,
581
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9959049069484244,
582
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959814483686102,
583
+ "replay_smoothing_window_s": 0.2,
584
+ "replay_smoothing_window_samples": 51,
585
+ "replay_smoothing_within_tolerance": true,
586
+ "replay_smoothing_worst_joint": 3,
587
+ "replay_smoothing_worst_time_s": 1.7999999999999998,
588
+ "replay_smoothing_wrist_max_deviation_rad": 0.007094457745552063,
589
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
590
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
591
+ "return_measured_wall_accel_peak_joint": -1,
592
+ "return_measured_wall_accel_peak_time_s": null,
593
+ "return_measured_wall_accel_rms_rad_s2": null,
594
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
595
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
596
+ "return_measured_wall_jerk_peak_joint": -1,
597
+ "return_measured_wall_jerk_peak_time_s": null,
598
+ "return_measured_wall_jerk_rms_rad_s3": null,
599
+ "return_measured_wall_smoothness_samples": 0,
600
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
601
+ "return_measured_wall_velocity_peak_joint": -1,
602
+ "return_measured_wall_velocity_peak_time_s": null,
603
+ "return_measured_wall_velocity_rms_rad_s": null,
604
+ "safety_abort": false,
605
+ "safety_path_error_rad": 0.6736815571784973,
606
+ "saved_data_source": "measured_rapid_planner_playback",
607
+ "send_failures": 0,
608
+ "sent_wall_accel_p95_abs_rad_s2": null,
609
+ "sent_wall_accel_peak_abs_rad_s2": null,
610
+ "sent_wall_accel_peak_joint": -1,
611
+ "sent_wall_accel_peak_time_s": null,
612
+ "sent_wall_accel_rms_rad_s2": null,
613
+ "sent_wall_jerk_p95_abs_rad_s3": null,
614
+ "sent_wall_jerk_peak_abs_rad_s3": null,
615
+ "sent_wall_jerk_peak_joint": -1,
616
+ "sent_wall_jerk_peak_time_s": null,
617
+ "sent_wall_jerk_rms_rad_s3": null,
618
+ "sent_wall_smoothness_samples": 0,
619
+ "sent_wall_velocity_peak_abs_rad_s": null,
620
+ "sent_wall_velocity_peak_joint": -1,
621
+ "sent_wall_velocity_peak_time_s": null,
622
+ "sent_wall_velocity_rms_rad_s": null,
623
+ "stage_planned_to_measured_max_error_rad": 0.6735498309135437,
624
+ "stage_planned_to_measured_rms_error_rad": 0.013007700974465491,
625
+ "stage_sent_to_measured_max_error_rad": null,
626
+ "stage_sent_to_measured_rms_error_rad": null,
627
+ "stage_sent_to_planned_max_error_rad": null,
628
+ "stage_sent_to_planned_rms_error_rad": null,
629
+ "stage_target_to_sent_max_error_rad": null,
630
+ "stage_target_to_sent_rms_error_rad": null,
631
+ "state_frame_count": 1165,
632
+ "stopped_early": false,
633
+ "strict_tracking_pass": false,
634
+ "strict_tracking_reason": "max_error_rad=0.6737",
635
+ "target_wall_accel_p95_abs_rad_s2": 0.8001180291175842,
636
+ "target_wall_accel_peak_abs_rad_s2": 4.849829196929932,
637
+ "target_wall_accel_peak_joint": 5,
638
+ "target_wall_accel_peak_time_s": 0.20007565594278276,
639
+ "target_wall_accel_rms_rad_s2": 0.3984132262543131,
640
+ "target_wall_jerk_p95_abs_rad_s3": 16.740949630737305,
641
+ "target_wall_jerk_peak_abs_rad_s3": 148.63739013671875,
642
+ "target_wall_jerk_peak_joint": 5,
643
+ "target_wall_jerk_peak_time_s": 25.566413729975466,
644
+ "target_wall_jerk_rms_rad_s3": 8.91044702025858,
645
+ "target_wall_smoothness_samples": 1165,
646
+ "target_wall_velocity_peak_abs_rad_s": 1.1572338342666626,
647
+ "target_wall_velocity_peak_joint": 5,
648
+ "target_wall_velocity_peak_time_s": 25.93338781199418,
649
+ "target_wall_velocity_rms_rad_s": 0.10973257633372922,
650
+ "tcp_pose_count": 1165,
651
+ "timestamp_count": 1165,
652
+ "tool_failures": 0,
653
+ "tracking_geometry_pass": false,
654
+ "tracking_geometry_reason": "max_error_rad=0.6737",
655
+ "tracking_pass": true,
656
+ "tracking_reason": "ok",
657
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
658
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
659
+ "tracking_threshold_max_lag_s": 0.1,
660
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
661
+ "tracking_timing_pass": true,
662
+ "tracking_timing_reason": "ok",
663
+ "window_lag_best_lag_max_s": 0.030000000000002025,
664
+ "window_lag_best_lag_median_s": 0.0,
665
+ "window_lag_best_lag_min_s": -1.2099999999999993,
666
+ "window_lag_best_lag_p95_abs_s": 0.6789999999999972,
667
+ "window_lag_count": 30,
668
+ "window_lag_window_s": 1.0,
669
+ "window_lag_worst_best_lag_s": 0.010000000000001563,
670
+ "window_lag_worst_end_s": 17.5,
671
+ "window_lag_worst_max_error_rad": 0.006274133920669556,
672
+ "window_lag_worst_rms_error_rad": 0.0021786152765104565,
673
+ "window_lag_worst_start_s": 16.5,
674
+ "zero_lag_max_error_rad": 0.6736815571784973,
675
+ "zero_lag_p95_error_rad": 0.00191668258048594,
676
+ "zero_lag_rms_error_rad": 0.011311558398246395,
677
+ "zero_lag_samples": 1165,
678
+ "zero_lag_worst_joint": 4,
679
+ "zero_lag_worst_time_s": 0.07599999999999962
680
+ }
681
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:147e66cc2ff3be4af0d6c2ca470d07e86ee55ebec1418859833d4ab1c846b2df
3
+ size 122329
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.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": "2026-10-26T16:17:40",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.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": 1158,
20
+ "actual_playback_duration_s": 38.61251603299752,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.6565899848937988,
23
+ "aligned_p95_error_rad": 0.0020994117949157953,
24
+ "aligned_rms_error_rad": 0.009893972258451213,
25
+ "aligned_samples": 1158,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 22.205,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1158,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1158,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.7160355554418703,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1158,
46
+ "cam_wrist": 1158
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
+ 0.09166055917739868,
58
+ 0.18578565120697021,
59
+ 0.17235422134399414,
60
+ 0.07368180900812149,
61
+ 0.6565899848937988,
62
+ 0.4065501093864441
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0019058948382735252,
66
+ 0.0020443482790142298,
67
+ 0.0021076397970318794,
68
+ 0.0011527895694598556,
69
+ 0.0023337157908827066,
70
+ 0.002419355558231473
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0028279305001920503,
74
+ 0.005538985333947386,
75
+ 0.00515953992940331,
76
+ 0.002236153558999099,
77
+ 0.01931998172315024,
78
+ 0.011990981780364004
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1158,
82
+ 1158,
83
+ 1158,
84
+ 1158,
85
+ 1158,
86
+ 1158
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 22.205,
90
+ 22.205,
91
+ 22.205,
92
+ 22.205,
93
+ 22.205,
94
+ 22.205
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
100
+ "leadthrough_capture_controller_tm_gap_warn": false,
101
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
102
+ "leadthrough_capture_dropped_ticks": 0,
103
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
104
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
105
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
106
+ "leadthrough_capture_egm_drained_packet_events": 1,
107
+ "leadthrough_capture_egm_drained_packet_max": 10,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006328516989015043,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003955524007324129,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004459621116984636,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004627703747246417,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2455,
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": 0.006377751007676125,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003976554959081113,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004486005718354136,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004672500485321505,
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": 0.006215432018507272,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.0039806070271879435,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0044800553179811685,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004631565044401211,
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": 0.013580052996985614,
170
+ "leadthrough_capture_loop_late_median_s": 0.006740241922670975,
171
+ "leadthrough_capture_loop_late_p95_s": 0.007237248882302083,
172
+ "leadthrough_capture_loop_late_p99_s": 0.00753042038937565,
173
+ "leadthrough_capture_loop_late_warn_count": 6408,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.0063606289913877845,
176
+ "leadthrough_capture_read_duration_median_s": 0.003967432479839772,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004477496285107918,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004663252492900939,
179
+ "leadthrough_capture_read_duration_warn_count": 2615,
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": 0.004999999999999893,
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
+ 0.0042979419231414795,
190
+ 0.002955712378025055,
191
+ 0.00306716188788414,
192
+ 0.0016268584877252579,
193
+ 0.00363844633102417,
194
+ 0.00644451379776001
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.00644451379776001,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002430407330393791,
199
+ 0.0023337416350841522,
200
+ 0.0018471665680408478,
201
+ 0.0005306010134518147,
202
+ 0.0012572109699249268,
203
+ 0.004798471927642822
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0009214244200848043,
207
+ 0.0008213756955228746,
208
+ 0.0008007960277609527,
209
+ 0.00024716180632822216,
210
+ 0.0006134573486633599,
211
+ 0.0015793079510331154
212
+ ],
213
+ "leadthrough_delta_samples": 5626,
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": -0.00644451379776001,
218
+ "leadthrough_delta_worst_from_rad": -0.8814961314201355,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.092,
221
+ "leadthrough_delta_worst_to_rad": -0.8879406452178955,
222
+ "leadthrough_duration_s": 22.500999999999998,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5625,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5760000000000005,
228
+ "leadthrough_final_stillness_removed_samples": 144,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5626,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6408,
234
+ "leadthrough_initial_stillness_first_motion_index": 638,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.548,
238
+ "leadthrough_initial_stillness_removed_samples": 637,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 637,
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
+ 0.0042979419231414795,
249
+ 0.002955712378025055,
250
+ 0.00306716188788414,
251
+ 0.0016268584877252579,
252
+ 0.00363844633102417,
253
+ 0.00644451379776001
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.00644451379776001,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.4287879069645657,
258
+ 0.9813755750655756,
259
+ 1.0056097526108831,
260
+ 0.5400888621806894,
261
+ 1.2118021647134958,
262
+ 2.1405816078185222
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9057570695877075,
265
+ "leadthrough_velocity_rms_rad_s": 0.23627536877514024,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.6565899848937988,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.49188706278800964,
271
+ "measured_wall_accel_peak_abs_rad_s2": 314.2210388183594,
272
+ "measured_wall_accel_peak_joint": 4,
273
+ "measured_wall_accel_peak_time_s": 13.147484924003948,
274
+ "measured_wall_accel_rms_rad_s2": 8.075085028449351,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.4214448928833,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 5147.27001953125,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 13.209999741986394,
279
+ "measured_wall_jerk_rms_rad_s3": 110.72637151753061,
280
+ "measured_wall_smoothness_samples": 1158,
281
+ "measured_wall_velocity_peak_abs_rad_s": 19.643470764160156,
282
+ "measured_wall_velocity_peak_joint": 4,
283
+ "measured_wall_velocity_peak_time_s": 13.147484924003948,
284
+ "measured_wall_velocity_rms_rad_s": 0.3805924030231399,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.6565899848937988,
287
+ "moving_aligned_p95_error_rad": 0.002350360620766878,
288
+ "moving_aligned_rms_error_rad": 0.011453481688130849,
289
+ "moving_aligned_samples": 864,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 22.205,
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
+ 0.00458836555480957,
302
+ 0.18578565120697021,
303
+ 0.17235422134399414,
304
+ 0.07368180900812149,
305
+ 0.004787087440490723,
306
+ 0.0068073272705078125
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002267977222800255,
310
+ 0.0025175511837005615,
311
+ 0.0022838946897536516,
312
+ 0.002910390729084611,
313
+ 0.002680347068235278,
314
+ 0.0032529800664633512
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.001051667170039437,
318
+ 0.007218169747917424,
319
+ 0.006297813173049449,
320
+ 0.00524697917203193,
321
+ 0.001232558021654481,
322
+ 0.0017636310699972147
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 731,
326
+ 681,
327
+ 773,
328
+ 207,
329
+ 542,
330
+ 347
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 4.851,
334
+ 22.205,
335
+ 22.205,
336
+ 22.205,
337
+ 4.123,
338
+ 3.431
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": 131.39732360839844,
348
+ "playback_velocity_rms_rad_s": 3.033022996782656,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 75.002,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 22.500999999999998,
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
+ 2336,
357
+ 4917
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.430545243199985,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08572477102279663,
364
+ "rapid_planner_max_dt_s": 2.571999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007514432072639465,
367
+ "rapid_planner_median_dt_s": 0.08399999999999963,
368
+ "rapid_planner_path_max_error_rad": 0.6565899848937988,
369
+ "rapid_planner_path_p95_error_rad": 0.003155809640884398,
370
+ "rapid_planner_path_rms_error_rad": 0.01935730136277343,
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
+ 38,
376
+ 65,
377
+ 91,
378
+ 105,
379
+ 119,
380
+ 139,
381
+ 149,
382
+ 159,
383
+ 172,
384
+ 186,
385
+ 200,
386
+ 214,
387
+ 224,
388
+ 233,
389
+ 242,
390
+ 252,
391
+ 261,
392
+ 270,
393
+ 278,
394
+ 287,
395
+ 296,
396
+ 305,
397
+ 314,
398
+ 323,
399
+ 334,
400
+ 346,
401
+ 365,
402
+ 382,
403
+ 397,
404
+ 417,
405
+ 474,
406
+ 530,
407
+ 566,
408
+ 601,
409
+ 645,
410
+ 680,
411
+ 706,
412
+ 727,
413
+ 774,
414
+ 820,
415
+ 942,
416
+ 1005,
417
+ 1074,
418
+ 1125,
419
+ 1159,
420
+ 1383,
421
+ 1558,
422
+ 1644,
423
+ 1703,
424
+ 2336,
425
+ 2979,
426
+ 3038,
427
+ 3115,
428
+ 3156,
429
+ 3194,
430
+ 3224,
431
+ 3254,
432
+ 3272,
433
+ 3290,
434
+ 3316,
435
+ 3331,
436
+ 3346,
437
+ 3377,
438
+ 3411,
439
+ 3430,
440
+ 3448,
441
+ 3466,
442
+ 3483,
443
+ 3516,
444
+ 3544,
445
+ 3572,
446
+ 3598,
447
+ 3624,
448
+ 3637,
449
+ 3650,
450
+ 3665,
451
+ 3680,
452
+ 3695,
453
+ 3710,
454
+ 3720,
455
+ 3730,
456
+ 3740,
457
+ 3750,
458
+ 3764,
459
+ 3779,
460
+ 3809,
461
+ 3838,
462
+ 3906,
463
+ 3973,
464
+ 4091,
465
+ 4253,
466
+ 4603,
467
+ 4714,
468
+ 4917,
469
+ 5114,
470
+ 5139,
471
+ 5163,
472
+ 5192,
473
+ 5223,
474
+ 5241,
475
+ 5259,
476
+ 5283,
477
+ 5312,
478
+ 5328,
479
+ 5343,
480
+ 5355,
481
+ 5372,
482
+ 5384,
483
+ 5395,
484
+ 5411,
485
+ 5425,
486
+ 5442,
487
+ 5464,
488
+ 5485,
489
+ 5515,
490
+ 5540,
491
+ 5562,
492
+ 5600,
493
+ 5626
494
+ ],
495
+ "rapid_planner_selected_max_joint_step_deg": 4.911667579331624,
496
+ "rapid_planner_selected_samples": 120,
497
+ "rapid_planner_service_configured": true,
498
+ "rapid_planner_source_samples": 5627,
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": 0.6565899848937988,
516
+ "raw_replay_rms_error_rad": 0.009893972258451213,
517
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9887584633746349,
518
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9876712629358723,
519
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9890028711386692,
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": 0.9875171978631306,
534
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9899133319349067,
535
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9939500935601656,
536
+ "replay_smoothing_max_deviation_by_joint_rad": [
537
+ 0.0003611147403717041,
538
+ 0.0003947615623474121,
539
+ 0.0005403757095336914,
540
+ 0.004084327258169651,
541
+ 0.0020552873611450195,
542
+ 0.005490422248840332
543
+ ],
544
+ "replay_smoothing_max_deviation_normalized": 0.629156050080228,
545
+ "replay_smoothing_max_deviation_rad": 0.005490422248840332,
546
+ "replay_smoothing_method": "scipy_savgol",
547
+ "replay_smoothing_p95_deviation_rad": 0.001771424664184451,
548
+ "replay_smoothing_passes": 8,
549
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.839463233947754,
550
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 62.93162536621094,
551
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.365214173789572,
552
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1796.85693359375,
553
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 17039.23828125,
554
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1142.3312514296972,
555
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9118146896362305,
556
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.23711950580539412,
557
+ "replay_smoothing_rms_deviation_rad": 0.0008677366925495758,
558
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.751335620880127,
559
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 62.155757904052734,
560
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.3172093510131,
561
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1774.4271240234375,
562
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 16867.369140625,
563
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1135.4202542352486,
564
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9057570695877075,
565
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.23627536877514024,
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": 0.9968314815858667,
576
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.996440035469091,
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": 14.581999999999999,
582
+ "replay_smoothing_wrist_max_deviation_rad": 0.005490422248840332,
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": 0.6565899848937988,
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": 0.6725791096687317,
618
+ "stage_planned_to_measured_rms_error_rad": 0.012976639377231135,
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": 1158,
626
+ "stopped_early": false,
627
+ "strict_tracking_pass": false,
628
+ "strict_tracking_reason": "max_error_rad=0.6566",
629
+ "target_wall_accel_p95_abs_rad_s2": 0.753492534160614,
630
+ "target_wall_accel_peak_abs_rad_s2": 88.7631607055664,
631
+ "target_wall_accel_peak_joint": 2,
632
+ "target_wall_accel_peak_time_s": 6.172980647534132e-06,
633
+ "target_wall_accel_rms_rad_s2": 2.538272012487396,
634
+ "target_wall_jerk_p95_abs_rad_s3": 17.490703582763672,
635
+ "target_wall_jerk_peak_abs_rad_s3": 1329.2459716796875,
636
+ "target_wall_jerk_peak_joint": 2,
637
+ "target_wall_jerk_peak_time_s": 0.06673463695915416,
638
+ "target_wall_jerk_rms_rad_s3": 31.778823519500026,
639
+ "target_wall_smoothness_samples": 1158,
640
+ "target_wall_velocity_peak_abs_rad_s": 5.92302942276001,
641
+ "target_wall_velocity_peak_joint": 2,
642
+ "target_wall_velocity_peak_time_s": 6.172980647534132e-06,
643
+ "target_wall_velocity_rms_rad_s": 0.16322343223684577,
644
+ "tcp_pose_count": 1158,
645
+ "timestamp_count": 1158,
646
+ "tool_failures": 0,
647
+ "tracking_geometry_pass": false,
648
+ "tracking_geometry_reason": "max_error_rad=0.6566",
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": 1.9000000000000035,
658
+ "window_lag_best_lag_median_s": 0.0,
659
+ "window_lag_best_lag_min_s": -1.3799999999999994,
660
+ "window_lag_best_lag_p95_abs_s": 1.6920000000000008,
661
+ "window_lag_count": 29,
662
+ "window_lag_window_s": 1.0,
663
+ "window_lag_worst_best_lag_s": -1.3799999999999994,
664
+ "window_lag_worst_end_s": 11.0,
665
+ "window_lag_worst_max_error_rad": 0.007658481597900391,
666
+ "window_lag_worst_rms_error_rad": 0.0020940785429164896,
667
+ "window_lag_worst_start_s": 10.0,
668
+ "zero_lag_max_error_rad": 0.6565899848937988,
669
+ "zero_lag_p95_error_rad": 0.0020994117949157953,
670
+ "zero_lag_rms_error_rad": 0.009893972258451213,
671
+ "zero_lag_samples": 1158,
672
+ "zero_lag_worst_joint": 4,
673
+ "zero_lag_worst_time_s": 22.205
674
+ }
675
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:934472486d36634e4fa517db9c7454404027cdabc97edb8198e3d896e4c32d68
3
+ size 123043
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.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": "2026-10-26T16:19:24",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.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": 1141,
20
+ "actual_playback_duration_s": 38.0494833010016,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.007179595530033112,
23
+ "aligned_p95_error_rad": 0.0020897984504699707,
24
+ "aligned_rms_error_rad": 0.0009236119254756224,
25
+ "aligned_samples": 1141,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 24.669,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1141,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1141,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.4717627857889453,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1141,
46
+ "cam_wrist": 1141
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
+ 0.005527228116989136,
58
+ 0.006371140480041504,
59
+ 0.004930749535560608,
60
+ 0.003147970885038376,
61
+ 0.006524980068206787,
62
+ 0.007179595530033112
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0019629597663879395,
66
+ 0.0022191032767295837,
67
+ 0.002100178971886635,
68
+ 0.0009551444090902805,
69
+ 0.0030421018600463867,
70
+ 0.0020763278007507324
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008707948566130646,
74
+ 0.0009939962231495243,
75
+ 0.0008810229494179607,
76
+ 0.00043416695544297326,
77
+ 0.0011720699393794514,
78
+ 0.0010166569893276395
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1141,
82
+ 1141,
83
+ 1141,
84
+ 1141,
85
+ 1141,
86
+ 1141
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 24.701,
90
+ 24.701,
91
+ 3.4710000000000005,
92
+ 21.294,
93
+ 24.653,
94
+ 24.669
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.006112420000135899,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.0039523569867014885,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004458021133905276,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004734890791587532,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2706,
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": 0.0061912580276839435,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003974124963860959,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044838451023679225,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004777692119823766,
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": 0.006233320978935808,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003979086002800614,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004477536794729531,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004724398349644616,
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": 0.017354108043946326,
170
+ "leadthrough_capture_loop_late_median_s": 0.011632760433712974,
171
+ "leadthrough_capture_loop_late_p95_s": 0.012123954654089174,
172
+ "leadthrough_capture_loop_late_p99_s": 0.012606271477416157,
173
+ "leadthrough_capture_loop_late_warn_count": 7004,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.0061613990110345185,
176
+ "leadthrough_capture_read_duration_median_s": 0.003964306495618075,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004471738860593177,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004762454539886677,
179
+ "leadthrough_capture_read_duration_warn_count": 2878,
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": 2,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.003912046551704407,
190
+ 0.0022262632846832275,
191
+ 0.0023968517780303955,
192
+ 0.0008095353841781616,
193
+ 0.0022374391555786133,
194
+ 0.006482861936092377
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006482861936092377,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0019106261897832155,
199
+ 0.0017644779291003942,
200
+ 0.0016947080148383975,
201
+ 0.00035548233427107334,
202
+ 0.0012149515096098185,
203
+ 0.003694999497383833
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008059685933403671,
207
+ 0.0006712976028211415,
208
+ 0.0006998189492151141,
209
+ 0.0001384808128932491,
210
+ 0.0004962652456015348,
211
+ 0.0013472321443259716
212
+ ],
213
+ "leadthrough_delta_samples": 6464,
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": 0.006482861936092377,
218
+ "leadthrough_delta_worst_from_rad": -0.07541852444410324,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 24.413,
221
+ "leadthrough_delta_worst_to_rad": -0.06893566250801086,
222
+ "leadthrough_duration_s": 25.852999999999998,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6430,
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": 6431,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 7004,
234
+ "leadthrough_initial_stillness_first_motion_index": 540,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.155,
238
+ "leadthrough_initial_stillness_removed_samples": 539,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 539,
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": 0.0040000000000000036,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.003912046551704407,
249
+ 0.0022262632846832275,
250
+ 0.0023968517780303955,
251
+ 0.0008095353841781616,
252
+ 0.0022374391555786133,
253
+ 0.006482861936092377
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006482861936092377,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2948314348856118,
258
+ 0.71172912915545,
259
+ 0.7728512088457451,
260
+ 0.20238384604447282,
261
+ 0.734229882558159,
262
+ 2.160953978697377
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.8117865324020386,
265
+ "leadthrough_velocity_rms_rad_s": 0.19695437016735942,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.007179595530033112,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4701252281665802,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.128819704055786,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 13.14587783603929,
274
+ "measured_wall_accel_rms_rad_s2": 0.2524755041571936,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.008063316345215,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 47.395790100097656,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 13.214096951996908,
279
+ "measured_wall_jerk_rms_rad_s3": 4.039769756675068,
280
+ "measured_wall_smoothness_samples": 1141,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6588113903999329,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.053114563052077,
284
+ "measured_wall_velocity_rms_rad_s": 0.09909422941213225,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.007179595530033112,
287
+ "moving_aligned_p95_error_rad": 0.0024573158007115126,
288
+ "moving_aligned_rms_error_rad": 0.0010678457301429003,
289
+ "moving_aligned_samples": 833,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 24.669,
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
+ 0.005527228116989136,
302
+ 0.006371140480041504,
303
+ 0.004930749535560608,
304
+ 0.0030714282765984535,
305
+ 0.006524980068206787,
306
+ 0.007179595530033112
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0022282027639448643,
310
+ 0.0026841547805815935,
311
+ 0.0025562166702002287,
312
+ 0.00198306143283844,
313
+ 0.0037608800921589136,
314
+ 0.0028717077802866697
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010532079766190844,
318
+ 0.0011810503371370187,
319
+ 0.0011019794219384806,
320
+ 0.0008426335846848938,
321
+ 0.0015944952170880043,
322
+ 0.0014989012701953934
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 722,
326
+ 744,
327
+ 645,
328
+ 144,
329
+ 530,
330
+ 422
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 24.701,
334
+ 24.701,
335
+ 3.4710000000000005,
336
+ 21.352999999999998,
337
+ 24.653,
338
+ 24.669
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": 2.6726653575897217,
348
+ "playback_velocity_rms_rad_s": 0.35919505067519397,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 81.70599999999999,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.852999999999998,
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
+ 2931,
357
+ 5581
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4436412771598382,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.0867723822593689,
364
+ "rapid_planner_max_dt_s": 2.8919999999999995,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.0077430009841918945,
367
+ "rapid_planner_median_dt_s": 0.1039999999999992,
368
+ "rapid_planner_path_max_error_rad": 0.007179595530033112,
369
+ "rapid_planner_path_p95_error_rad": 0.0033744387328624725,
370
+ "rapid_planner_path_rms_error_rad": 0.0015440195366507258,
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
+ 25,
376
+ 55,
377
+ 72,
378
+ 90,
379
+ 110,
380
+ 131,
381
+ 152,
382
+ 163,
383
+ 174,
384
+ 190,
385
+ 198,
386
+ 206,
387
+ 214,
388
+ 222,
389
+ 230,
390
+ 238,
391
+ 250,
392
+ 263,
393
+ 276,
394
+ 288,
395
+ 306,
396
+ 323,
397
+ 340,
398
+ 358,
399
+ 369,
400
+ 380,
401
+ 396,
402
+ 411,
403
+ 428,
404
+ 505,
405
+ 553,
406
+ 601,
407
+ 654,
408
+ 713,
409
+ 752,
410
+ 791,
411
+ 845,
412
+ 892,
413
+ 923,
414
+ 945,
415
+ 1038,
416
+ 1135,
417
+ 1205,
418
+ 1253,
419
+ 1395,
420
+ 1463,
421
+ 1642,
422
+ 2208,
423
+ 2931,
424
+ 3536,
425
+ 3589,
426
+ 3677,
427
+ 3730,
428
+ 3775,
429
+ 3823,
430
+ 3871,
431
+ 3901,
432
+ 3931,
433
+ 3956,
434
+ 3982,
435
+ 4008,
436
+ 4034,
437
+ 4069,
438
+ 4104,
439
+ 4130,
440
+ 4156,
441
+ 4182,
442
+ 4208,
443
+ 4245,
444
+ 4280,
445
+ 4297,
446
+ 4313,
447
+ 4336,
448
+ 4359,
449
+ 4380,
450
+ 4402,
451
+ 4416,
452
+ 4431,
453
+ 4455,
454
+ 4498,
455
+ 4542,
456
+ 4625,
457
+ 4724,
458
+ 4762,
459
+ 4796,
460
+ 5006,
461
+ 5098,
462
+ 5174,
463
+ 5263,
464
+ 5358,
465
+ 5406,
466
+ 5581,
467
+ 5786,
468
+ 5815,
469
+ 5857,
470
+ 5899,
471
+ 5941,
472
+ 5971,
473
+ 5989,
474
+ 6007,
475
+ 6022,
476
+ 6036,
477
+ 6052,
478
+ 6067,
479
+ 6079,
480
+ 6091,
481
+ 6100,
482
+ 6108,
483
+ 6124,
484
+ 6137,
485
+ 6150,
486
+ 6196,
487
+ 6220,
488
+ 6464
489
+ ],
490
+ "rapid_planner_selected_max_joint_step_deg": 4.971691281757696,
491
+ "rapid_planner_selected_samples": 115,
492
+ "rapid_planner_service_configured": true,
493
+ "rapid_planner_source_samples": 6465,
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": 0.007179595530033112,
511
+ "raw_replay_rms_error_rad": 0.0009236119254756224,
512
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9689159040568649,
513
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9340527875209291,
514
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9711931954486573,
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": 0.9682591200173153,
529
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9353065223724294,
530
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9926111393060563,
531
+ "replay_smoothing_max_deviation_by_joint_rad": [
532
+ 0.0006938278675079346,
533
+ 0.00040593743324279785,
534
+ 0.00061073899269104,
535
+ 0.0013193078339099884,
536
+ 0.0028084516525268555,
537
+ 0.005202770233154297
538
+ ],
539
+ "replay_smoothing_max_deviation_normalized": 0.596193556890407,
540
+ "replay_smoothing_max_deviation_rad": 0.005202770233154297,
541
+ "replay_smoothing_method": "scipy_savgol",
542
+ "replay_smoothing_p95_deviation_rad": 0.0015725514385849237,
543
+ "replay_smoothing_passes": 8,
544
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 2.7981882095336914,
545
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 47.85209274291992,
546
+ "replay_smoothing_raw_accel_rms_rad_s2": 1.9126757318361736,
547
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 613.0574951171875,
548
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14427.984375,
549
+ "replay_smoothing_raw_jerk_rms_rad_s3": 516.0848299873181,
550
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9287817478179932,
551
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.19766397863987714,
552
+ "replay_smoothing_rms_deviation_rad": 0.000761164508340019,
553
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 2.7112090587615967,
554
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 44.696380615234375,
555
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 1.8575776558590726,
556
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 593.5985107421875,
557
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13494.587890625,
558
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 512.2715510722842,
559
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8117865324020386,
560
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.19695437016735942,
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": 0.9393424292052174,
571
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9964100263619071,
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": 1.62,
577
+ "replay_smoothing_wrist_max_deviation_rad": 0.005202770233154297,
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": 0.007179595530033112,
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": 0.03877592086791992,
613
+ "stage_planned_to_measured_rms_error_rad": 0.005882552167211526,
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": 1141,
621
+ "stopped_early": false,
622
+ "strict_tracking_pass": true,
623
+ "strict_tracking_reason": "ok",
624
+ "target_wall_accel_p95_abs_rad_s2": 0.7603658437728882,
625
+ "target_wall_accel_peak_abs_rad_s2": 3.494828224182129,
626
+ "target_wall_accel_peak_joint": 4,
627
+ "target_wall_accel_peak_time_s": 8.4333888310357,
628
+ "target_wall_accel_rms_rad_s2": 0.3621814682665419,
629
+ "target_wall_jerk_p95_abs_rad_s3": 16.09563446044922,
630
+ "target_wall_jerk_peak_abs_rad_s3": 78.21199035644531,
631
+ "target_wall_jerk_peak_joint": 5,
632
+ "target_wall_jerk_peak_time_s": 2.8333875089883804,
633
+ "target_wall_jerk_rms_rad_s3": 7.872260918553838,
634
+ "target_wall_smoothness_samples": 1141,
635
+ "target_wall_velocity_peak_abs_rad_s": 0.6980936527252197,
636
+ "target_wall_velocity_peak_joint": 5,
637
+ "target_wall_velocity_peak_time_s": 2.7667209900100715,
638
+ "target_wall_velocity_rms_rad_s": 0.10008260300686313,
639
+ "tcp_pose_count": 1141,
640
+ "timestamp_count": 1141,
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": 1.6400000000000032,
653
+ "window_lag_best_lag_median_s": 0.0,
654
+ "window_lag_best_lag_min_s": -0.7899999999999989,
655
+ "window_lag_best_lag_p95_abs_s": 1.4780000000000026,
656
+ "window_lag_count": 33,
657
+ "window_lag_window_s": 1.0,
658
+ "window_lag_worst_best_lag_s": -0.7899999999999989,
659
+ "window_lag_worst_end_s": 22.5,
660
+ "window_lag_worst_max_error_rad": 0.004855722188949585,
661
+ "window_lag_worst_rms_error_rad": 0.002873050610573149,
662
+ "window_lag_worst_start_s": 21.5,
663
+ "zero_lag_max_error_rad": 0.007179595530033112,
664
+ "zero_lag_p95_error_rad": 0.0020897984504699707,
665
+ "zero_lag_rms_error_rad": 0.0009236119254756224,
666
+ "zero_lag_samples": 1141,
667
+ "zero_lag_worst_joint": 5,
668
+ "zero_lag_worst_time_s": 24.669
669
+ }
670
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6323d55559f3dec3c8c696581b6410107ebc61c595124c32a287edbcb8b72a7
3
+ size 120531
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.json ADDED
@@ -0,0 +1,679 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:21:15",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.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": 1161,
20
+ "actual_playback_duration_s": 38.71800001204247,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005887627601623535,
23
+ "aligned_p95_error_rad": 0.0018364973366260529,
24
+ "aligned_rms_error_rad": 0.0008440437435380194,
25
+ "aligned_samples": 1161,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 15.527,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1161,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1161,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.5672131152415487,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1161,
46
+ "cam_wrist": 1161
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
+ 0.005887627601623535,
58
+ 0.0028240084648132324,
59
+ 0.005397319793701172,
60
+ 0.003827342763543129,
61
+ 0.005051374435424805,
62
+ 0.005746364593505859
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0019526481628417969,
66
+ 0.0013764798641204834,
67
+ 0.0017775893211364746,
68
+ 0.0014175288379192352,
69
+ 0.0019510984420776367,
70
+ 0.0025871098041534424
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0009086184547284824,
74
+ 0.0006482620103298782,
75
+ 0.0008666102133879517,
76
+ 0.0005725791218879217,
77
+ 0.0009325417572675893,
78
+ 0.0010392947964393718
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1161,
82
+ 1161,
83
+ 1161,
84
+ 1161,
85
+ 1161,
86
+ 1161
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 15.527,
90
+ 16.874000000000002,
91
+ 22.478,
92
+ 5.648,
93
+ 23.286,
94
+ 15.534
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 14,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.006662522966507822,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003959832509281114,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.00449086416629143,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005297867346671408,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2778,
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": 0.006693353992886841,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039835189818404615,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004515187360811979,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0053362649609334754,
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": 0.006671911978628486,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003986112016718835,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004514811234548688,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005249971362063661,
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": 0.01266733300872147,
170
+ "leadthrough_capture_loop_late_median_s": 0.0075528480228967965,
171
+ "leadthrough_capture_loop_late_p95_s": 0.008062435695319437,
172
+ "leadthrough_capture_loop_late_p99_s": 0.009120819831732657,
173
+ "leadthrough_capture_loop_late_warn_count": 6944,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006677326979115605,
176
+ "leadthrough_capture_read_duration_median_s": 0.003972805512603372,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004504361661383882,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005322107437532392,
179
+ "leadthrough_capture_read_duration_warn_count": 2990,
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": 0.004999999999999893,
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": 15,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.004087820649147034,
190
+ 0.0026848651468753815,
191
+ 0.0026545077562332153,
192
+ 0.0016292557120323181,
193
+ 0.004458129405975342,
194
+ 0.0072977542877197266
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.0072977542877197266,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002209722064435482,
199
+ 0.0020669661462306976,
200
+ 0.0019003867637366056,
201
+ 0.00041920741205103695,
202
+ 0.001124739646911621,
203
+ 0.0037546430248767138
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008473100606352091,
207
+ 0.0007251258357428014,
208
+ 0.0007446624804288149,
209
+ 0.00019237599917687476,
210
+ 0.0006053895340301096,
211
+ 0.001475654193200171
212
+ ],
213
+ "leadthrough_delta_samples": 6177,
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": -0.0072977542877197266,
218
+ "leadthrough_delta_worst_from_rad": -0.9637342691421509,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.1359999999999997,
221
+ "leadthrough_delta_worst_to_rad": -0.9710320234298706,
222
+ "leadthrough_duration_s": 24.705000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6171,
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": 6172,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6944,
234
+ "leadthrough_initial_stillness_first_motion_index": 767,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.063,
238
+ "leadthrough_initial_stillness_removed_samples": 766,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 766,
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
+ 0.004087820649147034,
249
+ 0.0026848651468753815,
250
+ 0.0026545077562332153,
251
+ 0.0016292557120323181,
252
+ 0.004458129405975342,
253
+ 0.0072977542877197266
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0072977542877197266,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0219551622864171,
258
+ 0.6712162867186212,
259
+ 0.6636269390580822,
260
+ 0.5342966566482977,
261
+ 1.1145323514944532,
262
+ 2.427995204925445
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.1406092643737793,
265
+ "leadthrough_velocity_rms_rad_s": 0.21752132377788544,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005887627601623535,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4888328015804291,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.630652904510498,
272
+ "measured_wall_accel_peak_joint": 4,
273
+ "measured_wall_accel_peak_time_s": 22.58036754099885,
274
+ "measured_wall_accel_rms_rad_s2": 0.24208753305029862,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.028392791748047,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 54.86581802368164,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 22.537694511993323,
279
+ "measured_wall_jerk_rms_rad_s3": 4.1572012625470265,
280
+ "measured_wall_smoothness_samples": 1161,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.763264536857605,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 17.004813224019017,
284
+ "measured_wall_velocity_rms_rad_s": 0.10094308778024462,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005887627601623535,
287
+ "moving_aligned_p95_error_rad": 0.0020432353485375643,
288
+ "moving_aligned_rms_error_rad": 0.000967770575337741,
289
+ "moving_aligned_samples": 863,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 15.527,
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
+ 0.005887627601623535,
302
+ 0.0028240084648132324,
303
+ 0.005397319793701172,
304
+ 0.003827342763543129,
305
+ 0.005051374435424805,
306
+ 0.005746364593505859
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002326037734746933,
310
+ 0.001493602991104126,
311
+ 0.002021701307967305,
312
+ 0.0021005647722631693,
313
+ 0.0028783942107111216,
314
+ 0.0036334036849439144
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0011241677432184322,
318
+ 0.0007476129026242457,
319
+ 0.0010209033907691387,
320
+ 0.0010023617360634157,
321
+ 0.0012602620847120076,
322
+ 0.001772269093229024
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 706,
326
+ 781,
327
+ 704,
328
+ 227,
329
+ 543,
330
+ 383
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 15.527,
334
+ 16.874000000000002,
335
+ 22.478,
336
+ 5.648,
337
+ 23.286,
338
+ 15.534
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": 2.1826088428497314,
348
+ "playback_velocity_rms_rad_s": 0.38027611048541343,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 79.41,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.705000000000002,
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
+ 2557,
357
+ 5261
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4233108989301779,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08524841070175171,
364
+ "rapid_planner_max_dt_s": 2.460000000000001,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.0073881689459085464,
367
+ "rapid_planner_median_dt_s": 0.09999999999999787,
368
+ "rapid_planner_path_max_error_rad": 0.005887627601623535,
369
+ "rapid_planner_path_p95_error_rad": 0.002980850636959076,
370
+ "rapid_planner_path_rms_error_rad": 0.0014479473453537638,
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
+ 46,
376
+ 77,
377
+ 101,
378
+ 116,
379
+ 131,
380
+ 149,
381
+ 158,
382
+ 167,
383
+ 178,
384
+ 188,
385
+ 198,
386
+ 208,
387
+ 216,
388
+ 224,
389
+ 232,
390
+ 241,
391
+ 252,
392
+ 262,
393
+ 272,
394
+ 282,
395
+ 292,
396
+ 302,
397
+ 312,
398
+ 323,
399
+ 334,
400
+ 345,
401
+ 357,
402
+ 369,
403
+ 381,
404
+ 397,
405
+ 432,
406
+ 466,
407
+ 500,
408
+ 535,
409
+ 578,
410
+ 622,
411
+ 666,
412
+ 710,
413
+ 741,
414
+ 775,
415
+ 847,
416
+ 882,
417
+ 949,
418
+ 1017,
419
+ 1145,
420
+ 1262,
421
+ 1385,
422
+ 1478,
423
+ 1535,
424
+ 1644,
425
+ 1718,
426
+ 2026,
427
+ 2136,
428
+ 2557,
429
+ 3172,
430
+ 3224,
431
+ 3289,
432
+ 3329,
433
+ 3366,
434
+ 3399,
435
+ 3420,
436
+ 3442,
437
+ 3472,
438
+ 3502,
439
+ 3532,
440
+ 3561,
441
+ 3586,
442
+ 3612,
443
+ 3633,
444
+ 3654,
445
+ 3676,
446
+ 3698,
447
+ 3739,
448
+ 3758,
449
+ 3778,
450
+ 3806,
451
+ 3835,
452
+ 3867,
453
+ 3899,
454
+ 3922,
455
+ 3944,
456
+ 3962,
457
+ 3981,
458
+ 4010,
459
+ 4033,
460
+ 4056,
461
+ 4084,
462
+ 4111,
463
+ 4130,
464
+ 4149,
465
+ 4242,
466
+ 4291,
467
+ 4359,
468
+ 4763,
469
+ 4906,
470
+ 4959,
471
+ 5045,
472
+ 5261,
473
+ 5532,
474
+ 5567,
475
+ 5600,
476
+ 5639,
477
+ 5658,
478
+ 5678,
479
+ 5705,
480
+ 5720,
481
+ 5735,
482
+ 5746,
483
+ 5758,
484
+ 5772,
485
+ 5786,
486
+ 5800,
487
+ 5814,
488
+ 5837,
489
+ 5851,
490
+ 5865,
491
+ 5885,
492
+ 5901,
493
+ 5918,
494
+ 5935,
495
+ 5983,
496
+ 6136,
497
+ 6177
498
+ ],
499
+ "rapid_planner_selected_max_joint_step_deg": 4.8843741434082535,
500
+ "rapid_planner_selected_samples": 124,
501
+ "rapid_planner_service_configured": true,
502
+ "rapid_planner_source_samples": 6178,
503
+ "rapid_planner_state_done": 6.0,
504
+ "rapid_planner_state_error": 7.0,
505
+ "rapid_planner_tool_command_hz": 30.0,
506
+ "rapid_planner_tool_command_supported": true,
507
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
508
+ "rapid_planner_tool_io_configured": true,
509
+ "rapid_planner_tool_io_supported": true,
510
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
511
+ "rapid_planner_tool_state_supported": true,
512
+ "rapid_planner_tool_transition_source_count": 2,
513
+ "rapid_planner_tool_transitions_uploaded": 2,
514
+ "rapid_planner_tool_upload_enabled": true,
515
+ "rapid_planner_uploaded": true,
516
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
517
+ "rapid_planner_waypoints_uploaded": 124,
518
+ "raw_ramp_max_error_rad": null,
519
+ "raw_replay_max_error_rad": 0.005887627601623535,
520
+ "raw_replay_rms_error_rad": 0.0008440437435380194,
521
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9795511845768242,
522
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9797485083432663,
523
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9891470216742717,
524
+ "replay_smoothing_applied": true,
525
+ "replay_smoothing_blend": 1.0,
526
+ "replay_smoothing_blend_by_joint": [
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0
533
+ ],
534
+ "replay_smoothing_edge_taper_s": 0.2,
535
+ "replay_smoothing_edge_taper_samples": 50,
536
+ "replay_smoothing_enabled": true,
537
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9963565179399732,
538
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9873411733684583,
539
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9941523725212985,
540
+ "replay_smoothing_max_deviation_by_joint_rad": [
541
+ 0.00040709972381591797,
542
+ 0.00045831501483917236,
543
+ 0.0008882731199264526,
544
+ 0.002961263060569763,
545
+ 0.00210648775100708,
546
+ 0.004254937171936035
547
+ ],
548
+ "replay_smoothing_max_deviation_normalized": 0.4875798878675029,
549
+ "replay_smoothing_max_deviation_rad": 0.004254937171936035,
550
+ "replay_smoothing_method": "scipy_savgol",
551
+ "replay_smoothing_p95_deviation_rad": 0.001580083160661161,
552
+ "replay_smoothing_passes": 8,
553
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.578648090362549,
554
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 71.32977294921875,
555
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.6898574566792326,
556
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 922.9948120117188,
557
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 19199.33203125,
558
+ "replay_smoothing_raw_jerk_rms_rad_s3": 949.3594631035367,
559
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.1690151691436768,
560
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21819815922051292,
561
+ "replay_smoothing_rms_deviation_rad": 0.0007203867874935444,
562
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.485020160675049,
563
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 69.88523864746094,
564
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.649811513676866,
565
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 919.6318969726562,
566
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 18956.291015625,
567
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 943.8079626199271,
568
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.1406092643737793,
569
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21752132377788544,
570
+ "replay_smoothing_tolerance_by_joint_rad": [
571
+ 0.03490658476948738,
572
+ 0.03490658476948738,
573
+ 0.02617993950843811,
574
+ 0.008726646192371845,
575
+ 0.008726646192371845,
576
+ 0.008726646192371845
577
+ ],
578
+ "replay_smoothing_tolerance_rad": 0.034906585,
579
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9869037777264084,
580
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968980698781081,
581
+ "replay_smoothing_window_s": 0.2,
582
+ "replay_smoothing_window_samples": 51,
583
+ "replay_smoothing_within_tolerance": true,
584
+ "replay_smoothing_worst_joint": 5,
585
+ "replay_smoothing_worst_time_s": 1.509,
586
+ "replay_smoothing_wrist_max_deviation_rad": 0.004254937171936035,
587
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
588
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
589
+ "return_measured_wall_accel_peak_joint": -1,
590
+ "return_measured_wall_accel_peak_time_s": null,
591
+ "return_measured_wall_accel_rms_rad_s2": null,
592
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
593
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
594
+ "return_measured_wall_jerk_peak_joint": -1,
595
+ "return_measured_wall_jerk_peak_time_s": null,
596
+ "return_measured_wall_jerk_rms_rad_s3": null,
597
+ "return_measured_wall_smoothness_samples": 0,
598
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
599
+ "return_measured_wall_velocity_peak_joint": -1,
600
+ "return_measured_wall_velocity_peak_time_s": null,
601
+ "return_measured_wall_velocity_rms_rad_s": null,
602
+ "safety_abort": false,
603
+ "safety_path_error_rad": 0.005887627601623535,
604
+ "saved_data_source": "measured_rapid_planner_playback",
605
+ "send_failures": 0,
606
+ "sent_wall_accel_p95_abs_rad_s2": null,
607
+ "sent_wall_accel_peak_abs_rad_s2": null,
608
+ "sent_wall_accel_peak_joint": -1,
609
+ "sent_wall_accel_peak_time_s": null,
610
+ "sent_wall_accel_rms_rad_s2": null,
611
+ "sent_wall_jerk_p95_abs_rad_s3": null,
612
+ "sent_wall_jerk_peak_abs_rad_s3": null,
613
+ "sent_wall_jerk_peak_joint": -1,
614
+ "sent_wall_jerk_peak_time_s": null,
615
+ "sent_wall_jerk_rms_rad_s3": null,
616
+ "sent_wall_smoothness_samples": 0,
617
+ "sent_wall_velocity_peak_abs_rad_s": null,
618
+ "sent_wall_velocity_peak_joint": -1,
619
+ "sent_wall_velocity_peak_time_s": null,
620
+ "sent_wall_velocity_rms_rad_s": null,
621
+ "stage_planned_to_measured_max_error_rad": 0.0440596342086792,
622
+ "stage_planned_to_measured_rms_error_rad": 0.005991864523988599,
623
+ "stage_sent_to_measured_max_error_rad": null,
624
+ "stage_sent_to_measured_rms_error_rad": null,
625
+ "stage_sent_to_planned_max_error_rad": null,
626
+ "stage_sent_to_planned_rms_error_rad": null,
627
+ "stage_target_to_sent_max_error_rad": null,
628
+ "stage_target_to_sent_rms_error_rad": null,
629
+ "state_frame_count": 1161,
630
+ "stopped_early": false,
631
+ "strict_tracking_pass": true,
632
+ "strict_tracking_reason": "ok",
633
+ "target_wall_accel_p95_abs_rad_s2": 0.7135542035102844,
634
+ "target_wall_accel_peak_abs_rad_s2": 3.5707695484161377,
635
+ "target_wall_accel_peak_joint": 4,
636
+ "target_wall_accel_peak_time_s": 8.666819114005193,
637
+ "target_wall_accel_rms_rad_s2": 0.3459282540724534,
638
+ "target_wall_jerk_p95_abs_rad_s3": 16.08679962158203,
639
+ "target_wall_jerk_peak_abs_rad_s3": 83.55792236328125,
640
+ "target_wall_jerk_peak_joint": 4,
641
+ "target_wall_jerk_peak_time_s": 8.63339014700614,
642
+ "target_wall_jerk_rms_rad_s3": 7.713491344693192,
643
+ "target_wall_smoothness_samples": 1161,
644
+ "target_wall_velocity_peak_abs_rad_s": 0.814417839050293,
645
+ "target_wall_velocity_peak_joint": 5,
646
+ "target_wall_velocity_peak_time_s": 3.1000535620260052,
647
+ "target_wall_velocity_rms_rad_s": 0.10185953974046769,
648
+ "tcp_pose_count": 1161,
649
+ "timestamp_count": 1161,
650
+ "tool_failures": 0,
651
+ "tracking_geometry_pass": true,
652
+ "tracking_geometry_reason": "ok",
653
+ "tracking_pass": true,
654
+ "tracking_reason": "ok",
655
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
656
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
657
+ "tracking_threshold_max_lag_s": 0.1,
658
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
659
+ "tracking_timing_pass": true,
660
+ "tracking_timing_reason": "ok",
661
+ "window_lag_best_lag_max_s": 1.5800000000000032,
662
+ "window_lag_best_lag_median_s": 0.0,
663
+ "window_lag_best_lag_min_s": 0.0,
664
+ "window_lag_best_lag_p95_abs_s": 1.1795000000000022,
665
+ "window_lag_count": 32,
666
+ "window_lag_window_s": 1.0,
667
+ "window_lag_worst_best_lag_s": 0.0,
668
+ "window_lag_worst_end_s": 22.5,
669
+ "window_lag_worst_max_error_rad": 0.005397319793701172,
670
+ "window_lag_worst_rms_error_rad": 0.0018595508901260317,
671
+ "window_lag_worst_start_s": 21.5,
672
+ "zero_lag_max_error_rad": 0.005887627601623535,
673
+ "zero_lag_p95_error_rad": 0.0018364973366260529,
674
+ "zero_lag_rms_error_rad": 0.0008440437435380194,
675
+ "zero_lag_samples": 1161,
676
+ "zero_lag_worst_joint": 0,
677
+ "zero_lag_worst_time_s": 15.527
678
+ }
679
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fa4bc6f3753ae0d114c7d952f7745d3383cd07acf31bf8f7d1246976775ca139
3
+ size 122393
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.json ADDED
@@ -0,0 +1,689 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:23:04",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.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": 1193,
20
+ "actual_playback_duration_s": 39.77884276100667,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.0056111812591552734,
23
+ "aligned_p95_error_rad": 0.0022043799981474876,
24
+ "aligned_rms_error_rad": 0.0009440655708718742,
25
+ "aligned_samples": 1193,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 25.064,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1193,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1193,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.5014850247615095,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1193,
46
+ "cam_wrist": 1193
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
+ 0.0056111812591552734,
58
+ 0.004626240581274033,
59
+ 0.00467977300286293,
60
+ 0.004746284335851669,
61
+ 0.004831433296203613,
62
+ 0.0053198933601379395
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0021556499414145947,
66
+ 0.0017411262961104512,
67
+ 0.0022911312989890575,
68
+ 0.0017568281618878245,
69
+ 0.0025294541846960783,
70
+ 0.0025597817730158567
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.001008239875251951,
74
+ 0.0008247621864055309,
75
+ 0.0009623640869748674,
76
+ 0.0007211719556678686,
77
+ 0.001029951551313948,
78
+ 0.0010694599940467753
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1193,
82
+ 1193,
83
+ 1193,
84
+ 1193,
85
+ 1193,
86
+ 1193
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 25.064,
90
+ 25.064,
91
+ 3.315,
92
+ 19.385,
93
+ 25.212,
94
+ 25.04
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.006132937036454678,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003963891009334475,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004495166998822242,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004752345242304733,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3114,
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": 0.006193953042384237,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003984851005952805,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004517514715553261,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004810330145992333,
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": 0.0061387610039673746,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003989453020039946,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004511131587787531,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004751166923670098,
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": 0.011936580995097756,
170
+ "leadthrough_capture_loop_late_median_s": 0.00671268388396129,
171
+ "leadthrough_capture_loop_late_p95_s": 0.007220759900519624,
172
+ "leadthrough_capture_loop_late_p99_s": 0.007673188147600743,
173
+ "leadthrough_capture_loop_late_warn_count": 7675,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006173534027766436,
176
+ "leadthrough_capture_read_duration_median_s": 0.003975539992097765,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004506943078013137,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004788712960435083,
179
+ "leadthrough_capture_read_duration_warn_count": 3314,
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
+ 0.0040175169706344604,
190
+ 0.0022710105404257774,
191
+ 0.0024579614400863647,
192
+ 0.0014956312952563167,
193
+ 0.002807319164276123,
194
+ 0.008005380630493164
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.008005380630493164,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0017190370708703995,
199
+ 0.0016430142568424344,
200
+ 0.001566212740726769,
201
+ 0.000475084176287055,
202
+ 0.0012999565806239843,
203
+ 0.0038605520967394114
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0007744478061795235,
207
+ 0.0006269894656725228,
208
+ 0.0006719404482282698,
209
+ 0.0002128601772710681,
210
+ 0.0005465617286972702,
211
+ 0.0015422339783981442
212
+ ],
213
+ "leadthrough_delta_samples": 6624,
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": -0.008005380630493164,
218
+ "leadthrough_delta_worst_from_rad": -1.038801670074463,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0989999999999998,
221
+ "leadthrough_delta_worst_to_rad": -1.046807050704956,
222
+ "leadthrough_duration_s": 26.493000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6623,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.8069999999999986,
228
+ "leadthrough_final_stillness_removed_samples": 202,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6624,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7675,
234
+ "leadthrough_initial_stillness_first_motion_index": 849,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.392,
238
+ "leadthrough_initial_stillness_removed_samples": 848,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 848,
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
+ 0.0040175169706344604,
249
+ 0.0022710105404257774,
250
+ 0.0024579614400863647,
251
+ 0.0014956312952563167,
252
+ 0.002807319164276123,
253
+ 0.008005380630493164
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008005380630493164,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.3319800297418725,
258
+ 0.7512774318456366,
259
+ 0.8101339141527505,
260
+ 0.4945490509271434,
261
+ 0.934362411498988,
262
+ 2.6593208312987273
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.35599422454834,
265
+ "leadthrough_velocity_rms_rad_s": 0.2153350835202139,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.0056111812591552734,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5999869704246521,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.1691300868988037,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 40.83835934102535,
274
+ "measured_wall_accel_rms_rad_s2": 0.2932221824986351,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 9.588593482971191,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 77.69026947021484,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 40.80470462702215,
279
+ "measured_wall_jerk_rms_rad_s3": 4.868404478467065,
280
+ "measured_wall_smoothness_samples": 1193,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.8743903040885925,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 17.33708154503256,
284
+ "measured_wall_velocity_rms_rad_s": 0.10381412946768569,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.0056111812591552734,
287
+ "moving_aligned_p95_error_rad": 0.0025573214516043663,
288
+ "moving_aligned_rms_error_rad": 0.001088494752893916,
289
+ "moving_aligned_samples": 893,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 25.064,
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
+ 0.0056111812591552734,
302
+ 0.004626240581274033,
303
+ 0.00467977300286293,
304
+ 0.004746284335851669,
305
+ 0.004831433296203613,
306
+ 0.0053198933601379395
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0028509721159934998,
310
+ 0.002184653654694557,
311
+ 0.0027055167593061924,
312
+ 0.0027129375375807285,
313
+ 0.0031362539157271385,
314
+ 0.0035974502097815275
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.001281955039425318,
318
+ 0.0009827250574564377,
319
+ 0.0011656105663101202,
320
+ 0.0013464872637886744,
321
+ 0.0013981241330441165,
322
+ 0.0016759872920875175
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 698,
326
+ 754,
327
+ 715,
328
+ 242,
329
+ 562,
330
+ 448
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 25.064,
334
+ 25.064,
335
+ 3.315,
336
+ 19.385,
337
+ 25.212,
338
+ 25.04
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": 2.4962997436523438,
348
+ "playback_velocity_rms_rad_s": 0.3718136975810078,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 82.986,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 26.493000000000002,
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
+ 3051,
357
+ 5967
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.43499511144424835,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08715832233428955,
364
+ "rapid_planner_max_dt_s": 2.4399999999999995,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007592096924781799,
367
+ "rapid_planner_median_dt_s": 0.12399999999999878,
368
+ "rapid_planner_path_max_error_rad": 0.0056111812591552734,
369
+ "rapid_planner_path_p95_error_rad": 0.00335952043533325,
370
+ "rapid_planner_path_rms_error_rad": 0.001583687074269429,
371
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
372
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
373
+ "rapid_planner_selected_indices": [
374
+ 0,
375
+ 31,
376
+ 66,
377
+ 84,
378
+ 103,
379
+ 124,
380
+ 134,
381
+ 145,
382
+ 156,
383
+ 166,
384
+ 176,
385
+ 186,
386
+ 197,
387
+ 208,
388
+ 218,
389
+ 229,
390
+ 240,
391
+ 252,
392
+ 258,
393
+ 264,
394
+ 270,
395
+ 276,
396
+ 282,
397
+ 288,
398
+ 299,
399
+ 311,
400
+ 323,
401
+ 332,
402
+ 340,
403
+ 355,
404
+ 378,
405
+ 441,
406
+ 504,
407
+ 550,
408
+ 586,
409
+ 621,
410
+ 700,
411
+ 726,
412
+ 747,
413
+ 768,
414
+ 787,
415
+ 860,
416
+ 898,
417
+ 949,
418
+ 999,
419
+ 1046,
420
+ 1112,
421
+ 1201,
422
+ 1254,
423
+ 1305,
424
+ 1429,
425
+ 1487,
426
+ 1546,
427
+ 1607,
428
+ 1645,
429
+ 1703,
430
+ 1795,
431
+ 1854,
432
+ 1922,
433
+ 2082,
434
+ 2217,
435
+ 2631,
436
+ 2711,
437
+ 2876,
438
+ 3051,
439
+ 3661,
440
+ 3706,
441
+ 3780,
442
+ 3860,
443
+ 3906,
444
+ 3928,
445
+ 3954,
446
+ 3985,
447
+ 4004,
448
+ 4024,
449
+ 4062,
450
+ 4100,
451
+ 4139,
452
+ 4173,
453
+ 4207,
454
+ 4241,
455
+ 4275,
456
+ 4304,
457
+ 4332,
458
+ 4371,
459
+ 4400,
460
+ 4458,
461
+ 4477,
462
+ 4494,
463
+ 4527,
464
+ 4560,
465
+ 4584,
466
+ 4608,
467
+ 4632,
468
+ 4655,
469
+ 4687,
470
+ 4713,
471
+ 4792,
472
+ 4886,
473
+ 5001,
474
+ 5075,
475
+ 5178,
476
+ 5364,
477
+ 5456,
478
+ 5669,
479
+ 5716,
480
+ 5800,
481
+ 5833,
482
+ 5967,
483
+ 6163,
484
+ 6193,
485
+ 6222,
486
+ 6240,
487
+ 6282,
488
+ 6319,
489
+ 6337,
490
+ 6351,
491
+ 6365,
492
+ 6385,
493
+ 6405,
494
+ 6416,
495
+ 6427,
496
+ 6436,
497
+ 6444,
498
+ 6452,
499
+ 6460,
500
+ 6467,
501
+ 6474,
502
+ 6488,
503
+ 6509,
504
+ 6527,
505
+ 6550,
506
+ 6585,
507
+ 6624
508
+ ],
509
+ "rapid_planner_selected_max_joint_step_deg": 4.993804019195613,
510
+ "rapid_planner_selected_samples": 134,
511
+ "rapid_planner_service_configured": true,
512
+ "rapid_planner_source_samples": 6625,
513
+ "rapid_planner_state_done": 6.0,
514
+ "rapid_planner_state_error": 7.0,
515
+ "rapid_planner_tool_command_hz": 30.0,
516
+ "rapid_planner_tool_command_supported": true,
517
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
518
+ "rapid_planner_tool_io_configured": true,
519
+ "rapid_planner_tool_io_supported": true,
520
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
521
+ "rapid_planner_tool_state_supported": true,
522
+ "rapid_planner_tool_transition_source_count": 2,
523
+ "rapid_planner_tool_transitions_uploaded": 2,
524
+ "rapid_planner_tool_upload_enabled": true,
525
+ "rapid_planner_uploaded": true,
526
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
527
+ "rapid_planner_waypoints_uploaded": 134,
528
+ "raw_ramp_max_error_rad": null,
529
+ "raw_replay_max_error_rad": 0.0056111812591552734,
530
+ "raw_replay_rms_error_rad": 0.0009440655708718742,
531
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9861056425988332,
532
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9779891877593788,
533
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.99236202642947,
534
+ "replay_smoothing_applied": true,
535
+ "replay_smoothing_blend": 1.0,
536
+ "replay_smoothing_blend_by_joint": [
537
+ 1.0,
538
+ 1.0,
539
+ 1.0,
540
+ 1.0,
541
+ 1.0,
542
+ 1.0
543
+ ],
544
+ "replay_smoothing_edge_taper_s": 0.2,
545
+ "replay_smoothing_edge_taper_samples": 50,
546
+ "replay_smoothing_enabled": true,
547
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9921200017366387,
548
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.988152772615411,
549
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9963758044575165,
550
+ "replay_smoothing_max_deviation_by_joint_rad": [
551
+ 0.0005998462438583374,
552
+ 0.00041759759187698364,
553
+ 0.001136690378189087,
554
+ 0.0034905169159173965,
555
+ 0.001955389976501465,
556
+ 0.006111860275268555
557
+ ],
558
+ "replay_smoothing_max_deviation_normalized": 0.7003676029184118,
559
+ "replay_smoothing_max_deviation_rad": 0.006111860275268555,
560
+ "replay_smoothing_method": "scipy_savgol",
561
+ "replay_smoothing_p95_deviation_rad": 0.0019596328493207693,
562
+ "replay_smoothing_passes": 8,
563
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 9.334909439086914,
564
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 78.91435241699219,
565
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.996382757195444,
566
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1979.3984375,
567
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21129.185546875,
568
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1277.285737201496,
569
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.376054048538208,
570
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21628280629941243,
571
+ "replay_smoothing_rms_deviation_rad": 0.0009248175943245219,
572
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 9.205206871032715,
573
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 77.17738342285156,
574
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.958220517747733,
575
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1963.80078125,
576
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 20878.86328125,
577
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1272.6566039262525,
578
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.35599422454834,
579
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2153350835202139,
580
+ "replay_smoothing_tolerance_by_joint_rad": [
581
+ 0.03490658476948738,
582
+ 0.03490658476948738,
583
+ 0.02617993950843811,
584
+ 0.008726646192371845,
585
+ 0.008726646192371845,
586
+ 0.008726646192371845
587
+ ],
588
+ "replay_smoothing_tolerance_rad": 0.034906585,
589
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9915575051829274,
590
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9956181316702237,
591
+ "replay_smoothing_window_s": 0.2,
592
+ "replay_smoothing_window_samples": 51,
593
+ "replay_smoothing_within_tolerance": true,
594
+ "replay_smoothing_worst_joint": 5,
595
+ "replay_smoothing_worst_time_s": 3.079,
596
+ "replay_smoothing_wrist_max_deviation_rad": 0.006111860275268555,
597
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
598
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
599
+ "return_measured_wall_accel_peak_joint": -1,
600
+ "return_measured_wall_accel_peak_time_s": null,
601
+ "return_measured_wall_accel_rms_rad_s2": null,
602
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
603
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
604
+ "return_measured_wall_jerk_peak_joint": -1,
605
+ "return_measured_wall_jerk_peak_time_s": null,
606
+ "return_measured_wall_jerk_rms_rad_s3": null,
607
+ "return_measured_wall_smoothness_samples": 0,
608
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
609
+ "return_measured_wall_velocity_peak_joint": -1,
610
+ "return_measured_wall_velocity_peak_time_s": null,
611
+ "return_measured_wall_velocity_rms_rad_s": null,
612
+ "safety_abort": false,
613
+ "safety_path_error_rad": 0.0056111812591552734,
614
+ "saved_data_source": "measured_rapid_planner_playback",
615
+ "send_failures": 0,
616
+ "sent_wall_accel_p95_abs_rad_s2": null,
617
+ "sent_wall_accel_peak_abs_rad_s2": null,
618
+ "sent_wall_accel_peak_joint": -1,
619
+ "sent_wall_accel_peak_time_s": null,
620
+ "sent_wall_accel_rms_rad_s2": null,
621
+ "sent_wall_jerk_p95_abs_rad_s3": null,
622
+ "sent_wall_jerk_peak_abs_rad_s3": null,
623
+ "sent_wall_jerk_peak_joint": -1,
624
+ "sent_wall_jerk_peak_time_s": null,
625
+ "sent_wall_jerk_rms_rad_s3": null,
626
+ "sent_wall_smoothness_samples": 0,
627
+ "sent_wall_velocity_peak_abs_rad_s": null,
628
+ "sent_wall_velocity_peak_joint": -1,
629
+ "sent_wall_velocity_peak_time_s": null,
630
+ "sent_wall_velocity_rms_rad_s": null,
631
+ "stage_planned_to_measured_max_error_rad": 0.05063009262084961,
632
+ "stage_planned_to_measured_rms_error_rad": 0.006161712114861689,
633
+ "stage_sent_to_measured_max_error_rad": null,
634
+ "stage_sent_to_measured_rms_error_rad": null,
635
+ "stage_sent_to_planned_max_error_rad": null,
636
+ "stage_sent_to_planned_rms_error_rad": null,
637
+ "stage_target_to_sent_max_error_rad": null,
638
+ "stage_target_to_sent_rms_error_rad": null,
639
+ "state_frame_count": 1193,
640
+ "stopped_early": false,
641
+ "strict_tracking_pass": true,
642
+ "strict_tracking_reason": "ok",
643
+ "target_wall_accel_p95_abs_rad_s2": 0.8355827331542969,
644
+ "target_wall_accel_peak_abs_rad_s2": 4.4820237159729,
645
+ "target_wall_accel_peak_joint": 5,
646
+ "target_wall_accel_peak_time_s": 2.7000550419907086,
647
+ "target_wall_accel_rms_rad_s2": 0.3923115661636526,
648
+ "target_wall_jerk_p95_abs_rad_s3": 16.71767234802246,
649
+ "target_wall_jerk_peak_abs_rad_s3": 120.04632568359375,
650
+ "target_wall_jerk_peak_joint": 5,
651
+ "target_wall_jerk_peak_time_s": 2.735671992006246,
652
+ "target_wall_jerk_rms_rad_s3": 8.430572238929603,
653
+ "target_wall_smoothness_samples": 1193,
654
+ "target_wall_velocity_peak_abs_rad_s": 0.9351621270179749,
655
+ "target_wall_velocity_peak_joint": 5,
656
+ "target_wall_velocity_peak_time_s": 2.9334140620194376,
657
+ "target_wall_velocity_rms_rad_s": 0.10479710303712239,
658
+ "tcp_pose_count": 1193,
659
+ "timestamp_count": 1193,
660
+ "tool_failures": 0,
661
+ "tracking_geometry_pass": true,
662
+ "tracking_geometry_reason": "ok",
663
+ "tracking_pass": true,
664
+ "tracking_reason": "ok",
665
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
666
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
667
+ "tracking_threshold_max_lag_s": 0.1,
668
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
669
+ "tracking_timing_pass": true,
670
+ "tracking_timing_reason": "ok",
671
+ "window_lag_best_lag_max_s": 0.8000000000000025,
672
+ "window_lag_best_lag_median_s": 0.0,
673
+ "window_lag_best_lag_min_s": 0.0,
674
+ "window_lag_best_lag_p95_abs_s": 0.5530000000000015,
675
+ "window_lag_count": 34,
676
+ "window_lag_window_s": 1.0,
677
+ "window_lag_worst_best_lag_s": 0.0,
678
+ "window_lag_worst_end_s": 20.0,
679
+ "window_lag_worst_max_error_rad": 0.004746284335851669,
680
+ "window_lag_worst_rms_error_rad": 0.002229745435805312,
681
+ "window_lag_worst_start_s": 19.0,
682
+ "zero_lag_max_error_rad": 0.0056111812591552734,
683
+ "zero_lag_p95_error_rad": 0.0022043799981474876,
684
+ "zero_lag_rms_error_rad": 0.0009440655708718742,
685
+ "zero_lag_samples": 1193,
686
+ "zero_lag_worst_joint": 0,
687
+ "zero_lag_worst_time_s": 25.064
688
+ }
689
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f47026167aaaed92a6af20a2416c7e4646597a11a4209e08734ce68ca644bb8
3
+ size 128051
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.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": "2026-10-26T16:25:10",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.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": 1174,
20
+ "actual_playback_duration_s": 39.14848522603279,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.007416784763336182,
23
+ "aligned_p95_error_rad": 0.0020429554861038923,
24
+ "aligned_rms_error_rad": 0.0009344108149771079,
25
+ "aligned_samples": 1174,
26
+ "aligned_worst_joint": 0,
27
+ "aligned_worst_time_s": 24.377000000000002,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1174,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1174,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.528043919829539,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1174,
46
+ "cam_wrist": 1174
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
+ 0.007416784763336182,
58
+ 0.004541745409369469,
59
+ 0.005012691020965576,
60
+ 0.004850998520851135,
61
+ 0.007321536540985107,
62
+ 0.007043898105621338
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0019452987471595407,
66
+ 0.001716526923701167,
67
+ 0.00210927939042449,
68
+ 0.001509268069639802,
69
+ 0.0020628327038139105,
70
+ 0.002674634102731943
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0009954289000822477,
74
+ 0.0008077349915507384,
75
+ 0.0009009485124745412,
76
+ 0.0006808532759290258,
77
+ 0.001028341344971808,
78
+ 0.0011236866057450679
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1174,
82
+ 1174,
83
+ 1174,
84
+ 1174,
85
+ 1174,
86
+ 1174
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 24.377000000000002,
90
+ 17.906000000000002,
91
+ 24.377000000000002,
92
+ 17.873,
93
+ 24.373,
94
+ 24.377000000000002
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.043999999994412065,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 2,
107
+ "leadthrough_capture_egm_drained_packet_max": 38,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.04734232398914173,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003975271974923089,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004410965775605291,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.005078740013414056,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3259,
114
+ "leadthrough_capture_egm_recorded_seqno_jump_count": 1,
115
+ "leadthrough_capture_egm_recorded_seqno_step_max": 11,
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": 0.047414925997145474,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003998177999164909,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004433545377105474,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0051173077989369615,
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": 0.04734467901289463,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004000034008640796,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004429770226124674,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.005068004799541083,
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": 0.05047871934948489,
170
+ "leadthrough_capture_loop_late_median_s": 0.0073188360256608576,
171
+ "leadthrough_capture_loop_late_p95_s": 0.04742395599896554,
172
+ "leadthrough_capture_loop_late_p99_s": 0.04761900824669283,
173
+ "leadthrough_capture_loop_late_warn_count": 7386,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.047395498026162386,
176
+ "leadthrough_capture_read_duration_median_s": 0.003987518488429487,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004423914520884864,
178
+ "leadthrough_capture_read_duration_p99_s": 0.005103457544464614,
179
+ "leadthrough_capture_read_duration_warn_count": 3488,
180
+ "leadthrough_capture_recorded_timestamp_dt_max_s": 0.04400000000000048,
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": 7,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.014371871948242188,
190
+ 0.022149235010147095,
191
+ 0.016799896955490112,
192
+ 0.0025148894637823105,
193
+ 0.004408419132232666,
194
+ 0.008496224880218506
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.022149235010147095,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0018427744507789612,
199
+ 0.0019837841391563416,
200
+ 0.001848958432674408,
201
+ 0.00042109377682209015,
202
+ 0.0014535486698150635,
203
+ 0.0027965307235717773
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008333561709150672,
207
+ 0.00081960967509076,
208
+ 0.0007752856472507119,
209
+ 0.00019143182726111263,
210
+ 0.0006607185350731015,
211
+ 0.0014599410351365805
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": -0.022149235010147095,
218
+ "leadthrough_delta_worst_from_rad": -0.15548980236053467,
219
+ "leadthrough_delta_worst_joint": 1,
220
+ "leadthrough_delta_worst_time_s": 16.501,
221
+ "leadthrough_delta_worst_to_rad": -0.17763903737068176,
222
+ "leadthrough_duration_s": 25.62,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6395,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.7360000000000007,
228
+ "leadthrough_final_stillness_removed_samples": 184,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6396,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7386,
234
+ "leadthrough_initial_stillness_first_motion_index": 806,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.22,
238
+ "leadthrough_initial_stillness_removed_samples": 805,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 805,
242
+ "leadthrough_initial_stillness_trimmed": true,
243
+ "leadthrough_reference_hz": 250.0,
244
+ "leadthrough_sample_dt_max_s": 0.04400000000000048,
245
+ "leadthrough_sample_dt_median_s": 0.0039999999999995595,
246
+ "leadthrough_sample_gap_warn": true,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.014371871948242188,
249
+ 0.022149235010147095,
250
+ 0.016799896955490112,
251
+ 0.0025148894637823105,
252
+ 0.004408419132232666,
253
+ 0.008496224880218506
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.022149235010147095,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.4856408039728237,
258
+ 0.8580705616622838,
259
+ 0.6914933522542056,
260
+ 0.4378237451116078,
261
+ 1.4618635177611752,
262
+ 2.832074960072728
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.510615110397339,
265
+ "leadthrough_velocity_rms_rad_s": 0.2213254553263004,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.007416784763336182,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4617692232131958,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.8778882026672363,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 23.477030715032015,
274
+ "measured_wall_accel_rms_rad_s2": 0.23607609894138484,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.625802993774414,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 64.54727935791016,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 23.41020720504457,
279
+ "measured_wall_jerk_rms_rad_s3": 4.157512766900326,
280
+ "measured_wall_smoothness_samples": 1174,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7310240268707275,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.410409353033174,
284
+ "measured_wall_velocity_rms_rad_s": 0.09901574585730374,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.007416784763336182,
287
+ "moving_aligned_p95_error_rad": 0.002379207406193018,
288
+ "moving_aligned_rms_error_rad": 0.0010758835344880082,
289
+ "moving_aligned_samples": 874,
290
+ "moving_aligned_worst_joint": 0,
291
+ "moving_aligned_worst_time_s": 24.377000000000002,
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
+ 0.007416784763336182,
302
+ 0.004541745409369469,
303
+ 0.005012691020965576,
304
+ 0.004850998520851135,
305
+ 0.007321536540985107,
306
+ 0.007043898105621338
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0025595882907509804,
310
+ 0.0018724978435784578,
311
+ 0.00264701247215271,
312
+ 0.0038207322359085083,
313
+ 0.0029143691062927246,
314
+ 0.0035240231081843376
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0012581345781373814,
318
+ 0.0009613689829453676,
319
+ 0.00111502283454946,
320
+ 0.001518150425953193,
321
+ 0.0014288780946604509,
322
+ 0.0017667920542967098
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 716,
326
+ 795,
327
+ 701,
328
+ 186,
329
+ 546,
330
+ 420
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 24.377000000000002,
334
+ 17.906000000000002,
335
+ 24.377000000000002,
336
+ 17.873,
337
+ 24.373,
338
+ 24.377000000000002
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": 2.641850233078003,
348
+ "playback_velocity_rms_rad_s": 0.408182864262413,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 81.24000000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.62,
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
+ 2901,
357
+ 5713
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4381455361989167,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08726033568382263,
364
+ "rapid_planner_max_dt_s": 2.4720000000000013,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007647082209587097,
367
+ "rapid_planner_median_dt_s": 0.11499999999999932,
368
+ "rapid_planner_path_max_error_rad": 0.007416784763336182,
369
+ "rapid_planner_path_p95_error_rad": 0.0032624334096908528,
370
+ "rapid_planner_path_rms_error_rad": 0.0015512428156653978,
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
+ 49,
377
+ 67,
378
+ 79,
379
+ 91,
380
+ 103,
381
+ 115,
382
+ 126,
383
+ 138,
384
+ 144,
385
+ 150,
386
+ 156,
387
+ 163,
388
+ 170,
389
+ 176,
390
+ 182,
391
+ 188,
392
+ 198,
393
+ 207,
394
+ 216,
395
+ 226,
396
+ 234,
397
+ 243,
398
+ 252,
399
+ 260,
400
+ 275,
401
+ 291,
402
+ 305,
403
+ 322,
404
+ 365,
405
+ 408,
406
+ 437,
407
+ 466,
408
+ 495,
409
+ 524,
410
+ 556,
411
+ 589,
412
+ 643,
413
+ 678,
414
+ 732,
415
+ 830,
416
+ 935,
417
+ 983,
418
+ 1035,
419
+ 1085,
420
+ 1120,
421
+ 1220,
422
+ 1266,
423
+ 1344,
424
+ 1439,
425
+ 1505,
426
+ 1734,
427
+ 2217,
428
+ 2291,
429
+ 2377,
430
+ 2453,
431
+ 2677,
432
+ 2901,
433
+ 3519,
434
+ 3558,
435
+ 3625,
436
+ 3680,
437
+ 3717,
438
+ 3748,
439
+ 3780,
440
+ 3802,
441
+ 3823,
442
+ 3862,
443
+ 3902,
444
+ 3926,
445
+ 3950,
446
+ 3974,
447
+ 3998,
448
+ 4039,
449
+ 4080,
450
+ 4115,
451
+ 4118,
452
+ 4147,
453
+ 4186,
454
+ 4209,
455
+ 4232,
456
+ 4263,
457
+ 4286,
458
+ 4310,
459
+ 4334,
460
+ 4358,
461
+ 4377,
462
+ 4396,
463
+ 4440,
464
+ 4505,
465
+ 4543,
466
+ 4577,
467
+ 4622,
468
+ 4663,
469
+ 4685,
470
+ 4929,
471
+ 5157,
472
+ 5303,
473
+ 5443,
474
+ 5713,
475
+ 5949,
476
+ 5994,
477
+ 6029,
478
+ 6068,
479
+ 6103,
480
+ 6126,
481
+ 6138,
482
+ 6150,
483
+ 6166,
484
+ 6184,
485
+ 6197,
486
+ 6210,
487
+ 6229,
488
+ 6246,
489
+ 6264,
490
+ 6276,
491
+ 6288,
492
+ 6307,
493
+ 6324,
494
+ 6346,
495
+ 6396
496
+ ],
497
+ "rapid_planner_selected_max_joint_step_deg": 4.999648953577851,
498
+ "rapid_planner_selected_samples": 122,
499
+ "rapid_planner_service_configured": true,
500
+ "rapid_planner_source_samples": 6397,
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": 0.007416784763336182,
518
+ "raw_replay_rms_error_rad": 0.0009344108149771079,
519
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9872738391034759,
520
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9908297205899882,
521
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9958879741066696,
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": 0.9970710326949292,
536
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9866539897633486,
537
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9991703229372748,
538
+ "replay_smoothing_max_deviation_by_joint_rad": [
539
+ 0.006367683410644531,
540
+ 0.009998038411140442,
541
+ 0.007502555847167969,
542
+ 0.002894323319196701,
543
+ 0.0020264387130737305,
544
+ 0.004335284233093262
545
+ ],
546
+ "replay_smoothing_max_deviation_normalized": 0.49678698294000156,
547
+ "replay_smoothing_max_deviation_rad": 0.009998038411140442,
548
+ "replay_smoothing_method": "scipy_savgol",
549
+ "replay_smoothing_p95_deviation_rad": 0.0018304104451090097,
550
+ "replay_smoothing_passes": 8,
551
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 7.4983062744140625,
552
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 82.9515380859375,
553
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.570903643704428,
554
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1573.13671875,
555
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 22543.458984375,
556
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1175.4148980858333,
557
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.5283191204071045,
558
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22135713233412946,
559
+ "replay_smoothing_rms_deviation_rad": 0.0008749072420928214,
560
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 7.402881622314453,
561
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 82.19084930419922,
562
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.552107969565597,
563
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1568.529052734375,
564
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 22242.59375,
565
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1174.439683305706,
566
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.510615110397339,
567
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.2213254553263004,
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": 0.99299771541224,
578
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.999856896376028,
579
+ "replay_smoothing_window_s": 0.2,
580
+ "replay_smoothing_window_samples": 51,
581
+ "replay_smoothing_within_tolerance": true,
582
+ "replay_smoothing_worst_joint": 1,
583
+ "replay_smoothing_worst_time_s": 16.501,
584
+ "replay_smoothing_wrist_max_deviation_rad": 0.004335284233093262,
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": 0.007416784763336182,
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": 0.04173994064331055,
620
+ "stage_planned_to_measured_rms_error_rad": 0.0058667011083804385,
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": 1174,
628
+ "stopped_early": false,
629
+ "strict_tracking_pass": true,
630
+ "strict_tracking_reason": "ok",
631
+ "target_wall_accel_p95_abs_rad_s2": 0.7326071858406067,
632
+ "target_wall_accel_peak_abs_rad_s2": 3.795752763748169,
633
+ "target_wall_accel_peak_joint": 5,
634
+ "target_wall_accel_peak_time_s": 1.5333868699963205,
635
+ "target_wall_accel_rms_rad_s2": 0.35437069787388353,
636
+ "target_wall_jerk_p95_abs_rad_s3": 16.760225296020508,
637
+ "target_wall_jerk_peak_abs_rad_s3": 104.04421997070312,
638
+ "target_wall_jerk_peak_joint": 5,
639
+ "target_wall_jerk_peak_time_s": 1.5000535380095243,
640
+ "target_wall_jerk_rms_rad_s3": 8.275122583931406,
641
+ "target_wall_smoothness_samples": 1174,
642
+ "target_wall_velocity_peak_abs_rad_s": 0.7731215953826904,
643
+ "target_wall_velocity_peak_joint": 5,
644
+ "target_wall_velocity_peak_time_s": 2.8667366550071165,
645
+ "target_wall_velocity_rms_rad_s": 0.09980412118431271,
646
+ "tcp_pose_count": 1174,
647
+ "timestamp_count": 1174,
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": 1.0900000000000025,
660
+ "window_lag_best_lag_median_s": 0.0,
661
+ "window_lag_best_lag_min_s": -1.1599999999999993,
662
+ "window_lag_best_lag_p95_abs_s": 1.1320000000000003,
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": 24.5,
667
+ "window_lag_worst_max_error_rad": 0.007416784763336182,
668
+ "window_lag_worst_rms_error_rad": 0.002289707800274716,
669
+ "window_lag_worst_start_s": 23.5,
670
+ "zero_lag_max_error_rad": 0.007416784763336182,
671
+ "zero_lag_p95_error_rad": 0.0020429554861038923,
672
+ "zero_lag_rms_error_rad": 0.0009344108149771079,
673
+ "zero_lag_samples": 1174,
674
+ "zero_lag_worst_joint": 0,
675
+ "zero_lag_worst_time_s": 24.377000000000002
676
+ }
677
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f78d85f6da8156df31a337bade5223ee168211ea1bfbe1059ded0eeba7581341
3
+ size 124417
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.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": "2026-10-26T16:31:26",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.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": 37.88032761099748,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.00555062061175704,
23
+ "aligned_p95_error_rad": 0.0019224733114242554,
24
+ "aligned_rms_error_rad": 0.0008142311039036845,
25
+ "aligned_samples": 1136,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 11.859,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.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": 1.514183459687312,
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
+ 0.0040140701457858086,
58
+ 0.003849804401397705,
59
+ 0.0036877989768981934,
60
+ 0.00555062061175704,
61
+ 0.005285024642944336,
62
+ 0.003392709419131279
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0016708076000213623,
66
+ 0.0019641146063804626,
67
+ 0.0017709359526634216,
68
+ 0.0011590898502618074,
69
+ 0.0023388564586639404,
70
+ 0.002193368971347809
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007780012729245181,
74
+ 0.0008480310090293892,
75
+ 0.0007941304330202822,
76
+ 0.0006023023946891326,
77
+ 0.0009373314925302704,
78
+ 0.0008839623997950552
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
+ 24.209,
90
+ 5.071999999999999,
91
+ 11.966000000000001,
92
+ 11.859,
93
+ 11.859,
94
+ 24.436999999999998
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.005916608031839132,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003961496986448765,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004464379991986789,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004596390717779286,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2769,
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": 0.05007182096596807,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003982972004450858,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044879587832838295,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004626358533278108,
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": 0.005948311998508871,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003986376977991313,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004479533492121845,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0046104131697211415,
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": 0.10004694107919931,
170
+ "leadthrough_capture_loop_late_median_s": 0.09810260465019383,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09859018454153556,
172
+ "leadthrough_capture_loop_late_p99_s": 0.09873887573252432,
173
+ "leadthrough_capture_loop_late_warn_count": 6938,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.05006714299088344,
176
+ "leadthrough_capture_read_duration_median_s": 0.003973382496042177,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004478090099291876,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004615633027860895,
179
+ "leadthrough_capture_read_duration_warn_count": 3000,
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
+ 0.0038357526063919067,
190
+ 0.002517491579055786,
191
+ 0.0026021748781204224,
192
+ 0.0012457594275474548,
193
+ 0.002515435218811035,
194
+ 0.0068801045417785645
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.0068801045417785645,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002180292271077633,
199
+ 0.0019674152135849,
200
+ 0.0019358096178621054,
201
+ 0.0004263981827534735,
202
+ 0.0012686847476288676,
203
+ 0.0038673088420182467
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008184364414773881,
207
+ 0.0007259076810441911,
208
+ 0.0007582445396110415,
209
+ 0.00017401960212737322,
210
+ 0.0005543614970520139,
211
+ 0.0014546778984367847
212
+ ],
213
+ "leadthrough_delta_samples": 6255,
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": -0.0068801045417785645,
218
+ "leadthrough_delta_worst_from_rad": -0.960844874382019,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.9319999999999999,
221
+ "leadthrough_delta_worst_to_rad": -0.9677249789237976,
222
+ "leadthrough_duration_s": 25.017,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6254,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.7119999999999997,
228
+ "leadthrough_final_stillness_removed_samples": 178,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6255,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6936,
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": 2.007,
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": 0.0040000000000000036,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.0038357526063919067,
249
+ 0.002517491579055786,
250
+ 0.0026021748781204224,
251
+ 0.0012457594275474548,
252
+ 0.002515435218811035,
253
+ 0.0068801045417785645
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0068801045417785645,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2640704711277801,
258
+ 0.8307745059330943,
259
+ 0.8579373049238992,
260
+ 0.31143985688686343,
261
+ 0.8361140886942229,
262
+ 1.7200261354446396
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.7082840204238892,
265
+ "leadthrough_velocity_rms_rad_s": 0.21286531193922953,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.00555062061175704,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4219507575035095,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.2786452770233154,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 21.647110942984,
274
+ "measured_wall_accel_rms_rad_s2": 0.25224049905341045,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.26204776763916,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 60.823089599609375,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 22.446430483018048,
279
+ "measured_wall_jerk_rms_rad_s3": 4.190273608703833,
280
+ "measured_wall_smoothness_samples": 1136,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7984787225723267,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.148171929991804,
284
+ "measured_wall_velocity_rms_rad_s": 0.10338318235646131,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.00555062061175704,
287
+ "moving_aligned_p95_error_rad": 0.002189062535762787,
288
+ "moving_aligned_rms_error_rad": 0.0009432254891627743,
289
+ "moving_aligned_samples": 830,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 11.859,
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
+ 0.0040140701457858086,
302
+ 0.003797754645347595,
303
+ 0.0036877989768981934,
304
+ 0.005296903662383556,
305
+ 0.005285024642944336,
306
+ 0.003392709419131279
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0019336040131747723,
310
+ 0.002190116560086608,
311
+ 0.0020677270367741585,
312
+ 0.002564867027103901,
313
+ 0.0029663443565368652,
314
+ 0.002704351907595992
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009610168065412903,
318
+ 0.0010115109939397714,
319
+ 0.0009550042902933487,
320
+ 0.0012099425258246944,
321
+ 0.0013527667405370221,
322
+ 0.0013680258313565712
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 703,
326
+ 709,
327
+ 687,
328
+ 174,
329
+ 481,
330
+ 413
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 24.209,
334
+ 24.453,
335
+ 11.966000000000001,
336
+ 11.83,
337
+ 11.859,
338
+ 24.436999999999998
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": 2.0465612411499023,
348
+ "playback_velocity_rms_rad_s": 0.3811869032898815,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 80.03399999999999,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 25.017,
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
+ 2242,
357
+ 5446
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.3565768558096857,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08599799871444702,
364
+ "rapid_planner_max_dt_s": 2.5359999999999996,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.006223440170288086,
367
+ "rapid_planner_median_dt_s": 0.10000000000000053,
368
+ "rapid_planner_path_max_error_rad": 0.00555062061175704,
369
+ "rapid_planner_path_p95_error_rad": 0.00285455584526062,
370
+ "rapid_planner_path_rms_error_rad": 0.0014190063416276756,
371
+ "rapid_planner_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPath",
372
+ "rapid_planner_point_count_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerPointCount",
373
+ "rapid_planner_selected_indices": [
374
+ 0,
375
+ 21,
376
+ 38,
377
+ 57,
378
+ 68,
379
+ 80,
380
+ 90,
381
+ 100,
382
+ 110,
383
+ 120,
384
+ 132,
385
+ 144,
386
+ 156,
387
+ 169,
388
+ 178,
389
+ 186,
390
+ 194,
391
+ 202,
392
+ 210,
393
+ 218,
394
+ 226,
395
+ 235,
396
+ 244,
397
+ 253,
398
+ 262,
399
+ 271,
400
+ 284,
401
+ 296,
402
+ 309,
403
+ 320,
404
+ 332,
405
+ 346,
406
+ 387,
407
+ 428,
408
+ 463,
409
+ 498,
410
+ 540,
411
+ 582,
412
+ 611,
413
+ 640,
414
+ 670,
415
+ 707,
416
+ 736,
417
+ 761,
418
+ 841,
419
+ 970,
420
+ 1045,
421
+ 1117,
422
+ 1170,
423
+ 1194,
424
+ 1327,
425
+ 1395,
426
+ 1525,
427
+ 1608,
428
+ 2242,
429
+ 2827,
430
+ 2931,
431
+ 3015,
432
+ 3055,
433
+ 3103,
434
+ 3139,
435
+ 3171,
436
+ 3203,
437
+ 3226,
438
+ 3248,
439
+ 3272,
440
+ 3295,
441
+ 3318,
442
+ 3342,
443
+ 3377,
444
+ 3412,
445
+ 3443,
446
+ 3474,
447
+ 3510,
448
+ 3547,
449
+ 3566,
450
+ 3590,
451
+ 3610,
452
+ 3631,
453
+ 3647,
454
+ 3663,
455
+ 3676,
456
+ 3688,
457
+ 3711,
458
+ 3743,
459
+ 3773,
460
+ 3860,
461
+ 3968,
462
+ 4029,
463
+ 4240,
464
+ 4307,
465
+ 4564,
466
+ 4645,
467
+ 4730,
468
+ 4958,
469
+ 5044,
470
+ 5446,
471
+ 5716,
472
+ 5743,
473
+ 5768,
474
+ 5801,
475
+ 5834,
476
+ 5854,
477
+ 5875,
478
+ 5896,
479
+ 5917,
480
+ 5941,
481
+ 5965,
482
+ 5986,
483
+ 6006,
484
+ 6022,
485
+ 6037,
486
+ 6067,
487
+ 6095,
488
+ 6128,
489
+ 6150,
490
+ 6199,
491
+ 6228,
492
+ 6255
493
+ ],
494
+ "rapid_planner_selected_max_joint_step_deg": 4.927322372909294,
495
+ "rapid_planner_selected_samples": 119,
496
+ "rapid_planner_service_configured": true,
497
+ "rapid_planner_source_samples": 6256,
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": 0.00555062061175704,
515
+ "raw_replay_rms_error_rad": 0.0008142311039036845,
516
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.985962127977055,
517
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9706591569838088,
518
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9859011564516703,
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": 0.9900573328338099,
533
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9931468553883497,
534
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9947731987240274,
535
+ "replay_smoothing_max_deviation_by_joint_rad": [
536
+ 0.0004611015319824219,
537
+ 0.00036066025495529175,
538
+ 0.000591576099395752,
539
+ 0.0023556388914585114,
540
+ 0.0016936063766479492,
541
+ 0.006866097450256348
542
+ ],
543
+ "replay_smoothing_max_deviation_normalized": 0.7867968173452655,
544
+ "replay_smoothing_max_deviation_rad": 0.006866097450256348,
545
+ "replay_smoothing_method": "scipy_savgol",
546
+ "replay_smoothing_p95_deviation_rad": 0.0016034860163927078,
547
+ "replay_smoothing_passes": 8,
548
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 5.869077205657959,
549
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 41.59668731689453,
550
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.0651814223611424,
551
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1267.484130859375,
552
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10724.291015625,
553
+ "replay_smoothing_raw_jerk_rms_rad_s3": 801.4452294668647,
554
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.7195866107940674,
555
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21352194951978865,
556
+ "replay_smoothing_rms_deviation_rad": 0.0007959924043281363,
557
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.786687850952148,
558
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 40.37620544433594,
559
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.021965909040026,
560
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1254.8819580078125,
561
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10650.7958984375,
562
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 797.2562345188651,
563
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.7082840204238892,
564
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21286531193922953,
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": 0.9934271467925894,
575
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9969247303050769,
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": 1.2959999999999998,
581
+ "replay_smoothing_wrist_max_deviation_rad": 0.006866097450256348,
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": 0.00555062061175704,
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": 0.04703700542449951,
617
+ "stage_planned_to_measured_rms_error_rad": 0.006133719708546337,
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": 1136,
625
+ "stopped_early": false,
626
+ "strict_tracking_pass": true,
627
+ "strict_tracking_reason": "ok",
628
+ "target_wall_accel_p95_abs_rad_s2": 0.6883495450019836,
629
+ "target_wall_accel_peak_abs_rad_s2": 4.648311138153076,
630
+ "target_wall_accel_peak_joint": 5,
631
+ "target_wall_accel_peak_time_s": 2.2667362180072814,
632
+ "target_wall_accel_rms_rad_s2": 0.37896912061554605,
633
+ "target_wall_jerk_p95_abs_rad_s3": 16.593368530273438,
634
+ "target_wall_jerk_peak_abs_rad_s3": 114.91832733154297,
635
+ "target_wall_jerk_peak_joint": 5,
636
+ "target_wall_jerk_peak_time_s": 2.233386977983173,
637
+ "target_wall_jerk_rms_rad_s3": 8.682324721494858,
638
+ "target_wall_smoothness_samples": 1136,
639
+ "target_wall_velocity_peak_abs_rad_s": 0.8602502942085266,
640
+ "target_wall_velocity_peak_joint": 5,
641
+ "target_wall_velocity_peak_time_s": 24.400157889002003,
642
+ "target_wall_velocity_rms_rad_s": 0.10433838268051053,
643
+ "tcp_pose_count": 1136,
644
+ "timestamp_count": 1136,
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": 1.6600000000000033,
657
+ "window_lag_best_lag_median_s": 0.0,
658
+ "window_lag_best_lag_min_s": -1.0299999999999991,
659
+ "window_lag_best_lag_p95_abs_s": 0.7724999999999993,
660
+ "window_lag_count": 26,
661
+ "window_lag_window_s": 1.0,
662
+ "window_lag_worst_best_lag_s": 0.0,
663
+ "window_lag_worst_end_s": 12.0,
664
+ "window_lag_worst_max_error_rad": 0.00555062061175704,
665
+ "window_lag_worst_rms_error_rad": 0.002258981551452212,
666
+ "window_lag_worst_start_s": 11.0,
667
+ "zero_lag_max_error_rad": 0.00555062061175704,
668
+ "zero_lag_p95_error_rad": 0.0019224733114242554,
669
+ "zero_lag_rms_error_rad": 0.0008142311039036845,
670
+ "zero_lag_samples": 1136,
671
+ "zero_lag_worst_joint": 3,
672
+ "zero_lag_worst_time_s": 11.859
673
+ }
674
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46a8229340376aedf136aef2f2a4dc29c0593fde4c30a953f3a72ad86d799486
3
+ size 117543
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.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": "2026-10-26T16:33:11",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.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": 37.78117878898047,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006348729133605957,
23
+ "aligned_p95_error_rad": 0.0018401551060378551,
24
+ "aligned_rms_error_rad": 0.0008197157613512556,
25
+ "aligned_samples": 1133,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 16.307000000000002,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.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": 1.5801413127971753,
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
+ 0.00448232889175415,
58
+ 0.0036088675260543823,
59
+ 0.003651946783065796,
60
+ 0.006014827638864517,
61
+ 0.005928397178649902,
62
+ 0.006348729133605957
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0018322590040042996,
66
+ 0.0017276661237701774,
67
+ 0.0016903519863262773,
68
+ 0.0011458173394203186,
69
+ 0.0024445774033665657,
70
+ 0.002063679974526167
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008328888559936294,
74
+ 0.0007861694321167596,
75
+ 0.0007369729675117814,
76
+ 0.0005637605844848905,
77
+ 0.0010128296875831994,
78
+ 0.0009127202345193731
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
+ 22.026000000000003,
90
+ 16.267000000000003,
91
+ 13.603,
92
+ 19.782000000000004,
93
+ 16.287,
94
+ 16.307000000000002
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.005898796021938324,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.00398468051571399,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043137071217643095,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004435573332593776,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3190,
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": 0.005926844023633748,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004006857983767986,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004334765486419201,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.0044658963219262665,
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": 0.00591696600895375,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004006586968898773,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004331637220457196,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004440935185411946,
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": 0.017795846972148865,
170
+ "leadthrough_capture_loop_late_median_s": 0.012913391226902604,
171
+ "leadthrough_capture_loop_late_p95_s": 0.013270366858341731,
172
+ "leadthrough_capture_loop_late_p99_s": 0.013404552131542005,
173
+ "leadthrough_capture_loop_late_warn_count": 6888,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.00591468601487577,
176
+ "leadthrough_capture_read_duration_median_s": 0.003996998508227989,
177
+ "leadthrough_capture_read_duration_p95_s": 0.0043244756438070905,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004451890392228961,
179
+ "leadthrough_capture_read_duration_warn_count": 3393,
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
+ 0.0038185715675354004,
190
+ 0.0024256110191345215,
191
+ 0.0024635568261146545,
192
+ 0.0012289825826883316,
193
+ 0.002676665782928467,
194
+ 0.005641579627990723
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.005641579627990723,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0020489676389843225,
199
+ 0.0017253912519663572,
200
+ 0.0016994788311421871,
201
+ 0.00040944101056084037,
202
+ 0.0013213962083682418,
203
+ 0.0041938419453799725
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008059971733018756,
207
+ 0.000654486590065062,
208
+ 0.0007009796099737287,
209
+ 0.0001699246495263651,
210
+ 0.0005423622787930071,
211
+ 0.0014125368325039744
212
+ ],
213
+ "leadthrough_delta_samples": 5978,
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": -0.005641579627990723,
218
+ "leadthrough_delta_worst_from_rad": -0.41797980666160583,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.8760000000000003,
221
+ "leadthrough_delta_worst_to_rad": -0.42362138628959656,
222
+ "leadthrough_duration_s": 23.910000000000004,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5933,
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": 5934,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6888,
234
+ "leadthrough_initial_stillness_first_motion_index": 910,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.635,
238
+ "leadthrough_initial_stillness_removed_samples": 909,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 909,
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
+ 0.0038185715675354004,
249
+ 0.0024256110191345215,
250
+ 0.0024635568261146545,
251
+ 0.0012289825826883316,
252
+ 0.002676665782928467,
253
+ 0.005641579627990723
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.005641579627990723,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.9546428918843792,
258
+ 0.6064027547834279,
259
+ 0.6158892065284579,
260
+ 0.3072456456722532,
261
+ 0.6691664457324875,
262
+ 1.878519852956065
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6619410514831543,
265
+ "leadthrough_velocity_rms_rad_s": 0.20446475743085002,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006348729133605957,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.47914576530456543,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.801591634750366,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 18.923291343962774,
274
+ "measured_wall_accel_rms_rad_s2": 0.2506268298420478,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.298988342285156,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 54.57372283935547,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 19.05503269599285,
279
+ "measured_wall_jerk_rms_rad_s3": 4.152773167608636,
280
+ "measured_wall_smoothness_samples": 1133,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.701619565486908,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.3555359619786,
284
+ "measured_wall_velocity_rms_rad_s": 0.09875970148785446,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006348729133605957,
287
+ "moving_aligned_p95_error_rad": 0.0020409394055604935,
288
+ "moving_aligned_rms_error_rad": 0.0009482936738973774,
289
+ "moving_aligned_samples": 831,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 16.307000000000002,
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
+ 0.00448232889175415,
302
+ 0.0036088675260543823,
303
+ 0.0027953535318374634,
304
+ 0.006014827638864517,
305
+ 0.005928397178649902,
306
+ 0.006348729133605957
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.00210021436214447,
310
+ 0.0018850602209568024,
311
+ 0.0018652081489562988,
312
+ 0.0020971090998500586,
313
+ 0.003339600283652544,
314
+ 0.002473226049914956
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010210508773607235,
318
+ 0.0009181796955941529,
319
+ 0.0008859080254728373,
320
+ 0.0011115181276394116,
321
+ 0.0015432195069834556,
322
+ 0.0013925903904717291
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 686,
326
+ 711,
327
+ 681,
328
+ 224,
329
+ 445,
330
+ 430
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.026000000000003,
334
+ 16.267000000000003,
335
+ 4.316,
336
+ 19.782000000000004,
337
+ 16.287,
338
+ 16.307000000000002
339
+ ],
340
+ "moving_lag_velocity_threshold_rad_s": 0.03,
341
+ "playback_backend": "rapid_planner",
342
+ "playback_keepalive_hz": null,
343
+ "playback_sample_rate_hz": 30.0,
344
+ "playback_settle_s": 0.0,
345
+ "playback_speed_scale": 1.0,
346
+ "playback_speedref_scale": 0.0,
347
+ "playback_velocity_peak_abs_rad_s": 1.4818496704101562,
348
+ "playback_velocity_rms_rad_s": 0.35026237557450063,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.82000000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.910000000000004,
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
+ 5159
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.43912780277892915,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08547377586364746,
364
+ "rapid_planner_max_dt_s": 2.8359999999999985,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007664225995540619,
367
+ "rapid_planner_median_dt_s": 0.10199999999999854,
368
+ "rapid_planner_path_max_error_rad": 0.006348729133605957,
369
+ "rapid_planner_path_p95_error_rad": 0.002812014520168303,
370
+ "rapid_planner_path_rms_error_rad": 0.00141692922658895,
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
+ 76,
377
+ 107,
378
+ 136,
379
+ 148,
380
+ 160,
381
+ 172,
382
+ 184,
383
+ 194,
384
+ 204,
385
+ 214,
386
+ 224,
387
+ 234,
388
+ 244,
389
+ 254,
390
+ 264,
391
+ 278,
392
+ 293,
393
+ 308,
394
+ 322,
395
+ 333,
396
+ 344,
397
+ 356,
398
+ 367,
399
+ 384,
400
+ 402,
401
+ 420,
402
+ 438,
403
+ 460,
404
+ 483,
405
+ 503,
406
+ 524,
407
+ 560,
408
+ 625,
409
+ 668,
410
+ 717,
411
+ 782,
412
+ 800,
413
+ 835,
414
+ 853,
415
+ 902,
416
+ 946,
417
+ 1050,
418
+ 1100,
419
+ 1168,
420
+ 1267,
421
+ 1323,
422
+ 1354,
423
+ 1486,
424
+ 1537,
425
+ 1608,
426
+ 1783,
427
+ 1862,
428
+ 2571,
429
+ 3215,
430
+ 3292,
431
+ 3379,
432
+ 3438,
433
+ 3477,
434
+ 3505,
435
+ 3533,
436
+ 3566,
437
+ 3599,
438
+ 3622,
439
+ 3646,
440
+ 3669,
441
+ 3692,
442
+ 3726,
443
+ 3761,
444
+ 3796,
445
+ 3831,
446
+ 3862,
447
+ 3898,
448
+ 3917,
449
+ 3936,
450
+ 3955,
451
+ 3974,
452
+ 3984,
453
+ 3994,
454
+ 4004,
455
+ 4014,
456
+ 4026,
457
+ 4039,
458
+ 4058,
459
+ 4125,
460
+ 4178,
461
+ 4202,
462
+ 4285,
463
+ 4551,
464
+ 4871,
465
+ 4989,
466
+ 5159,
467
+ 5349,
468
+ 5391,
469
+ 5421,
470
+ 5451,
471
+ 5488,
472
+ 5522,
473
+ 5544,
474
+ 5565,
475
+ 5580,
476
+ 5594,
477
+ 5612,
478
+ 5630,
479
+ 5648,
480
+ 5665,
481
+ 5684,
482
+ 5706,
483
+ 5736,
484
+ 5763,
485
+ 5834,
486
+ 5978
487
+ ],
488
+ "rapid_planner_selected_max_joint_step_deg": 4.897286616034163,
489
+ "rapid_planner_selected_samples": 113,
490
+ "rapid_planner_service_configured": true,
491
+ "rapid_planner_source_samples": 5979,
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": 0.006348729133605957,
509
+ "raw_replay_rms_error_rad": 0.0008197157613512556,
510
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9928930734372242,
511
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9878978492622094,
512
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9871439078496367,
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": 0.9894982948646305,
527
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9850470415838324,
528
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9950058711978336,
529
+ "replay_smoothing_max_deviation_by_joint_rad": [
530
+ 0.0003719925880432129,
531
+ 0.00046825408935546875,
532
+ 0.0007352679967880249,
533
+ 0.0018316209316253662,
534
+ 0.0015419721603393555,
535
+ 0.007525444030761719
536
+ ],
537
+ "replay_smoothing_max_deviation_normalized": 0.8623523705292276,
538
+ "replay_smoothing_max_deviation_rad": 0.007525444030761719,
539
+ "replay_smoothing_method": "scipy_savgol",
540
+ "replay_smoothing_p95_deviation_rad": 0.0018611910054460168,
541
+ "replay_smoothing_passes": 8,
542
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.532448768615723,
543
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 55.02400588989258,
544
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.4544325857539264,
545
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 884.7963256835938,
546
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14947.919921875,
547
+ "replay_smoothing_raw_jerk_rms_rad_s3": 879.4563545175192,
548
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.6769976615905762,
549
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.20537096111181855,
550
+ "replay_smoothing_rms_deviation_rad": 0.00091456331541741,
551
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.500236988067627,
552
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 54.358097076416016,
553
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.410022082104256,
554
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 875.5044555664062,
555
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14724.404296875,
556
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 875.064236207175,
557
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6619410514831543,
558
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20446475743085002,
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": 0.9910216868799082,
569
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.995587478988935,
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": 3.2120000000000006,
575
+ "replay_smoothing_wrist_max_deviation_rad": 0.007525444030761719,
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": 0.006348729133605957,
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": 0.04195743799209595,
611
+ "stage_planned_to_measured_rms_error_rad": 0.00586598031979226,
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": 1133,
619
+ "stopped_early": false,
620
+ "strict_tracking_pass": true,
621
+ "strict_tracking_reason": "ok",
622
+ "target_wall_accel_p95_abs_rad_s2": 0.7356582880020142,
623
+ "target_wall_accel_peak_abs_rad_s2": 3.5842761993408203,
624
+ "target_wall_accel_peak_joint": 5,
625
+ "target_wall_accel_peak_time_s": 3.400056782993488,
626
+ "target_wall_accel_rms_rad_s2": 0.34757802932930487,
627
+ "target_wall_jerk_p95_abs_rad_s3": 16.033016204833984,
628
+ "target_wall_jerk_peak_abs_rad_s3": 92.81692504882812,
629
+ "target_wall_jerk_peak_joint": 5,
630
+ "target_wall_jerk_peak_time_s": 24.566720600996632,
631
+ "target_wall_jerk_rms_rad_s3": 7.647161272477966,
632
+ "target_wall_smoothness_samples": 1133,
633
+ "target_wall_velocity_peak_abs_rad_s": 0.7493906021118164,
634
+ "target_wall_velocity_peak_joint": 5,
635
+ "target_wall_velocity_peak_time_s": 24.93348882801365,
636
+ "target_wall_velocity_rms_rad_s": 0.09969327581320729,
637
+ "tcp_pose_count": 1133,
638
+ "timestamp_count": 1133,
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": 0.6200000000000023,
651
+ "window_lag_best_lag_median_s": 0.0,
652
+ "window_lag_best_lag_min_s": 0.0,
653
+ "window_lag_best_lag_p95_abs_s": 0.3760000000000007,
654
+ "window_lag_count": 29,
655
+ "window_lag_window_s": 1.0,
656
+ "window_lag_worst_best_lag_s": 0.010000000000001563,
657
+ "window_lag_worst_end_s": 20.0,
658
+ "window_lag_worst_max_error_rad": 0.0067108869552612305,
659
+ "window_lag_worst_rms_error_rad": 0.0020320668654707297,
660
+ "window_lag_worst_start_s": 19.0,
661
+ "zero_lag_max_error_rad": 0.006348729133605957,
662
+ "zero_lag_p95_error_rad": 0.0018401551060378551,
663
+ "zero_lag_rms_error_rad": 0.0008197157613512556,
664
+ "zero_lag_samples": 1133,
665
+ "zero_lag_worst_joint": 5,
666
+ "zero_lag_worst_time_s": 16.307000000000002
667
+ }
668
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6faf8d50840b4100a27b4629a4dc7831c067e94f4590189000c76eed1223570d
3
+ size 117547
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.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": "2026-10-26T16:34:57",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.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": 38.11044249602128,
21
+ "aligned_best_lag_s": 0.010000000000001563,
22
+ "aligned_max_error_rad": 0.01846921443939209,
23
+ "aligned_p95_error_rad": 0.007274944800883532,
24
+ "aligned_rms_error_rad": 0.0032924106522977566,
25
+ "aligned_samples": 1138,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 0.903,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.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": 1.598324211374823,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1143,
46
+ "cam_wrist": 1143
47
+ },
48
+ "joint_lag_best_lag_s": [
49
+ 0.010000000000001563,
50
+ 0.010000000000001563,
51
+ 0.0,
52
+ 0.010000000000001563,
53
+ 0.010000000000001563,
54
+ 0.010000000000001563
55
+ ],
56
+ "joint_lag_max_error_rad": [
57
+ 0.012139171361923218,
58
+ 0.007908648811280727,
59
+ 0.007732212543487549,
60
+ 0.003509311005473137,
61
+ 0.009633660316467285,
62
+ 0.01846921443939209
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.00870678573846817,
66
+ 0.006368208210915327,
67
+ 0.0016434702556580305,
68
+ 0.0014112085336819291,
69
+ 0.005461600609123707,
70
+ 0.013175930827856064
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.003867331176254801,
74
+ 0.0029970317741762455,
75
+ 0.0008221215509030816,
76
+ 0.0005509122790800209,
77
+ 0.0022295474146276865,
78
+ 0.005259941563779807
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1138,
82
+ 1138,
83
+ 1143,
84
+ 1138,
85
+ 1138,
86
+ 1138
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 22.145,
90
+ 22.641,
91
+ 0.0,
92
+ 4.119,
93
+ 22.608999999999998,
94
+ 0.903
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.049110685009509325,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.00395296499482356,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004438413499156013,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004534429496270604,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2508,
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": 0.05007145501440391,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003976007486926392,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004468136565992608,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004558542877202853,
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": 0.004930703027639538,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003979811968747526,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.00445797141874209,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004544285233132541,
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": 0.10003786958986893,
170
+ "leadthrough_capture_loop_late_median_s": 0.098920478427317,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09939050442189909,
172
+ "leadthrough_capture_loop_late_p99_s": 0.09950547829386779,
173
+ "leadthrough_capture_loop_late_warn_count": 6595,
174
+ "leadthrough_capture_none_reads": 1,
175
+ "leadthrough_capture_read_duration_max_s": 0.05006853799568489,
176
+ "leadthrough_capture_read_duration_median_s": 0.003965799987781793,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004456759116146713,
178
+ "leadthrough_capture_read_duration_p99_s": 0.0045481178082991385,
179
+ "leadthrough_capture_read_duration_warn_count": 2687,
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
+ 0.00416971743106842,
190
+ 0.0025238841772079468,
191
+ 0.002465561032295227,
192
+ 0.0009078048169612885,
193
+ 0.0030044913291931152,
194
+ 0.006219804286956787
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006219804286956787,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0022779933642596006,
199
+ 0.0019704506266862154,
200
+ 0.0020096893422305584,
201
+ 0.0003727097064256668,
202
+ 0.0012528595980256796,
203
+ 0.004664629697799683
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008680640021339059,
207
+ 0.0007434348808601499,
208
+ 0.0007643200806342065,
209
+ 0.00015214183076750487,
210
+ 0.0005991018260829151,
211
+ 0.0014810683205723763
212
+ ],
213
+ "leadthrough_delta_samples": 5962,
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": -0.006219804286956787,
218
+ "leadthrough_delta_worst_from_rad": -0.8044770956039429,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.891,
221
+ "leadthrough_delta_worst_to_rad": -0.8106968998908997,
222
+ "leadthrough_duration_s": 23.843999999999998,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5953,
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": 5954,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6594,
234
+ "leadthrough_initial_stillness_first_motion_index": 632,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.524,
238
+ "leadthrough_initial_stillness_removed_samples": 631,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 631,
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
+ 0.00416971743106842,
249
+ 0.0025238841772079468,
250
+ 0.002465561032295227,
251
+ 0.0009078048169612885,
252
+ 0.0030044913291931152,
253
+ 0.006219804286956787
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006219804286956787,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.042429357766757,
258
+ 0.6929549078146354,
259
+ 0.7255772749582652,
260
+ 0.3016032278537636,
261
+ 0.751122832298028,
262
+ 2.057492733001631
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.8364722728729248,
265
+ "leadthrough_velocity_rms_rad_s": 0.21928963393217343,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.7467712163925171,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4615345895290375,
271
+ "measured_wall_accel_peak_abs_rad_s2": 368.8096008300781,
272
+ "measured_wall_accel_peak_joint": 4,
273
+ "measured_wall_accel_peak_time_s": 13.470866165007465,
274
+ "measured_wall_accel_rms_rad_s2": 9.0888023705561,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.264113426208496,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 5817.2392578125,
277
+ "measured_wall_jerk_peak_joint": 4,
278
+ "measured_wall_jerk_peak_time_s": 13.53428519499721,
279
+ "measured_wall_jerk_rms_rad_s3": 118.13685137779107,
280
+ "measured_wall_smoothness_samples": 1143,
281
+ "measured_wall_velocity_peak_abs_rad_s": 23.389528274536133,
282
+ "measured_wall_velocity_peak_joint": 4,
283
+ "measured_wall_velocity_peak_time_s": 13.470866165007465,
284
+ "measured_wall_velocity_rms_rad_s": 0.43995678666438176,
285
+ "moving_aligned_best_lag_s": 0.010000000000001563,
286
+ "moving_aligned_max_error_rad": 0.01846921443939209,
287
+ "moving_aligned_p95_error_rad": 0.008457832969725132,
288
+ "moving_aligned_rms_error_rad": 0.003842201238382582,
289
+ "moving_aligned_samples": 835,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 0.903,
292
+ "moving_joint_lag_best_lag_s": [
293
+ 0.010000000000001563,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0,
297
+ 0.0,
298
+ 0.010000000000001563
299
+ ],
300
+ "moving_joint_lag_max_error_rad": [
301
+ 0.012139171361923218,
302
+ 0.0049485452473163605,
303
+ 0.007732212543487549,
304
+ 0.0026175202801823616,
305
+ 0.006715178489685059,
306
+ 0.01846921443939209
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.009279047138988972,
310
+ 0.0019184390548616648,
311
+ 0.0020505322609096766,
312
+ 0.0017221916932612658,
313
+ 0.0031111352145671844,
314
+ 0.015445692464709282
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.00488047109885658,
318
+ 0.0009672071568347034,
319
+ 0.0010177299928563236,
320
+ 0.0006728951023896637,
321
+ 0.0013865013531121023,
322
+ 0.008948844775107144
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 712,
326
+ 753,
327
+ 684,
328
+ 146,
329
+ 570,
330
+ 392
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.145,
334
+ 16.105,
335
+ 0.0,
336
+ 6.386,
337
+ 21.705,
338
+ 0.903
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": 248.92575073242188,
348
+ "playback_velocity_rms_rad_s": 5.2840046168447365,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.68799999999999,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.843999999999998,
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
+ 2485,
357
+ 5070
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4481150510661966,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08562427759170532,
364
+ "rapid_planner_max_dt_s": 2.66,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007821083068847656,
367
+ "rapid_planner_median_dt_s": 0.08800000000000097,
368
+ "rapid_planner_path_max_error_rad": 0.7467712163925171,
369
+ "rapid_planner_path_p95_error_rad": 0.0030734434723854063,
370
+ "rapid_planner_path_rms_error_rad": 0.022137073654380172,
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
+ 18,
376
+ 35,
377
+ 48,
378
+ 65,
379
+ 83,
380
+ 92,
381
+ 101,
382
+ 112,
383
+ 122,
384
+ 132,
385
+ 143,
386
+ 158,
387
+ 173,
388
+ 181,
389
+ 189,
390
+ 197,
391
+ 205,
392
+ 213,
393
+ 221,
394
+ 229,
395
+ 237,
396
+ 248,
397
+ 258,
398
+ 268,
399
+ 279,
400
+ 289,
401
+ 299,
402
+ 309,
403
+ 319,
404
+ 333,
405
+ 345,
406
+ 371,
407
+ 407,
408
+ 443,
409
+ 482,
410
+ 521,
411
+ 562,
412
+ 602,
413
+ 664,
414
+ 736,
415
+ 790,
416
+ 844,
417
+ 903,
418
+ 1001,
419
+ 1070,
420
+ 1111,
421
+ 1215,
422
+ 1405,
423
+ 1496,
424
+ 1579,
425
+ 1898,
426
+ 2485,
427
+ 3150,
428
+ 3192,
429
+ 3257,
430
+ 3298,
431
+ 3340,
432
+ 3373,
433
+ 3403,
434
+ 3433,
435
+ 3468,
436
+ 3486,
437
+ 3504,
438
+ 3526,
439
+ 3547,
440
+ 3568,
441
+ 3590,
442
+ 3614,
443
+ 3639,
444
+ 3672,
445
+ 3705,
446
+ 3732,
447
+ 3760,
448
+ 3779,
449
+ 3797,
450
+ 3811,
451
+ 3825,
452
+ 3839,
453
+ 3853,
454
+ 3864,
455
+ 3874,
456
+ 3884,
457
+ 3895,
458
+ 3919,
459
+ 3945,
460
+ 4004,
461
+ 4060,
462
+ 4113,
463
+ 4170,
464
+ 4251,
465
+ 4451,
466
+ 4497,
467
+ 4840,
468
+ 4979,
469
+ 5070,
470
+ 5280,
471
+ 5326,
472
+ 5368,
473
+ 5390,
474
+ 5412,
475
+ 5445,
476
+ 5470,
477
+ 5484,
478
+ 5497,
479
+ 5508,
480
+ 5520,
481
+ 5534,
482
+ 5549,
483
+ 5564,
484
+ 5579,
485
+ 5595,
486
+ 5611,
487
+ 5628,
488
+ 5646,
489
+ 5680,
490
+ 5711,
491
+ 5746,
492
+ 5810,
493
+ 5885,
494
+ 5962
495
+ ],
496
+ "rapid_planner_selected_max_joint_step_deg": 4.905909729861303,
497
+ "rapid_planner_selected_samples": 121,
498
+ "rapid_planner_service_configured": true,
499
+ "rapid_planner_source_samples": 5963,
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": 0.7467712163925171,
517
+ "raw_replay_rms_error_rad": 0.012285417562330056,
518
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9714614268286547,
519
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9791078135263699,
520
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.990067413246989,
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": 0.9931805128622271,
535
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9813188865136028,
536
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9967022887656238,
537
+ "replay_smoothing_max_deviation_by_joint_rad": [
538
+ 0.0005405806005001068,
539
+ 0.0005029141902923584,
540
+ 0.0006588846445083618,
541
+ 0.0009369049221277237,
542
+ 0.0014995932579040527,
543
+ 0.005924105644226074
544
+ ],
545
+ "replay_smoothing_max_deviation_normalized": 0.6788525068662078,
546
+ "replay_smoothing_max_deviation_rad": 0.005924105644226074,
547
+ "replay_smoothing_method": "scipy_savgol",
548
+ "replay_smoothing_p95_deviation_rad": 0.001643095281906426,
549
+ "replay_smoothing_passes": 8,
550
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.482092380523682,
551
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 53.07315444946289,
552
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.364052616239958,
553
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 963.4434814453125,
554
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 13874.8818359375,
555
+ "replay_smoothing_raw_jerk_rms_rad_s3": 877.8202915731771,
556
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.8391609191894531,
557
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21998327689378483,
558
+ "replay_smoothing_rms_deviation_rad": 0.0007645146492676864,
559
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.354179859161377,
560
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.96434020996094,
561
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.3306388717874613,
562
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 956.873291015625,
563
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13615.68359375,
564
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 874.9254937358928,
565
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.8364722728729248,
566
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.21928963393217343,
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": 0.998538112522686,
577
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9968468377623708,
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": 1.395,
583
+ "replay_smoothing_wrist_max_deviation_rad": 0.005924105644226074,
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": 0.7467712163925171,
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": 0.746682345867157,
619
+ "stage_planned_to_measured_rms_error_rad": 0.013626303591699801,
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": 1143,
627
+ "stopped_early": false,
628
+ "strict_tracking_pass": true,
629
+ "strict_tracking_reason": "ok",
630
+ "target_wall_accel_p95_abs_rad_s2": 0.7013660669326782,
631
+ "target_wall_accel_peak_abs_rad_s2": 3.256351947784424,
632
+ "target_wall_accel_peak_joint": 4,
633
+ "target_wall_accel_peak_time_s": 8.566720216011163,
634
+ "target_wall_accel_rms_rad_s2": 0.34519750806974636,
635
+ "target_wall_jerk_p95_abs_rad_s3": 16.101612091064453,
636
+ "target_wall_jerk_peak_abs_rad_s3": 90.46894073486328,
637
+ "target_wall_jerk_peak_joint": 4,
638
+ "target_wall_jerk_peak_time_s": 8.60001196700614,
639
+ "target_wall_jerk_rms_rad_s3": 7.6582241460449865,
640
+ "target_wall_smoothness_samples": 1143,
641
+ "target_wall_velocity_peak_abs_rad_s": 0.6716150045394897,
642
+ "target_wall_velocity_peak_joint": 5,
643
+ "target_wall_velocity_peak_time_s": 24.70001135102939,
644
+ "target_wall_velocity_rms_rad_s": 0.10041964352225602,
645
+ "tcp_pose_count": 1143,
646
+ "timestamp_count": 1143,
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": 0.6200000000000023,
659
+ "window_lag_best_lag_median_s": 0.0,
660
+ "window_lag_best_lag_min_s": -0.009999999999998233,
661
+ "window_lag_best_lag_p95_abs_s": 0.5400000000000023,
662
+ "window_lag_count": 30,
663
+ "window_lag_window_s": 1.0,
664
+ "window_lag_worst_best_lag_s": 0.010000000000001563,
665
+ "window_lag_worst_end_s": 1.0,
666
+ "window_lag_worst_max_error_rad": 0.01846921443939209,
667
+ "window_lag_worst_rms_error_rad": 0.005741840833564237,
668
+ "window_lag_worst_start_s": 0.0,
669
+ "zero_lag_max_error_rad": 0.7467712163925171,
670
+ "zero_lag_p95_error_rad": 0.0018810826586559415,
671
+ "zero_lag_rms_error_rad": 0.012285417562330056,
672
+ "zero_lag_samples": 1143,
673
+ "zero_lag_worst_joint": 4,
674
+ "zero_lag_worst_time_s": 0.0
675
+ }
676
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a25ab914ec8b97921450b148c7ffac0a0990c2864ffeccaed6f3cb1e629965c2
3
+ size 119925
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.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": "2026-10-26T16:38:20",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.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": 1193,
20
+ "actual_playback_duration_s": 39.78019545797724,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.5941317081451416,
23
+ "aligned_p95_error_rad": 0.0021329312585294247,
24
+ "aligned_rms_error_rad": 0.010719857595657708,
25
+ "aligned_samples": 1193,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 0.34799999999999986,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1193,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1193,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6604831764401737,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1193,
46
+ "cam_wrist": 1193
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
+ 0.1581028550863266,
58
+ 0.28793686628341675,
59
+ 0.05245488882064819,
60
+ 0.06908399611711502,
61
+ 0.5941317081451416,
62
+ 0.5898082256317139
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001957882195711136,
66
+ 0.0020287137012928724,
67
+ 0.0018044234020635486,
68
+ 0.0016673007048666477,
69
+ 0.002615094417706132,
70
+ 0.002520814538002014
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.004672058069229266,
74
+ 0.0083922099834281,
75
+ 0.0017168398285616145,
76
+ 0.00213025627523147,
77
+ 0.0172299715454975,
78
+ 0.017113658754489898
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1193,
82
+ 1193,
83
+ 1193,
84
+ 1193,
85
+ 1193,
86
+ 1193
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 0.34799999999999986,
90
+ 0.34799999999999986,
91
+ 0.34799999999999986,
92
+ 0.34799999999999986,
93
+ 0.34799999999999986,
94
+ 0.34799999999999986
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.006996057985816151,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003985668998211622,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.00431668053206522,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.0044455971836578085,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3129,
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": 0.05007430596742779,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.004006788018159568,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004339204984717071,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004474655410740525,
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": 0.007063272001687437,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004006734990980476,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004334926494630053,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004442974601406604,
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": 0.10205431468784809,
170
+ "leadthrough_capture_loop_late_median_s": 0.0989073412201833,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09926911128859502,
172
+ "leadthrough_capture_loop_late_p99_s": 0.09942741129314527,
173
+ "leadthrough_capture_loop_late_warn_count": 6722,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.05007156799547374,
176
+ "leadthrough_capture_read_duration_median_s": 0.003997275984147564,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004329288110602647,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004463982544839382,
179
+ "leadthrough_capture_read_duration_warn_count": 3311,
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": 1,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0038453489542007446,
190
+ 0.0027787387371063232,
191
+ 0.0033024512231349945,
192
+ 0.0016478300094604492,
193
+ 0.002782106399536133,
194
+ 0.006409108638763428
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.006409108638763428,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002552661346271634,
199
+ 0.0021256848704069853,
200
+ 0.002049927366897464,
201
+ 0.0005438721273094416,
202
+ 0.0014854669570922852,
203
+ 0.004506688565015793
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008855175692588091,
207
+ 0.0007830426329746842,
208
+ 0.0007954476168379188,
209
+ 0.00022896082373335958,
210
+ 0.0006277678185142577,
211
+ 0.0015068325446918607
212
+ ],
213
+ "leadthrough_delta_samples": 5990,
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": -0.006409108638763428,
218
+ "leadthrough_delta_worst_from_rad": -0.5687258243560791,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7130000000000001,
221
+ "leadthrough_delta_worst_to_rad": -0.5751349329948425,
222
+ "leadthrough_duration_s": 23.957,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5989,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5279999999999987,
228
+ "leadthrough_final_stillness_removed_samples": 132,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5990,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6720,
234
+ "leadthrough_initial_stillness_first_motion_index": 598,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.387,
238
+ "leadthrough_initial_stillness_removed_samples": 597,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 597,
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
+ 0.0038453489542007446,
249
+ 0.0027787387371063232,
250
+ 0.0033024512231349945,
251
+ 0.0016478300094604492,
252
+ 0.002782106399536133,
253
+ 0.006409108638763428
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.006409108638763428,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.2598087390263397,
258
+ 0.9205241998036353,
259
+ 1.097223411003707,
260
+ 0.41195750236515766,
261
+ 0.923772652943894,
262
+ 2.1351973215738123
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.891689658164978,
265
+ "leadthrough_velocity_rms_rad_s": 0.22739161197311822,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.5941317081451416,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4733486771583557,
271
+ "measured_wall_accel_peak_abs_rad_s2": 380.1725769042969,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 13.832277707988396,
274
+ "measured_wall_accel_rms_rad_s2": 9.114821526340364,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.512819766998291,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 5906.1611328125,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 13.863271354988683,
279
+ "measured_wall_jerk_rms_rad_s3": 117.03287032921419,
280
+ "measured_wall_smoothness_samples": 1193,
281
+ "measured_wall_velocity_peak_abs_rad_s": 23.960126876831055,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 13.800244833983015,
284
+ "measured_wall_velocity_rms_rad_s": 0.43609520220685655,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.5941317081451416,
287
+ "moving_aligned_p95_error_rad": 0.0024444013833999634,
288
+ "moving_aligned_rms_error_rad": 0.012368317622864111,
289
+ "moving_aligned_samples": 896,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 0.34799999999999986,
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
+ 0.1581028550863266,
302
+ 0.28793686628341675,
303
+ 0.05245488882064819,
304
+ 0.00573914498090744,
305
+ 0.5941317081451416,
306
+ 0.5898082256317139
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.002356388606131077,
310
+ 0.00243829726241529,
311
+ 0.0019528137054294348,
312
+ 0.0032279544975608587,
313
+ 0.0031967759132385254,
314
+ 0.0039011940825730562
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.005922532081411215,
318
+ 0.010191655724451763,
319
+ 0.0021777920339736867,
320
+ 0.001381446893882809,
321
+ 0.026193480938579653,
322
+ 0.029291352185677445
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 740,
326
+ 808,
327
+ 719,
328
+ 234,
329
+ 516,
330
+ 407
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 0.34799999999999986,
334
+ 0.34799999999999986,
335
+ 0.34799999999999986,
336
+ 23.553,
337
+ 0.34799999999999986,
338
+ 0.34799999999999986
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": 111.58671569824219,
348
+ "playback_velocity_rms_rad_s": 2.8486554220335356,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 77.914,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.957,
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
+ 2644,
357
+ 5218
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4464723905708085,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08668774366378784,
364
+ "rapid_planner_max_dt_s": 4.084,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007792413234710693,
367
+ "rapid_planner_median_dt_s": 0.08949999999999925,
368
+ "rapid_planner_path_max_error_rad": 0.5941317081451416,
369
+ "rapid_planner_path_p95_error_rad": 0.0035308957099914533,
370
+ "rapid_planner_path_rms_error_rad": 0.017277073557740476,
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
+ 46,
377
+ 64,
378
+ 82,
379
+ 94,
380
+ 106,
381
+ 114,
382
+ 123,
383
+ 132,
384
+ 140,
385
+ 148,
386
+ 157,
387
+ 166,
388
+ 174,
389
+ 187,
390
+ 200,
391
+ 213,
392
+ 226,
393
+ 234,
394
+ 241,
395
+ 256,
396
+ 270,
397
+ 285,
398
+ 300,
399
+ 316,
400
+ 331,
401
+ 346,
402
+ 362,
403
+ 380,
404
+ 412,
405
+ 455,
406
+ 518,
407
+ 578,
408
+ 622,
409
+ 639,
410
+ 667,
411
+ 680,
412
+ 721,
413
+ 779,
414
+ 891,
415
+ 946,
416
+ 966,
417
+ 1033,
418
+ 1091,
419
+ 1134,
420
+ 1183,
421
+ 1321,
422
+ 1454,
423
+ 1552,
424
+ 1623,
425
+ 2644,
426
+ 3236,
427
+ 3304,
428
+ 3388,
429
+ 3443,
430
+ 3483,
431
+ 3515,
432
+ 3536,
433
+ 3557,
434
+ 3580,
435
+ 3602,
436
+ 3622,
437
+ 3642,
438
+ 3670,
439
+ 3699,
440
+ 3726,
441
+ 3753,
442
+ 3782,
443
+ 3811,
444
+ 3845,
445
+ 3880,
446
+ 3905,
447
+ 3924,
448
+ 3934,
449
+ 3943,
450
+ 3952,
451
+ 3961,
452
+ 3979,
453
+ 3994,
454
+ 4009,
455
+ 4044,
456
+ 4080,
457
+ 4125,
458
+ 4200,
459
+ 4229,
460
+ 4298,
461
+ 4531,
462
+ 4615,
463
+ 4727,
464
+ 4843,
465
+ 4984,
466
+ 5218,
467
+ 5359,
468
+ 5415,
469
+ 5438,
470
+ 5459,
471
+ 5486,
472
+ 5513,
473
+ 5532,
474
+ 5551,
475
+ 5579,
476
+ 5598,
477
+ 5616,
478
+ 5631,
479
+ 5648,
480
+ 5662,
481
+ 5676,
482
+ 5690,
483
+ 5703,
484
+ 5720,
485
+ 5736,
486
+ 5760,
487
+ 5790,
488
+ 5808,
489
+ 5826,
490
+ 5864,
491
+ 5910,
492
+ 5990
493
+ ],
494
+ "rapid_planner_selected_max_joint_step_deg": 4.966841847446988,
495
+ "rapid_planner_selected_samples": 119,
496
+ "rapid_planner_service_configured": true,
497
+ "rapid_planner_source_samples": 5991,
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": 0.5941317081451416,
515
+ "raw_replay_rms_error_rad": 0.010719857595657708,
516
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.977827357806896,
517
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9860007575529286,
518
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9881266148776467,
519
+ "replay_smoothing_applied": true,
520
+ "replay_smoothing_blend": 0.7940085530281067,
521
+ "replay_smoothing_blend_by_joint": [
522
+ 1.0,
523
+ 1.0,
524
+ 1.0,
525
+ 1.0,
526
+ 1.0,
527
+ 0.7940085530281067
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": 0.9913097760304548,
533
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9876514951829459,
534
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9960279101323432,
535
+ "replay_smoothing_max_deviation_by_joint_rad": [
536
+ 0.0005622506141662598,
537
+ 0.0003356337547302246,
538
+ 0.001220613718032837,
539
+ 0.0028046444058418274,
540
+ 0.0017042160034179688,
541
+ 0.00872659683227539
542
+ ],
543
+ "replay_smoothing_max_deviation_normalized": 0.9999943437495498,
544
+ "replay_smoothing_max_deviation_rad": 0.00872659683227539,
545
+ "replay_smoothing_method": "scipy_savgol",
546
+ "replay_smoothing_p95_deviation_rad": 0.0015783309936523438,
547
+ "replay_smoothing_passes": 8,
548
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 8.277482986450195,
549
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 50.00303268432617,
550
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.168573881693545,
551
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1650.4351806640625,
552
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14186.1494140625,
553
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1075.5308239475746,
554
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.9051425457000732,
555
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2282801597923009,
556
+ "replay_smoothing_rms_deviation_rad": 0.0008868204256583288,
557
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 8.093949317932129,
558
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 49.30302810668945,
559
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.119078798585215,
560
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1636.092529296875,
561
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 14010.9716796875,
562
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1071.2587188594198,
563
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.891689658164978,
564
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22739161197311822,
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": 0.9929386451604587,
575
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9961076432573417,
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": 2.6759999999999997,
581
+ "replay_smoothing_wrist_max_deviation_rad": 0.00872659683227539,
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": 0.5941317081451416,
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": 0.7705409526824951,
617
+ "stage_planned_to_measured_rms_error_rad": 0.01356264666740892,
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": 1193,
625
+ "stopped_early": false,
626
+ "strict_tracking_pass": false,
627
+ "strict_tracking_reason": "max_error_rad=0.5941",
628
+ "target_wall_accel_p95_abs_rad_s2": 0.7753058671951294,
629
+ "target_wall_accel_peak_abs_rad_s2": 79.775390625,
630
+ "target_wall_accel_peak_joint": 5,
631
+ "target_wall_accel_peak_time_s": 0.03338694997364655,
632
+ "target_wall_accel_rms_rad_s2": 1.7614678599699587,
633
+ "target_wall_jerk_p95_abs_rad_s3": 18.016220092773438,
634
+ "target_wall_jerk_peak_abs_rad_s3": 1193.7620849609375,
635
+ "target_wall_jerk_peak_joint": 5,
636
+ "target_wall_jerk_peak_time_s": 0.06673324899747968,
637
+ "target_wall_jerk_rms_rad_s3": 22.628529009873375,
638
+ "target_wall_smoothness_samples": 1193,
639
+ "target_wall_velocity_peak_abs_rad_s": 5.323169708251953,
640
+ "target_wall_velocity_peak_joint": 5,
641
+ "target_wall_velocity_peak_time_s": 6.2810140661895275e-06,
642
+ "target_wall_velocity_rms_rad_s": 0.13121334825241707,
643
+ "tcp_pose_count": 1193,
644
+ "timestamp_count": 1193,
645
+ "tool_failures": 0,
646
+ "tracking_geometry_pass": false,
647
+ "tracking_geometry_reason": "max_error_rad=0.5941",
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": 0.7300000000000022,
657
+ "window_lag_best_lag_median_s": 0.0,
658
+ "window_lag_best_lag_min_s": -1.1899999999999993,
659
+ "window_lag_best_lag_p95_abs_s": 1.0059999999999996,
660
+ "window_lag_count": 29,
661
+ "window_lag_window_s": 1.0,
662
+ "window_lag_worst_best_lag_s": 0.0,
663
+ "window_lag_worst_end_s": 1.0,
664
+ "window_lag_worst_max_error_rad": 0.5941317081451416,
665
+ "window_lag_worst_rms_error_rad": 0.04001292256471698,
666
+ "window_lag_worst_start_s": 0.0,
667
+ "zero_lag_max_error_rad": 0.5941317081451416,
668
+ "zero_lag_p95_error_rad": 0.0021329312585294247,
669
+ "zero_lag_rms_error_rad": 0.010719857595657708,
670
+ "zero_lag_samples": 1193,
671
+ "zero_lag_worst_joint": 4,
672
+ "zero_lag_worst_time_s": 0.34799999999999986
673
+ }
674
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7678e79a09a186062a492358070a1c7847d1ee6390ce7196a9b269fa87aa8cef
3
+ size 126121
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json ADDED
@@ -0,0 +1,679 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:40:12",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.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": 1162,
20
+ "actual_playback_duration_s": 38.74728059704648,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006707746535539627,
23
+ "aligned_p95_error_rad": 0.0020787124522030354,
24
+ "aligned_rms_error_rad": 0.000904715469423941,
25
+ "aligned_samples": 1162,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 23.714,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1162,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1162,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6060383236776292,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1162,
46
+ "cam_wrist": 1162
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
+ 0.003303706645965576,
58
+ 0.006408762186765671,
59
+ 0.00479048490524292,
60
+ 0.006707746535539627,
61
+ 0.00477069616317749,
62
+ 0.004953727126121521
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.001824562787078321,
66
+ 0.0020538843236863613,
67
+ 0.002065371721982956,
68
+ 0.0016709825722500682,
69
+ 0.002301441505551338,
70
+ 0.0024799590464681387
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008124298044712764,
74
+ 0.000932672632021558,
75
+ 0.0008835287115003248,
76
+ 0.0007899002259815894,
77
+ 0.0009365720179350846,
78
+ 0.0010485263764657747
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1162,
82
+ 1162,
83
+ 1162,
84
+ 1162,
85
+ 1162,
86
+ 1162
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 16.179,
90
+ 23.714,
91
+ 17.606,
92
+ 23.714,
93
+ 17.65,
94
+ 23.686
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
100
+ "leadthrough_capture_controller_tm_gap_warn": false,
101
+ "leadthrough_capture_controller_tm_gap_warn_count": 0,
102
+ "leadthrough_capture_dropped_ticks": 0,
103
+ "leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
104
+ "leadthrough_capture_egm_client_seqno_gap_count_final": 0,
105
+ "leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
106
+ "leadthrough_capture_egm_drained_packet_events": 1,
107
+ "leadthrough_capture_egm_drained_packet_max": 19,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005788286973256618,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003964439034461975,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004390268004499376,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004619573999661952,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2791,
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": 0.005895979993510991,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003988075506640598,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004412764645530842,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004665333983721212,
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": 0.006038633000571281,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003988537995610386,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004411122511373833,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0046360262105008595,
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": 0.016468688030727208,
170
+ "leadthrough_capture_loop_late_median_s": 0.0099974877666682,
171
+ "leadthrough_capture_loop_late_p95_s": 0.010384948051068932,
172
+ "leadthrough_capture_loop_late_p99_s": 0.010769787535537034,
173
+ "leadthrough_capture_loop_late_warn_count": 7101,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.005859105032868683,
176
+ "leadthrough_capture_read_duration_median_s": 0.003977112006396055,
177
+ "leadthrough_capture_read_duration_p95_s": 0.0044018629705533385,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004651051014661789,
179
+ "leadthrough_capture_read_duration_warn_count": 3058,
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
+ 0.0036951303482055664,
190
+ 0.001995772123336792,
191
+ 0.002010151743888855,
192
+ 0.0010905647650361061,
193
+ 0.0018898844718933105,
194
+ 0.008487224578857422
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.008487224578857422,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0021127802319824696,
199
+ 0.0015544482739642262,
200
+ 0.0016660015098750591,
201
+ 0.0005195172852836549,
202
+ 0.001147776609286666,
203
+ 0.004485930781811476
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008174846298061311,
207
+ 0.0006391250062733889,
208
+ 0.0006959913880564272,
209
+ 0.00020419912470970303,
210
+ 0.0004697489785030484,
211
+ 0.0016658753156661987
212
+ ],
213
+ "leadthrough_delta_samples": 6032,
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": -0.008487224578857422,
218
+ "leadthrough_delta_worst_from_rad": -1.043458104133606,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0410000000000004,
221
+ "leadthrough_delta_worst_to_rad": -1.0519453287124634,
222
+ "leadthrough_duration_s": 24.126,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6031,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.8319999999999972,
228
+ "leadthrough_final_stillness_removed_samples": 208,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6032,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7101,
234
+ "leadthrough_initial_stillness_first_motion_index": 861,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 3.439,
238
+ "leadthrough_initial_stillness_removed_samples": 860,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 860,
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
+ 0.0036951303482055664,
249
+ 0.001995772123336792,
250
+ 0.002010151743888855,
251
+ 0.0010905647650361061,
252
+ 0.0018898844718933105,
253
+ 0.008487224578857422
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008487224578857422,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.9237825870510831,
258
+ 0.4989430308344745,
259
+ 0.6410082181294516,
260
+ 0.27264119125917763,
261
+ 0.5222956339518031,
262
+ 2.822279930115475
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.489095687866211,
265
+ "leadthrough_velocity_rms_rad_s": 0.223647465662019,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006707746535539627,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5390134453773499,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.4898974895477295,
272
+ "measured_wall_accel_peak_joint": 3,
273
+ "measured_wall_accel_peak_time_s": 52.45591915596742,
274
+ "measured_wall_accel_rms_rad_s2": 0.2640860971083184,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.51587200164795,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 62.976070404052734,
277
+ "measured_wall_jerk_peak_joint": 3,
278
+ "measured_wall_jerk_peak_time_s": 52.52288079098798,
279
+ "measured_wall_jerk_rms_rad_s3": 4.353861598671267,
280
+ "measured_wall_smoothness_samples": 1162,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.8623666763305664,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 16.556953256949782,
284
+ "measured_wall_velocity_rms_rad_s": 0.1068781924731524,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006707746535539627,
287
+ "moving_aligned_p95_error_rad": 0.002344086766242981,
288
+ "moving_aligned_rms_error_rad": 0.0010439065680555575,
289
+ "moving_aligned_samples": 861,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 23.714,
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
+ 0.003303706645965576,
302
+ 0.006408762186765671,
303
+ 0.00479048490524292,
304
+ 0.006707746535539627,
305
+ 0.004733681678771973,
306
+ 0.004310250282287598
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0020440369844436646,
310
+ 0.002512826817110181,
311
+ 0.002597987651824951,
312
+ 0.003622833639383316,
313
+ 0.0027535795234143734,
314
+ 0.00319694890640676
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009855415728388186,
318
+ 0.0011291280055526617,
319
+ 0.0011260100838790196,
320
+ 0.001551254878275503,
321
+ 0.00124678291397991,
322
+ 0.0015757859891409368
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 706,
326
+ 748,
327
+ 681,
328
+ 241,
329
+ 528,
330
+ 414
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 16.179,
334
+ 23.714,
335
+ 17.606,
336
+ 23.714,
337
+ 17.606,
338
+ 2.548
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": 2.418322801589966,
348
+ "playback_velocity_rms_rad_s": 0.3684746566579822,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 78.25200000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.126,
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
+ 2611,
357
+ 5297
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.4376522684747948,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08557915687561035,
364
+ "rapid_planner_max_dt_s": 2.196999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007638473063707352,
367
+ "rapid_planner_median_dt_s": 0.10000000000000142,
368
+ "rapid_planner_path_max_error_rad": 0.006707746535539627,
369
+ "rapid_planner_path_p95_error_rad": 0.0031070404686033724,
370
+ "rapid_planner_path_rms_error_rad": 0.001520391768480855,
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
+ 67,
377
+ 91,
378
+ 103,
379
+ 115,
380
+ 124,
381
+ 134,
382
+ 143,
383
+ 152,
384
+ 164,
385
+ 176,
386
+ 188,
387
+ 199,
388
+ 206,
389
+ 212,
390
+ 218,
391
+ 224,
392
+ 230,
393
+ 237,
394
+ 244,
395
+ 250,
396
+ 259,
397
+ 268,
398
+ 276,
399
+ 285,
400
+ 296,
401
+ 306,
402
+ 321,
403
+ 333,
404
+ 345,
405
+ 360,
406
+ 406,
407
+ 451,
408
+ 499,
409
+ 547,
410
+ 584,
411
+ 621,
412
+ 654,
413
+ 692,
414
+ 771,
415
+ 832,
416
+ 856,
417
+ 877,
418
+ 898,
419
+ 921,
420
+ 962,
421
+ 1040,
422
+ 1067,
423
+ 1139,
424
+ 1324,
425
+ 1436,
426
+ 1562,
427
+ 1861,
428
+ 1978,
429
+ 2062,
430
+ 2611,
431
+ 3156,
432
+ 3215,
433
+ 3302,
434
+ 3342,
435
+ 3406,
436
+ 3453,
437
+ 3487,
438
+ 3521,
439
+ 3584,
440
+ 3647,
441
+ 3698,
442
+ 3726,
443
+ 3755,
444
+ 3780,
445
+ 3804,
446
+ 3854,
447
+ 3901,
448
+ 3930,
449
+ 3959,
450
+ 3982,
451
+ 4006,
452
+ 4032,
453
+ 4054,
454
+ 4080,
455
+ 4094,
456
+ 4108,
457
+ 4120,
458
+ 4132,
459
+ 4144,
460
+ 4156,
461
+ 4170,
462
+ 4185,
463
+ 4204,
464
+ 4224,
465
+ 4264,
466
+ 4330,
467
+ 4371,
468
+ 4456,
469
+ 4542,
470
+ 4608,
471
+ 4815,
472
+ 4904,
473
+ 5023,
474
+ 5164,
475
+ 5297,
476
+ 5476,
477
+ 5517,
478
+ 5547,
479
+ 5584,
480
+ 5621,
481
+ 5651,
482
+ 5680,
483
+ 5696,
484
+ 5713,
485
+ 5728,
486
+ 5743,
487
+ 5759,
488
+ 5775,
489
+ 5798,
490
+ 5820,
491
+ 5837,
492
+ 5854,
493
+ 5867,
494
+ 5880,
495
+ 5903,
496
+ 5958,
497
+ 6032
498
+ ],
499
+ "rapid_planner_selected_max_joint_step_deg": 4.903324503260454,
500
+ "rapid_planner_selected_samples": 124,
501
+ "rapid_planner_service_configured": true,
502
+ "rapid_planner_source_samples": 6033,
503
+ "rapid_planner_state_done": 6.0,
504
+ "rapid_planner_state_error": 7.0,
505
+ "rapid_planner_tool_command_hz": 30.0,
506
+ "rapid_planner_tool_command_supported": true,
507
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
508
+ "rapid_planner_tool_io_configured": true,
509
+ "rapid_planner_tool_io_supported": true,
510
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
511
+ "rapid_planner_tool_state_supported": true,
512
+ "rapid_planner_tool_transition_source_count": 2,
513
+ "rapid_planner_tool_transitions_uploaded": 2,
514
+ "rapid_planner_tool_upload_enabled": true,
515
+ "rapid_planner_uploaded": true,
516
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
517
+ "rapid_planner_waypoints_uploaded": 124,
518
+ "raw_ramp_max_error_rad": null,
519
+ "raw_replay_max_error_rad": 0.006707746535539627,
520
+ "raw_replay_rms_error_rad": 0.000904715469423941,
521
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9744908387763924,
522
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9894171220754991,
523
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9907139044516416,
524
+ "replay_smoothing_applied": true,
525
+ "replay_smoothing_blend": 1.0,
526
+ "replay_smoothing_blend_by_joint": [
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0
533
+ ],
534
+ "replay_smoothing_edge_taper_s": 0.2,
535
+ "replay_smoothing_edge_taper_samples": 50,
536
+ "replay_smoothing_enabled": true,
537
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9918925150264349,
538
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.983392457499537,
539
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.996292155340092,
540
+ "replay_smoothing_max_deviation_by_joint_rad": [
541
+ 0.000458642840385437,
542
+ 0.0005421042442321777,
543
+ 0.000816643238067627,
544
+ 0.00288458913564682,
545
+ 0.0014977455139160156,
546
+ 0.006262421607971191
547
+ ],
548
+ "replay_smoothing_max_deviation_normalized": 0.7176206608955125,
549
+ "replay_smoothing_max_deviation_rad": 0.006262421607971191,
550
+ "replay_smoothing_method": "scipy_savgol",
551
+ "replay_smoothing_p95_deviation_rad": 0.0016648181481286883,
552
+ "replay_smoothing_passes": 8,
553
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.8546833992004395,
554
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 82.37793731689453,
555
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.218556478813837,
556
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 990.6044921875,
557
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 22439.09375,
558
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1077.1830221193527,
559
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.5220768451690674,
560
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22445656259563349,
561
+ "replay_smoothing_rms_deviation_rad": 0.0008723316594022911,
562
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.730844497680664,
563
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 81.50614166259766,
564
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 4.1793825602754255,
565
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 982.5731811523438,
566
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 22066.435546875,
567
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1073.188994803044,
568
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.489095687866211,
569
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.223647465662019,
570
+ "replay_smoothing_tolerance_by_joint_rad": [
571
+ 0.03490658476948738,
572
+ 0.03490658476948738,
573
+ 0.02617993950843811,
574
+ 0.008726646192371845,
575
+ 0.008726646192371845,
576
+ 0.008726646192371845
577
+ ],
578
+ "replay_smoothing_tolerance_rad": 0.034906585,
579
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9869230164949055,
580
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9963953072957279,
581
+ "replay_smoothing_window_s": 0.2,
582
+ "replay_smoothing_window_samples": 51,
583
+ "replay_smoothing_within_tolerance": true,
584
+ "replay_smoothing_worst_joint": 5,
585
+ "replay_smoothing_worst_time_s": 3.5759999999999996,
586
+ "replay_smoothing_wrist_max_deviation_rad": 0.006262421607971191,
587
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
588
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
589
+ "return_measured_wall_accel_peak_joint": -1,
590
+ "return_measured_wall_accel_peak_time_s": null,
591
+ "return_measured_wall_accel_rms_rad_s2": null,
592
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
593
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
594
+ "return_measured_wall_jerk_peak_joint": -1,
595
+ "return_measured_wall_jerk_peak_time_s": null,
596
+ "return_measured_wall_jerk_rms_rad_s3": null,
597
+ "return_measured_wall_smoothness_samples": 0,
598
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
599
+ "return_measured_wall_velocity_peak_joint": -1,
600
+ "return_measured_wall_velocity_peak_time_s": null,
601
+ "return_measured_wall_velocity_rms_rad_s": null,
602
+ "safety_abort": false,
603
+ "safety_path_error_rad": 0.006707746535539627,
604
+ "saved_data_source": "measured_rapid_planner_playback",
605
+ "send_failures": 0,
606
+ "sent_wall_accel_p95_abs_rad_s2": null,
607
+ "sent_wall_accel_peak_abs_rad_s2": null,
608
+ "sent_wall_accel_peak_joint": -1,
609
+ "sent_wall_accel_peak_time_s": null,
610
+ "sent_wall_accel_rms_rad_s2": null,
611
+ "sent_wall_jerk_p95_abs_rad_s3": null,
612
+ "sent_wall_jerk_peak_abs_rad_s3": null,
613
+ "sent_wall_jerk_peak_joint": -1,
614
+ "sent_wall_jerk_peak_time_s": null,
615
+ "sent_wall_jerk_rms_rad_s3": null,
616
+ "sent_wall_smoothness_samples": 0,
617
+ "sent_wall_velocity_peak_abs_rad_s": null,
618
+ "sent_wall_velocity_peak_joint": -1,
619
+ "sent_wall_velocity_peak_time_s": null,
620
+ "sent_wall_velocity_rms_rad_s": null,
621
+ "stage_planned_to_measured_max_error_rad": 0.048979759216308594,
622
+ "stage_planned_to_measured_rms_error_rad": 0.0063503209525517905,
623
+ "stage_sent_to_measured_max_error_rad": null,
624
+ "stage_sent_to_measured_rms_error_rad": null,
625
+ "stage_sent_to_planned_max_error_rad": null,
626
+ "stage_sent_to_planned_rms_error_rad": null,
627
+ "stage_target_to_sent_max_error_rad": null,
628
+ "stage_target_to_sent_rms_error_rad": null,
629
+ "state_frame_count": 1162,
630
+ "stopped_early": false,
631
+ "strict_tracking_pass": true,
632
+ "strict_tracking_reason": "ok",
633
+ "target_wall_accel_p95_abs_rad_s2": 0.7497051954269409,
634
+ "target_wall_accel_peak_abs_rad_s2": 4.083621978759766,
635
+ "target_wall_accel_peak_joint": 3,
636
+ "target_wall_accel_peak_time_s": 38.63338777900208,
637
+ "target_wall_accel_rms_rad_s2": 0.3622491541747243,
638
+ "target_wall_jerk_p95_abs_rad_s3": 15.915507316589355,
639
+ "target_wall_jerk_peak_abs_rad_s3": 90.7811050415039,
640
+ "target_wall_jerk_peak_joint": 3,
641
+ "target_wall_jerk_peak_time_s": 38.56672045902815,
642
+ "target_wall_jerk_rms_rad_s3": 7.793884999960488,
643
+ "target_wall_smoothness_samples": 1162,
644
+ "target_wall_velocity_peak_abs_rad_s": 0.9023560881614685,
645
+ "target_wall_velocity_peak_joint": 5,
646
+ "target_wall_velocity_peak_time_s": 2.8000564459944144,
647
+ "target_wall_velocity_rms_rad_s": 0.10791769242382185,
648
+ "tcp_pose_count": 1162,
649
+ "timestamp_count": 1162,
650
+ "tool_failures": 0,
651
+ "tracking_geometry_pass": true,
652
+ "tracking_geometry_reason": "ok",
653
+ "tracking_pass": true,
654
+ "tracking_reason": "ok",
655
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
656
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
657
+ "tracking_threshold_max_lag_s": 0.1,
658
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
659
+ "tracking_timing_pass": true,
660
+ "tracking_timing_reason": "ok",
661
+ "window_lag_best_lag_max_s": 0.5400000000000023,
662
+ "window_lag_best_lag_median_s": 0.0,
663
+ "window_lag_best_lag_min_s": -0.009999999999998233,
664
+ "window_lag_best_lag_p95_abs_s": 0.5400000000000023,
665
+ "window_lag_count": 32,
666
+ "window_lag_window_s": 1.0,
667
+ "window_lag_worst_best_lag_s": 0.0,
668
+ "window_lag_worst_end_s": 18.5,
669
+ "window_lag_worst_max_error_rad": 0.00479048490524292,
670
+ "window_lag_worst_rms_error_rad": 0.001957083455130009,
671
+ "window_lag_worst_start_s": 17.5,
672
+ "zero_lag_max_error_rad": 0.006707746535539627,
673
+ "zero_lag_p95_error_rad": 0.0020787124522030354,
674
+ "zero_lag_rms_error_rad": 0.000904715469423941,
675
+ "zero_lag_samples": 1162,
676
+ "zero_lag_worst_joint": 3,
677
+ "zero_lag_worst_time_s": 23.714
678
+ }
679
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9549817b5e226d95a159fb76740e02e58d5613ce398a366344b8db13214c607
3
+ size 121217
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.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": "2026-10-26T16:51:42",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.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": 38.5772824199521,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.005073904991149902,
23
+ "aligned_p95_error_rad": 0.0017767443787306547,
24
+ "aligned_rms_error_rad": 0.0007592528424942929,
25
+ "aligned_samples": 1157,
26
+ "aligned_worst_joint": 4,
27
+ "aligned_worst_time_s": 2.7079999999999997,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.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": 1.4777736992894885,
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
+ 0.004792928695678711,
58
+ 0.003877457231283188,
59
+ 0.004678450524806976,
60
+ 0.004424989223480225,
61
+ 0.005073904991149902,
62
+ 0.003904484212398529
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0018371145706623793,
66
+ 0.0016024202341213822,
67
+ 0.0014608734054490924,
68
+ 0.0012405611341819167,
69
+ 0.002158260205760598,
70
+ 0.002001630375161767
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008290750727233257,
74
+ 0.0007448610441201797,
75
+ 0.0006747494525531815,
76
+ 0.0005310158122608963,
77
+ 0.0008879991177776127,
78
+ 0.0008311430514594066
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
+ 2.7079999999999997,
90
+ 25.665,
91
+ 2.6839999999999997,
92
+ 25.665,
93
+ 2.7079999999999997,
94
+ 25.625
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 43,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.0063249869854189456,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.00396490900311619,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004389509471366182,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.00462165193166584,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2856,
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": 0.006364787986967713,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003987073461757973,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004413230338832363,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004660306217847391,
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": 0.006353940989356488,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003988074022345245,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.0044099994353018705,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004624564185505733,
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": 0.016181124025024474,
170
+ "leadthrough_capture_loop_late_median_s": 0.012928515498060733,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01330213202163577,
172
+ "leadthrough_capture_loop_late_p99_s": 0.01365514634526335,
173
+ "leadthrough_capture_loop_late_warn_count": 7191,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006349299976136535,
176
+ "leadthrough_capture_read_duration_median_s": 0.003977492044214159,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004402207996463403,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004646547912852839,
179
+ "leadthrough_capture_read_duration_warn_count": 3085,
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": 18,
187
+ "leadthrough_capture_timestamp_source": "egm_controller_tm_ms",
188
+ "leadthrough_delta_max_abs_by_joint_rad": [
189
+ 0.0040079206228256226,
190
+ 0.002652108669281006,
191
+ 0.0027767494320869446,
192
+ 0.001468665897846222,
193
+ 0.0031650662422180176,
194
+ 0.007855653762817383
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.007855653762817383,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0021804978605359793,
199
+ 0.0017104281578212976,
200
+ 0.001967283897101879,
201
+ 0.0006474437541328371,
202
+ 0.0012617704924196005,
203
+ 0.003448466770350933
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008219556766562164,
207
+ 0.0006631405558437109,
208
+ 0.0007263117586262524,
209
+ 0.00023718374723102897,
210
+ 0.0005605480400845408,
211
+ 0.0014591446379199624
212
+ ],
213
+ "leadthrough_delta_samples": 6527,
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": -0.007855653762817383,
218
+ "leadthrough_delta_worst_from_rad": -1.0421565771102905,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.9239999999999999,
221
+ "leadthrough_delta_worst_to_rad": -1.050012230873108,
222
+ "leadthrough_duration_s": 26.105,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6526,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.4400000000000013,
228
+ "leadthrough_final_stillness_removed_samples": 110,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 6527,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 7191,
234
+ "leadthrough_initial_stillness_first_motion_index": 554,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.212,
238
+ "leadthrough_initial_stillness_removed_samples": 553,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 553,
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": 0.0040000000000000036,
246
+ "leadthrough_sample_gap_warn": false,
247
+ "leadthrough_unwrapped_delta_max_abs_by_joint_rad": [
248
+ 0.0040079206228256226,
249
+ 0.002652108669281006,
250
+ 0.0027767494320869446,
251
+ 0.001468665897846222,
252
+ 0.0031650662422180176,
253
+ 0.007855653762817383
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.007855653762817383,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.3319800297418725,
258
+ 0.8709828058878251,
259
+ 0.9255831440289465,
260
+ 0.48835823933281636,
261
+ 1.026451587676963,
262
+ 1.963913440704344
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.9466131925582886,
265
+ "leadthrough_velocity_rms_rad_s": 0.20976449654228016,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.005073904991149902,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5139231085777283,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.297553777694702,
272
+ "measured_wall_accel_peak_joint": 3,
273
+ "measured_wall_accel_peak_time_s": 52.81945046503097,
274
+ "measured_wall_accel_rms_rad_s2": 0.27930745553410113,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.401321411132812,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 68.04579162597656,
277
+ "measured_wall_jerk_peak_joint": 3,
278
+ "measured_wall_jerk_peak_time_s": 52.88573916204041,
279
+ "measured_wall_jerk_rms_rad_s3": 4.543952426145047,
280
+ "measured_wall_smoothness_samples": 1157,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7320882678031921,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 17.584904042014387,
284
+ "measured_wall_velocity_rms_rad_s": 0.10004185791019275,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.005073904991149902,
287
+ "moving_aligned_p95_error_rad": 0.001926317811012268,
288
+ "moving_aligned_rms_error_rad": 0.0008750703734903418,
289
+ "moving_aligned_samples": 856,
290
+ "moving_aligned_worst_joint": 4,
291
+ "moving_aligned_worst_time_s": 2.7079999999999997,
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
+ 0.004792928695678711,
302
+ 0.003877457231283188,
303
+ 0.004678450524806976,
304
+ 0.004424989223480225,
305
+ 0.005073904991149902,
306
+ 0.003904484212398529
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0021138384472578764,
310
+ 0.0017749926773831248,
311
+ 0.001775635639205575,
312
+ 0.0021953359246253967,
313
+ 0.002523481845855713,
314
+ 0.002699017059057951
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010142232291050599,
318
+ 0.0008612061957401112,
319
+ 0.0008419655209160343,
320
+ 0.0010328356563721521,
321
+ 0.0012372712312572988,
322
+ 0.00134148291518315
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 728,
326
+ 783,
327
+ 650,
328
+ 238,
329
+ 483,
330
+ 393
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 2.7079999999999997,
334
+ 25.665,
335
+ 2.6839999999999997,
336
+ 25.665,
337
+ 2.7079999999999997,
338
+ 25.625
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": 2.3585333824157715,
348
+ "playback_velocity_rms_rad_s": 0.3888063619695627,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 82.21000000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 26.105,
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
+ 2899,
357
+ 5833
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.3928278980665432,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08529748022556305,
364
+ "rapid_planner_max_dt_s": 2.74,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.006856140214949846,
367
+ "rapid_planner_median_dt_s": 0.10000000000000142,
368
+ "rapid_planner_path_max_error_rad": 0.005073904991149902,
369
+ "rapid_planner_path_p95_error_rad": 0.0025704622268676765,
370
+ "rapid_planner_path_rms_error_rad": 0.0013178541228326518,
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
+ 19,
376
+ 41,
377
+ 61,
378
+ 72,
379
+ 82,
380
+ 98,
381
+ 106,
382
+ 114,
383
+ 123,
384
+ 132,
385
+ 142,
386
+ 151,
387
+ 158,
388
+ 166,
389
+ 173,
390
+ 180,
391
+ 187,
392
+ 194,
393
+ 201,
394
+ 208,
395
+ 218,
396
+ 228,
397
+ 238,
398
+ 249,
399
+ 260,
400
+ 271,
401
+ 287,
402
+ 302,
403
+ 317,
404
+ 335,
405
+ 391,
406
+ 420,
407
+ 472,
408
+ 504,
409
+ 536,
410
+ 562,
411
+ 589,
412
+ 650,
413
+ 723,
414
+ 770,
415
+ 812,
416
+ 877,
417
+ 911,
418
+ 966,
419
+ 1028,
420
+ 1136,
421
+ 1267,
422
+ 1376,
423
+ 1444,
424
+ 1598,
425
+ 1674,
426
+ 1848,
427
+ 2225,
428
+ 2899,
429
+ 3584,
430
+ 3632,
431
+ 3702,
432
+ 3739,
433
+ 3805,
434
+ 3853,
435
+ 3882,
436
+ 3910,
437
+ 3942,
438
+ 3974,
439
+ 3997,
440
+ 4020,
441
+ 4043,
442
+ 4066,
443
+ 4104,
444
+ 4141,
445
+ 4162,
446
+ 4183,
447
+ 4212,
448
+ 4243,
449
+ 4279,
450
+ 4298,
451
+ 4315,
452
+ 4331,
453
+ 4347,
454
+ 4362,
455
+ 4376,
456
+ 4396,
457
+ 4417,
458
+ 4442,
459
+ 4466,
460
+ 4494,
461
+ 4521,
462
+ 4536,
463
+ 4551,
464
+ 4619,
465
+ 4655,
466
+ 4689,
467
+ 4797,
468
+ 4912,
469
+ 4967,
470
+ 5032,
471
+ 5106,
472
+ 5259,
473
+ 5426,
474
+ 5534,
475
+ 5607,
476
+ 5833,
477
+ 5978,
478
+ 6013,
479
+ 6044,
480
+ 6067,
481
+ 6086,
482
+ 6115,
483
+ 6134,
484
+ 6156,
485
+ 6179,
486
+ 6198,
487
+ 6217,
488
+ 6232,
489
+ 6247,
490
+ 6262,
491
+ 6278,
492
+ 6292,
493
+ 6307,
494
+ 6333,
495
+ 6351,
496
+ 6369,
497
+ 6394,
498
+ 6437,
499
+ 6482,
500
+ 6527
501
+ ],
502
+ "rapid_planner_selected_max_joint_step_deg": 4.88718562002536,
503
+ "rapid_planner_selected_samples": 127,
504
+ "rapid_planner_service_configured": true,
505
+ "rapid_planner_source_samples": 6528,
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": 0.005073904991149902,
523
+ "raw_replay_rms_error_rad": 0.0007592528424942929,
524
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9545826277510617,
525
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.930682136606688,
526
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9776453849070209,
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": 0.9849143630017869,
541
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9780675833066204,
542
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9892441864605651,
543
+ "replay_smoothing_max_deviation_by_joint_rad": [
544
+ 0.0006714165210723877,
545
+ 0.0003509521484375,
546
+ 0.0005504637956619263,
547
+ 0.0024017952382564545,
548
+ 0.0014312267303466797,
549
+ 0.004619121551513672
550
+ ],
551
+ "replay_smoothing_max_deviation_normalized": 0.5293123440195557,
552
+ "replay_smoothing_max_deviation_rad": 0.004619121551513672,
553
+ "replay_smoothing_method": "scipy_savgol",
554
+ "replay_smoothing_p95_deviation_rad": 0.0018042023293673992,
555
+ "replay_smoothing_passes": 8,
556
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 3.8665993213653564,
557
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 41.00392150878906,
558
+ "replay_smoothing_raw_accel_rms_rad_s2": 2.5326993502444592,
559
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 715.527587890625,
560
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 10485.958984375,
561
+ "replay_smoothing_raw_jerk_rms_rad_s3": 663.9012005098378,
562
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.962408423423767,
563
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.21048788614008374,
564
+ "replay_smoothing_rms_deviation_rad": 0.0007479417035562355,
565
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 3.690988540649414,
566
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 38.161617279052734,
567
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 2.476081831123506,
568
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 704.7333984375,
569
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 10255.9765625,
570
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 656.7604029885471,
571
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.9466131925582886,
572
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.20976449654228016,
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": 0.9919510991305669,
583
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9965632720672478,
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": 24.869,
589
+ "replay_smoothing_wrist_max_deviation_rad": 0.004619121551513672,
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": 0.005073904991149902,
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": 0.041179537773132324,
625
+ "stage_planned_to_measured_rms_error_rad": 0.005936276938742219,
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": 1157,
633
+ "stopped_early": false,
634
+ "strict_tracking_pass": true,
635
+ "strict_tracking_reason": "ok",
636
+ "target_wall_accel_p95_abs_rad_s2": 0.8104575872421265,
637
+ "target_wall_accel_peak_abs_rad_s2": 3.644627332687378,
638
+ "target_wall_accel_peak_joint": 5,
639
+ "target_wall_accel_peak_time_s": 7.633393377996981,
640
+ "target_wall_accel_rms_rad_s2": 0.38848154467892576,
641
+ "target_wall_jerk_p95_abs_rad_s3": 17.45753288269043,
642
+ "target_wall_jerk_peak_abs_rad_s3": 104.2663803100586,
643
+ "target_wall_jerk_peak_joint": 5,
644
+ "target_wall_jerk_peak_time_s": 2.5333899169927463,
645
+ "target_wall_jerk_rms_rad_s3": 8.42849005207476,
646
+ "target_wall_smoothness_samples": 1157,
647
+ "target_wall_velocity_peak_abs_rad_s": 0.740492582321167,
648
+ "target_wall_velocity_peak_joint": 5,
649
+ "target_wall_velocity_peak_time_s": 3.133411469985731,
650
+ "target_wall_velocity_rms_rad_s": 0.10097912408584135,
651
+ "tcp_pose_count": 1157,
652
+ "timestamp_count": 1157,
653
+ "tool_failures": 0,
654
+ "tracking_geometry_pass": true,
655
+ "tracking_geometry_reason": "ok",
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": 0.8700000000000028,
665
+ "window_lag_best_lag_median_s": 0.0,
666
+ "window_lag_best_lag_min_s": -1.2999999999999994,
667
+ "window_lag_best_lag_p95_abs_s": 1.1199999999999992,
668
+ "window_lag_count": 34,
669
+ "window_lag_window_s": 1.0,
670
+ "window_lag_worst_best_lag_s": 0.0,
671
+ "window_lag_worst_end_s": 3.5,
672
+ "window_lag_worst_max_error_rad": 0.005073904991149902,
673
+ "window_lag_worst_rms_error_rad": 0.0014070767121971872,
674
+ "window_lag_worst_start_s": 2.5,
675
+ "zero_lag_max_error_rad": 0.005073904991149902,
676
+ "zero_lag_p95_error_rad": 0.0017767443787306547,
677
+ "zero_lag_rms_error_rad": 0.0007592528424942929,
678
+ "zero_lag_samples": 1157,
679
+ "zero_lag_worst_joint": 4,
680
+ "zero_lag_worst_time_s": 2.7079999999999997
681
+ }
682
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42dad7cd357b4e918fa299b76ed9e447a484aba823e523015bd007425efcde31
3
+ size 122161
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.json ADDED
@@ -0,0 +1,681 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:53:34",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.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": 1176,
20
+ "actual_playback_duration_s": 39.21752356400248,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006753876805305481,
23
+ "aligned_p95_error_rad": 0.002048356458544731,
24
+ "aligned_rms_error_rad": 0.0009454482556071248,
25
+ "aligned_samples": 1176,
26
+ "aligned_worst_joint": 1,
27
+ "aligned_worst_time_s": 17.126,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1176,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1176,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.673888068803725,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1176,
46
+ "cam_wrist": 1176
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
+ 0.004149996675550938,
58
+ 0.006753876805305481,
59
+ 0.006176412105560303,
60
+ 0.004137959331274033,
61
+ 0.006057143211364746,
62
+ 0.006646871566772461
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0018448065966367722,
66
+ 0.002111542969942093,
67
+ 0.0017164051532745361,
68
+ 0.0011443763505667448,
69
+ 0.002545788884162903,
70
+ 0.0026416629552841187
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0008327381445508686,
74
+ 0.001006840145186335,
75
+ 0.0008100756087896315,
76
+ 0.0005290060870956016,
77
+ 0.0011439982532187433,
78
+ 0.0011879615285550458
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1176,
82
+ 1176,
83
+ 1176,
84
+ 1176,
85
+ 1176,
86
+ 1176
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 2.5429999999999997,
90
+ 17.126,
91
+ 6.007,
92
+ 13.466,
93
+ 21.769000000000002,
94
+ 17.126
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 0.006328693998511881,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003982780530350283,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.0043095019180327656,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004425711575313471,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 3052,
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": 0.05016959400381893,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0040056779980659485,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004333330498775467,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004460841706022617,
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": 0.0063235299894586205,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.004007890995126218,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004331277380697429,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0044418700598180295,
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": 0.09967650199541822,
170
+ "leadthrough_capture_loop_late_median_s": 0.09726075030630454,
171
+ "leadthrough_capture_loop_late_p95_s": 0.09761698679358233,
172
+ "leadthrough_capture_loop_late_p99_s": 0.0977537562372163,
173
+ "leadthrough_capture_loop_late_warn_count": 6596,
174
+ "leadthrough_capture_none_reads": 2,
175
+ "leadthrough_capture_read_duration_max_s": 0.05016598297515884,
176
+ "leadthrough_capture_read_duration_median_s": 0.003994949511252344,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004322692504501902,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004445820226101205,
179
+ "leadthrough_capture_read_duration_warn_count": 3232,
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
+ 0.0038034021854400635,
190
+ 0.0023201480507850647,
191
+ 0.002315353602170944,
192
+ 0.0011894367635250092,
193
+ 0.0028204917907714844,
194
+ 0.0068585872650146484
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.0068585872650146484,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0022852602414786816,
199
+ 0.0019470970146358013,
200
+ 0.0019366142805665731,
201
+ 0.0003475426638033241,
202
+ 0.0015808045864105225,
203
+ 0.0046719638630747795
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008574708481319249,
207
+ 0.0007214429788291454,
208
+ 0.0007864740327931941,
209
+ 0.00017426494741812348,
210
+ 0.00065383012406528,
211
+ 0.0016070709098130465
212
+ ],
213
+ "leadthrough_delta_samples": 5858,
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": -0.0068585872650146484,
218
+ "leadthrough_delta_worst_from_rad": -0.5709752440452576,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.8079999999999998,
221
+ "leadthrough_delta_worst_to_rad": -0.5778338313102722,
222
+ "leadthrough_duration_s": 23.429000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5857,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.4759999999999991,
228
+ "leadthrough_final_stillness_removed_samples": 119,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5858,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6594,
234
+ "leadthrough_initial_stillness_first_motion_index": 617,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.464,
238
+ "leadthrough_initial_stillness_removed_samples": 616,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 616,
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
+ 0.0038034021854400635,
249
+ 0.0023201480507850647,
250
+ 0.002315353602170944,
251
+ 0.0011894367635250092,
252
+ 0.0028204917907714844,
253
+ 0.0068585872650146484
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.0068585872650146484,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.263136665026299,
258
+ 0.7677897810935683,
259
+ 0.7599331438541125,
260
+ 0.39627775549887106,
261
+ 0.9337663650512341,
262
+ 1.7704678078491811
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 1.6923918724060059,
265
+ "leadthrough_velocity_rms_rad_s": 0.22931906412381317,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006753876805305481,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.5092483162879944,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.959888458251953,
272
+ "measured_wall_accel_peak_joint": 5,
273
+ "measured_wall_accel_peak_time_s": 53.05296681600157,
274
+ "measured_wall_accel_rms_rad_s2": 0.25783781263053895,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.651025772094727,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 58.77643966674805,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 53.1539707009797,
279
+ "measured_wall_jerk_rms_rad_s3": 4.434865262230946,
280
+ "measured_wall_smoothness_samples": 1176,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6580735445022583,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 39.45452867797576,
284
+ "measured_wall_velocity_rms_rad_s": 0.10333729646187076,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006753876805305481,
287
+ "moving_aligned_p95_error_rad": 0.0024099862203001976,
288
+ "moving_aligned_rms_error_rad": 0.001091896362593601,
289
+ "moving_aligned_samples": 874,
290
+ "moving_aligned_worst_joint": 1,
291
+ "moving_aligned_worst_time_s": 17.126,
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
+ 0.004149996675550938,
302
+ 0.006753876805305481,
303
+ 0.006176412105560303,
304
+ 0.004137959331274033,
305
+ 0.006057143211364746,
306
+ 0.006646871566772461
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0021491695661097765,
310
+ 0.0025368263013660908,
311
+ 0.0019575650803744793,
312
+ 0.002805848605930805,
313
+ 0.0033618451561778784,
314
+ 0.0036417138762772083
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0010091195578886662,
318
+ 0.001211696460961675,
319
+ 0.0009437406394300194,
320
+ 0.0012684686643701626,
321
+ 0.0015189661786676784,
322
+ 0.0018019913382072135
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 732,
326
+ 770,
327
+ 730,
328
+ 165,
329
+ 602,
330
+ 429
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 2.5429999999999997,
334
+ 17.126,
335
+ 6.007,
336
+ 13.466,
337
+ 21.769000000000002,
338
+ 17.126
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": 2.0601043701171875,
348
+ "playback_velocity_rms_rad_s": 0.4029914109898693,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 76.858,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.429000000000002,
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
+ 2518,
357
+ 5085
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.44289337144572183,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.0872342586517334,
364
+ "rapid_planner_max_dt_s": 2.443999999999999,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007729947566986084,
367
+ "rapid_planner_median_dt_s": 0.08799999999999741,
368
+ "rapid_planner_path_max_error_rad": 0.006753876805305481,
369
+ "rapid_planner_path_p95_error_rad": 0.003312543034553528,
370
+ "rapid_planner_path_rms_error_rad": 0.001581224905929629,
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
+ 60,
377
+ 80,
378
+ 99,
379
+ 111,
380
+ 123,
381
+ 134,
382
+ 144,
383
+ 154,
384
+ 164,
385
+ 178,
386
+ 191,
387
+ 201,
388
+ 211,
389
+ 221,
390
+ 231,
391
+ 238,
392
+ 246,
393
+ 254,
394
+ 262,
395
+ 270,
396
+ 278,
397
+ 286,
398
+ 294,
399
+ 304,
400
+ 314,
401
+ 324,
402
+ 335,
403
+ 346,
404
+ 358,
405
+ 376,
406
+ 393,
407
+ 413,
408
+ 453,
409
+ 490,
410
+ 523,
411
+ 571,
412
+ 599,
413
+ 711,
414
+ 758,
415
+ 802,
416
+ 854,
417
+ 899,
418
+ 946,
419
+ 977,
420
+ 1014,
421
+ 1085,
422
+ 1112,
423
+ 1269,
424
+ 1447,
425
+ 1630,
426
+ 1889,
427
+ 2024,
428
+ 2518,
429
+ 3129,
430
+ 3184,
431
+ 3224,
432
+ 3265,
433
+ 3304,
434
+ 3340,
435
+ 3382,
436
+ 3412,
437
+ 3441,
438
+ 3475,
439
+ 3501,
440
+ 3522,
441
+ 3544,
442
+ 3566,
443
+ 3587,
444
+ 3620,
445
+ 3652,
446
+ 3672,
447
+ 3693,
448
+ 3712,
449
+ 3730,
450
+ 3760,
451
+ 3789,
452
+ 3813,
453
+ 3832,
454
+ 3850,
455
+ 3870,
456
+ 3891,
457
+ 3910,
458
+ 3929,
459
+ 3946,
460
+ 3963,
461
+ 3992,
462
+ 4031,
463
+ 4086,
464
+ 4130,
465
+ 4222,
466
+ 4319,
467
+ 4373,
468
+ 4628,
469
+ 4848,
470
+ 5085,
471
+ 5187,
472
+ 5281,
473
+ 5302,
474
+ 5320,
475
+ 5349,
476
+ 5385,
477
+ 5422,
478
+ 5458,
479
+ 5476,
480
+ 5493,
481
+ 5515,
482
+ 5537,
483
+ 5548,
484
+ 5559,
485
+ 5568,
486
+ 5578,
487
+ 5589,
488
+ 5600,
489
+ 5612,
490
+ 5623,
491
+ 5642,
492
+ 5660,
493
+ 5681,
494
+ 5708,
495
+ 5750,
496
+ 5774,
497
+ 5796,
498
+ 5819,
499
+ 5858
500
+ ],
501
+ "rapid_planner_selected_max_joint_step_deg": 4.998154849696911,
502
+ "rapid_planner_selected_samples": 126,
503
+ "rapid_planner_service_configured": true,
504
+ "rapid_planner_source_samples": 5859,
505
+ "rapid_planner_state_done": 6.0,
506
+ "rapid_planner_state_error": 7.0,
507
+ "rapid_planner_tool_command_hz": 30.0,
508
+ "rapid_planner_tool_command_supported": true,
509
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
510
+ "rapid_planner_tool_io_configured": true,
511
+ "rapid_planner_tool_io_supported": true,
512
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
513
+ "rapid_planner_tool_state_supported": true,
514
+ "rapid_planner_tool_transition_source_count": 2,
515
+ "rapid_planner_tool_transitions_uploaded": 2,
516
+ "rapid_planner_tool_upload_enabled": true,
517
+ "rapid_planner_uploaded": true,
518
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
519
+ "rapid_planner_waypoints_uploaded": 126,
520
+ "raw_ramp_max_error_rad": null,
521
+ "raw_replay_max_error_rad": 0.006753876805305481,
522
+ "raw_replay_rms_error_rad": 0.0009454482556071248,
523
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9533411323311415,
524
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9875811402941813,
525
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9820345545532331,
526
+ "replay_smoothing_applied": true,
527
+ "replay_smoothing_blend": 1.0,
528
+ "replay_smoothing_blend_by_joint": [
529
+ 1.0,
530
+ 1.0,
531
+ 1.0,
532
+ 1.0,
533
+ 1.0,
534
+ 1.0
535
+ ],
536
+ "replay_smoothing_edge_taper_s": 0.2,
537
+ "replay_smoothing_edge_taper_samples": 50,
538
+ "replay_smoothing_enabled": true,
539
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 0.9926568760067183,
540
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9892206788319613,
541
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9920707023762041,
542
+ "replay_smoothing_max_deviation_by_joint_rad": [
543
+ 0.000809594988822937,
544
+ 0.00040471553802490234,
545
+ 0.0007380545139312744,
546
+ 0.0020895302295684814,
547
+ 0.001954972743988037,
548
+ 0.008396685123443604
549
+ ],
550
+ "replay_smoothing_max_deviation_normalized": 0.962189246400677,
551
+ "replay_smoothing_max_deviation_rad": 0.008396685123443604,
552
+ "replay_smoothing_method": "scipy_savgol",
553
+ "replay_smoothing_p95_deviation_rad": 0.0018891466315835714,
554
+ "replay_smoothing_passes": 8,
555
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 6.179299354553223,
556
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 52.23328399658203,
557
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.391211147232313,
558
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 1419.0704345703125,
559
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 14077.5185546875,
560
+ "replay_smoothing_raw_jerk_rms_rad_s3": 876.3535502327213,
561
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 1.713745355606079,
562
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2302457679398721,
563
+ "replay_smoothing_rms_deviation_rad": 0.0009658736331036899,
564
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 5.890980243682861,
565
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 51.5846061706543,
566
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.330286528368243,
567
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 1408.6500244140625,
568
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 13925.7724609375,
569
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 869.4046821092559,
570
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 1.6923918724060059,
571
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22931906412381317,
572
+ "replay_smoothing_tolerance_by_joint_rad": [
573
+ 0.03490658476948738,
574
+ 0.03490658476948738,
575
+ 0.02617993950843811,
576
+ 0.008726646192371845,
577
+ 0.008726646192371845,
578
+ 0.008726646192371845
579
+ ],
580
+ "replay_smoothing_tolerance_rad": 0.034906585,
581
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9875398739198792,
582
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9959751537483159,
583
+ "replay_smoothing_window_s": 0.2,
584
+ "replay_smoothing_window_samples": 51,
585
+ "replay_smoothing_within_tolerance": true,
586
+ "replay_smoothing_worst_joint": 5,
587
+ "replay_smoothing_worst_time_s": 23.249000000000002,
588
+ "replay_smoothing_wrist_max_deviation_rad": 0.008396685123443604,
589
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
590
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
591
+ "return_measured_wall_accel_peak_joint": -1,
592
+ "return_measured_wall_accel_peak_time_s": null,
593
+ "return_measured_wall_accel_rms_rad_s2": null,
594
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
595
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
596
+ "return_measured_wall_jerk_peak_joint": -1,
597
+ "return_measured_wall_jerk_peak_time_s": null,
598
+ "return_measured_wall_jerk_rms_rad_s3": null,
599
+ "return_measured_wall_smoothness_samples": 0,
600
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
601
+ "return_measured_wall_velocity_peak_joint": -1,
602
+ "return_measured_wall_velocity_peak_time_s": null,
603
+ "return_measured_wall_velocity_rms_rad_s": null,
604
+ "safety_abort": false,
605
+ "safety_path_error_rad": 0.006753876805305481,
606
+ "saved_data_source": "measured_rapid_planner_playback",
607
+ "send_failures": 0,
608
+ "sent_wall_accel_p95_abs_rad_s2": null,
609
+ "sent_wall_accel_peak_abs_rad_s2": null,
610
+ "sent_wall_accel_peak_joint": -1,
611
+ "sent_wall_accel_peak_time_s": null,
612
+ "sent_wall_accel_rms_rad_s2": null,
613
+ "sent_wall_jerk_p95_abs_rad_s3": null,
614
+ "sent_wall_jerk_peak_abs_rad_s3": null,
615
+ "sent_wall_jerk_peak_joint": -1,
616
+ "sent_wall_jerk_peak_time_s": null,
617
+ "sent_wall_jerk_rms_rad_s3": null,
618
+ "sent_wall_smoothness_samples": 0,
619
+ "sent_wall_velocity_peak_abs_rad_s": null,
620
+ "sent_wall_velocity_peak_joint": -1,
621
+ "sent_wall_velocity_peak_time_s": null,
622
+ "sent_wall_velocity_rms_rad_s": null,
623
+ "stage_planned_to_measured_max_error_rad": 0.0393904447555542,
624
+ "stage_planned_to_measured_rms_error_rad": 0.006135156058038224,
625
+ "stage_sent_to_measured_max_error_rad": null,
626
+ "stage_sent_to_measured_rms_error_rad": null,
627
+ "stage_sent_to_planned_max_error_rad": null,
628
+ "stage_sent_to_planned_rms_error_rad": null,
629
+ "stage_target_to_sent_max_error_rad": null,
630
+ "stage_target_to_sent_rms_error_rad": null,
631
+ "state_frame_count": 1176,
632
+ "stopped_early": false,
633
+ "strict_tracking_pass": true,
634
+ "strict_tracking_reason": "ok",
635
+ "target_wall_accel_p95_abs_rad_s2": 0.8038643598556519,
636
+ "target_wall_accel_peak_abs_rad_s2": 3.0683531761169434,
637
+ "target_wall_accel_peak_joint": 5,
638
+ "target_wall_accel_peak_time_s": 0.6667199399671517,
639
+ "target_wall_accel_rms_rad_s2": 0.37712192649339665,
640
+ "target_wall_jerk_p95_abs_rad_s3": 17.168132781982422,
641
+ "target_wall_jerk_peak_abs_rad_s3": 83.33573150634766,
642
+ "target_wall_jerk_peak_joint": 5,
643
+ "target_wall_jerk_peak_time_s": 2.366820797964465,
644
+ "target_wall_jerk_rms_rad_s3": 8.464603810946574,
645
+ "target_wall_smoothness_samples": 1176,
646
+ "target_wall_velocity_peak_abs_rad_s": 0.6943619251251221,
647
+ "target_wall_velocity_peak_joint": 5,
648
+ "target_wall_velocity_peak_time_s": 25.13339166797232,
649
+ "target_wall_velocity_rms_rad_s": 0.10447749188603912,
650
+ "tcp_pose_count": 1176,
651
+ "timestamp_count": 1176,
652
+ "tool_failures": 0,
653
+ "tracking_geometry_pass": true,
654
+ "tracking_geometry_reason": "ok",
655
+ "tracking_pass": true,
656
+ "tracking_reason": "ok",
657
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
658
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
659
+ "tracking_threshold_max_lag_s": 0.1,
660
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
661
+ "tracking_timing_pass": true,
662
+ "tracking_timing_reason": "ok",
663
+ "window_lag_best_lag_max_s": 0.0,
664
+ "window_lag_best_lag_median_s": 0.0,
665
+ "window_lag_best_lag_min_s": -1.1999999999999993,
666
+ "window_lag_best_lag_p95_abs_s": 0.8219999999999965,
667
+ "window_lag_count": 30,
668
+ "window_lag_window_s": 1.0,
669
+ "window_lag_worst_best_lag_s": 0.0,
670
+ "window_lag_worst_end_s": 17.5,
671
+ "window_lag_worst_max_error_rad": 0.006753876805305481,
672
+ "window_lag_worst_rms_error_rad": 0.0019895055018532104,
673
+ "window_lag_worst_start_s": 16.5,
674
+ "zero_lag_max_error_rad": 0.006753876805305481,
675
+ "zero_lag_p95_error_rad": 0.002048356458544731,
676
+ "zero_lag_rms_error_rad": 0.0009454482556071248,
677
+ "zero_lag_samples": 1176,
678
+ "zero_lag_worst_joint": 1,
679
+ "zero_lag_worst_time_s": 17.126
680
+ }
681
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bcdde4468337da4c3df33d63232736791a19bd5ee62678ad64445162a87e46e
3
+ size 122967
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.json ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "attempt": 1,
3
+ "controller_state_codes": {
4
+ "running": 1,
5
+ "stopped": 0,
6
+ "unknown": -1
7
+ },
8
+ "created_at": "2026-10-26T16:55:22",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.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": 1189,
20
+ "actual_playback_duration_s": 39.644784718053415,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.006619679741561413,
23
+ "aligned_p95_error_rad": 0.0018525097984820604,
24
+ "aligned_rms_error_rad": 0.0008406633410782045,
25
+ "aligned_samples": 1189,
26
+ "aligned_worst_joint": 3,
27
+ "aligned_worst_time_s": 16.43,
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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1189,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1189,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6141356100343396,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1189,
46
+ "cam_wrist": 1189
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
+ 0.0038869082927703857,
58
+ 0.004060372710227966,
59
+ 0.0051195621490478516,
60
+ 0.006619679741561413,
61
+ 0.0063790082931518555,
62
+ 0.005189955234527588
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0017832397716119885,
66
+ 0.001694965292699635,
67
+ 0.0017573474906384945,
68
+ 0.0010908587137237191,
69
+ 0.002275418257340789,
70
+ 0.002516879001632333
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007543409997758727,
74
+ 0.0008005153748491278,
75
+ 0.0008110724743628312,
76
+ 0.0006495540149310117,
77
+ 0.0009355140618506919,
78
+ 0.0010370575548066233
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1189,
82
+ 1189,
83
+ 1189,
84
+ 1189,
85
+ 1189,
86
+ 1189
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 22.608999999999998,
90
+ 19.277,
91
+ 18.761,
92
+ 16.43,
93
+ 16.454,
94
+ 22.409
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 30,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005083676951471716,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003959627996664494,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004461188788991421,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004585927787702531,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2654,
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": 0.005107710021547973,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.0039817895158194005,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.004489866510266438,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004611557293101215,
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": 0.005092128005344421,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003986836498370394,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004482802716665901,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.004592887044418604,
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": 0.014680460968520492,
170
+ "leadthrough_capture_loop_late_median_s": 0.011203858244698495,
171
+ "leadthrough_capture_loop_late_p95_s": 0.01169342411449179,
172
+ "leadthrough_capture_loop_late_p99_s": 0.011824696618132293,
173
+ "leadthrough_capture_loop_late_warn_count": 6693,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.00509737798711285,
176
+ "leadthrough_capture_read_duration_median_s": 0.003972516977228224,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004477561404928564,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004600262036547065,
179
+ "leadthrough_capture_read_duration_warn_count": 2852,
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
+ 0.004059463739395142,
190
+ 0.002370879054069519,
191
+ 0.0025502443313598633,
192
+ 0.0021242015063762665,
193
+ 0.003178238868713379,
194
+ 0.008231401443481445
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.008231401443481445,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.0020201504230499268,
199
+ 0.0020253360271453857,
200
+ 0.0019290447235107422,
201
+ 0.0004895571619272232,
202
+ 0.00150221586227417,
203
+ 0.0035479366779327393
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008280152105726302,
207
+ 0.0007603029371239245,
208
+ 0.000762282230425626,
209
+ 0.00025450781686231494,
210
+ 0.0006417924887500703,
211
+ 0.001522977720014751
212
+ ],
213
+ "leadthrough_delta_samples": 6141,
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": -0.008231401443481445,
218
+ "leadthrough_delta_worst_from_rad": -0.9647894501686096,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 1.0629999999999997,
221
+ "leadthrough_delta_worst_to_rad": -0.9730208516120911,
222
+ "leadthrough_duration_s": 24.561,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 6120,
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": 6121,
232
+ "leadthrough_final_stillness_trimmed": false,
233
+ "leadthrough_frame_count": 6693,
234
+ "leadthrough_initial_stillness_first_motion_index": 552,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.204,
238
+ "leadthrough_initial_stillness_removed_samples": 551,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 551,
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
+ 0.004059463739395142,
249
+ 0.002370879054069519,
250
+ 0.0025502443313598633,
251
+ 0.0021242015063762665,
252
+ 0.003178238868713379,
253
+ 0.008231401443481445
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008231401443481445,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 1.0148659348484466,
258
+ 0.5927197635171818,
259
+ 0.659257173538183,
260
+ 0.5310503765938893,
261
+ 0.880638758341438,
262
+ 2.743800481160378
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.4344964027404785,
265
+ "leadthrough_velocity_rms_rad_s": 0.22343615186009627,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.006619679741561413,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.47270864248275757,
271
+ "measured_wall_accel_peak_abs_rad_s2": 3.1730611324310303,
272
+ "measured_wall_accel_peak_joint": 3,
273
+ "measured_wall_accel_peak_time_s": 53.58590785402339,
274
+ "measured_wall_accel_rms_rad_s2": 0.24562573830983053,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 7.839921951293945,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 58.09318542480469,
277
+ "measured_wall_jerk_peak_joint": 3,
278
+ "measured_wall_jerk_peak_time_s": 53.68069018400274,
279
+ "measured_wall_jerk_rms_rad_s3": 4.026711871706754,
280
+ "measured_wall_smoothness_samples": 1189,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.7295225262641907,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 17.748002446023747,
284
+ "measured_wall_velocity_rms_rad_s": 0.10140654271818174,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.006619679741561413,
287
+ "moving_aligned_p95_error_rad": 0.002050533192232251,
288
+ "moving_aligned_rms_error_rad": 0.0009582607474007183,
289
+ "moving_aligned_samples": 885,
290
+ "moving_aligned_worst_joint": 3,
291
+ "moving_aligned_worst_time_s": 16.43,
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
+ 0.0038869082927703857,
302
+ 0.0030620694160461426,
303
+ 0.0030422129202634096,
304
+ 0.006619679741561413,
305
+ 0.0063790082931518555,
306
+ 0.005189955234527588
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0019966168329119682,
310
+ 0.0018294565379619598,
311
+ 0.0018884958699345589,
312
+ 0.002367890439927578,
313
+ 0.0027420271653681993,
314
+ 0.0030999898444861174
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0009366120973294791,
318
+ 0.0009113204475160044,
319
+ 0.0009350908303649351,
320
+ 0.0013314011653361288,
321
+ 0.0012955738610000295,
322
+ 0.0015773204667176722
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 738,
326
+ 796,
327
+ 762,
328
+ 170,
329
+ 525,
330
+ 480
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.608999999999998,
334
+ 13.338,
335
+ 2.6350000000000002,
336
+ 16.43,
337
+ 16.454,
338
+ 22.409
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": 2.4879491329193115,
348
+ "playback_velocity_rms_rad_s": 0.3859859969056599,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 79.122,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 24.561,
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
+ 5234
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.44232646574461076,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.08592855930328369,
364
+ "rapid_planner_max_dt_s": 2.1839999999999993,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007720053195953369,
367
+ "rapid_planner_median_dt_s": 0.09600000000000009,
368
+ "rapid_planner_path_max_error_rad": 0.006619679741561413,
369
+ "rapid_planner_path_p95_error_rad": 0.002961659431457519,
370
+ "rapid_planner_path_rms_error_rad": 0.0014784429279701718,
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
+ 36,
376
+ 67,
377
+ 88,
378
+ 109,
379
+ 121,
380
+ 133,
381
+ 145,
382
+ 157,
383
+ 174,
384
+ 183,
385
+ 192,
386
+ 200,
387
+ 207,
388
+ 214,
389
+ 222,
390
+ 232,
391
+ 241,
392
+ 250,
393
+ 260,
394
+ 266,
395
+ 271,
396
+ 276,
397
+ 282,
398
+ 288,
399
+ 294,
400
+ 305,
401
+ 312,
402
+ 319,
403
+ 326,
404
+ 333,
405
+ 345,
406
+ 357,
407
+ 369,
408
+ 383,
409
+ 438,
410
+ 485,
411
+ 524,
412
+ 564,
413
+ 643,
414
+ 672,
415
+ 694,
416
+ 717,
417
+ 740,
418
+ 772,
419
+ 842,
420
+ 881,
421
+ 924,
422
+ 971,
423
+ 992,
424
+ 1098,
425
+ 1218,
426
+ 1319,
427
+ 1384,
428
+ 1512,
429
+ 1566,
430
+ 2009,
431
+ 2401,
432
+ 2947,
433
+ 3090,
434
+ 3150,
435
+ 3235,
436
+ 3282,
437
+ 3366,
438
+ 3424,
439
+ 3449,
440
+ 3474,
441
+ 3492,
442
+ 3511,
443
+ 3530,
444
+ 3548,
445
+ 3566,
446
+ 3585,
447
+ 3622,
448
+ 3660,
449
+ 3699,
450
+ 3727,
451
+ 3758,
452
+ 3790,
453
+ 3817,
454
+ 3844,
455
+ 3868,
456
+ 3891,
457
+ 3913,
458
+ 3935,
459
+ 3964,
460
+ 3994,
461
+ 4034,
462
+ 4075,
463
+ 4136,
464
+ 4173,
465
+ 4251,
466
+ 4330,
467
+ 4409,
468
+ 4534,
469
+ 4915,
470
+ 5066,
471
+ 5234,
472
+ 5447,
473
+ 5478,
474
+ 5502,
475
+ 5526,
476
+ 5557,
477
+ 5574,
478
+ 5592,
479
+ 5615,
480
+ 5637,
481
+ 5661,
482
+ 5678,
483
+ 5695,
484
+ 5710,
485
+ 5724,
486
+ 5741,
487
+ 5754,
488
+ 5772,
489
+ 5788,
490
+ 5804,
491
+ 5843,
492
+ 5885,
493
+ 5909,
494
+ 5954,
495
+ 5975,
496
+ 6141
497
+ ],
498
+ "rapid_planner_selected_max_joint_step_deg": 4.923343787717761,
499
+ "rapid_planner_selected_samples": 123,
500
+ "rapid_planner_service_configured": true,
501
+ "rapid_planner_source_samples": 6142,
502
+ "rapid_planner_state_done": 6.0,
503
+ "rapid_planner_state_error": 7.0,
504
+ "rapid_planner_tool_command_hz": 30.0,
505
+ "rapid_planner_tool_command_supported": true,
506
+ "rapid_planner_tool_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolEnabled",
507
+ "rapid_planner_tool_io_configured": true,
508
+ "rapid_planner_tool_io_supported": true,
509
+ "rapid_planner_tool_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerToolPath",
510
+ "rapid_planner_tool_state_supported": true,
511
+ "rapid_planner_tool_transition_source_count": 2,
512
+ "rapid_planner_tool_transitions_uploaded": 2,
513
+ "rapid_planner_tool_upload_enabled": true,
514
+ "rapid_planner_uploaded": true,
515
+ "rapid_planner_wait_path_symbol": "RAPID/T_ROB1/EgmLeadthroughService/plannerWaitPath",
516
+ "rapid_planner_waypoints_uploaded": 123,
517
+ "raw_ramp_max_error_rad": null,
518
+ "raw_replay_max_error_rad": 0.006619679741561413,
519
+ "raw_replay_rms_error_rad": 0.0008406633410782045,
520
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9723378627555684,
521
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9893632538526861,
522
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9894210459383089,
523
+ "replay_smoothing_applied": true,
524
+ "replay_smoothing_blend": 1.0,
525
+ "replay_smoothing_blend_by_joint": [
526
+ 1.0,
527
+ 1.0,
528
+ 1.0,
529
+ 1.0,
530
+ 1.0,
531
+ 1.0
532
+ ],
533
+ "replay_smoothing_edge_taper_s": 0.2,
534
+ "replay_smoothing_edge_taper_samples": 50,
535
+ "replay_smoothing_enabled": true,
536
+ "replay_smoothing_jerk_p95_abs_rad_s3_ratio": 1.0119461718297398,
537
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9849633482226116,
538
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9959840341369818,
539
+ "replay_smoothing_max_deviation_by_joint_rad": [
540
+ 0.0008421540260314941,
541
+ 0.0005412399768829346,
542
+ 0.0008096992969512939,
543
+ 0.0022733062505722046,
544
+ 0.0016676783561706543,
545
+ 0.005676865577697754
546
+ ],
547
+ "replay_smoothing_max_deviation_normalized": 0.6505208819695277,
548
+ "replay_smoothing_max_deviation_rad": 0.005676865577697754,
549
+ "replay_smoothing_method": "scipy_savgol",
550
+ "replay_smoothing_p95_deviation_rad": 0.002057307865470648,
551
+ "replay_smoothing_passes": 8,
552
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.690760135650635,
553
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 80.44587707519531,
554
+ "replay_smoothing_raw_accel_rms_rad_s2": 3.921380969084333,
555
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 944.6109619140625,
556
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21898.185546875,
557
+ "replay_smoothing_raw_jerk_rms_rad_s3": 991.1191470669946,
558
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.4482762813568115,
559
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.22438183772380718,
560
+ "replay_smoothing_rms_deviation_rad": 0.0009143760510130586,
561
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.561003684997559,
562
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 79.59019470214844,
563
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.879896859954,
564
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 955.8954467773438,
565
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21568.91015625,
566
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 987.1388464061898,
567
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.4344964027404785,
568
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22343615186009627,
569
+ "replay_smoothing_tolerance_by_joint_rad": [
570
+ 0.03490658476948738,
571
+ 0.03490658476948738,
572
+ 0.02617993950843811,
573
+ 0.008726646192371845,
574
+ 0.008726646192371845,
575
+ 0.008726646192371845
576
+ ],
577
+ "replay_smoothing_tolerance_rad": 0.034906585,
578
+ "replay_smoothing_velocity_peak_abs_rad_s_ratio": 0.9943715998389298,
579
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9957853725002691,
580
+ "replay_smoothing_window_s": 0.2,
581
+ "replay_smoothing_window_samples": 51,
582
+ "replay_smoothing_within_tolerance": true,
583
+ "replay_smoothing_worst_joint": 5,
584
+ "replay_smoothing_worst_time_s": 1.444,
585
+ "replay_smoothing_wrist_max_deviation_rad": 0.005676865577697754,
586
+ "return_measured_wall_accel_p95_abs_rad_s2": null,
587
+ "return_measured_wall_accel_peak_abs_rad_s2": null,
588
+ "return_measured_wall_accel_peak_joint": -1,
589
+ "return_measured_wall_accel_peak_time_s": null,
590
+ "return_measured_wall_accel_rms_rad_s2": null,
591
+ "return_measured_wall_jerk_p95_abs_rad_s3": null,
592
+ "return_measured_wall_jerk_peak_abs_rad_s3": null,
593
+ "return_measured_wall_jerk_peak_joint": -1,
594
+ "return_measured_wall_jerk_peak_time_s": null,
595
+ "return_measured_wall_jerk_rms_rad_s3": null,
596
+ "return_measured_wall_smoothness_samples": 0,
597
+ "return_measured_wall_velocity_peak_abs_rad_s": null,
598
+ "return_measured_wall_velocity_peak_joint": -1,
599
+ "return_measured_wall_velocity_peak_time_s": null,
600
+ "return_measured_wall_velocity_rms_rad_s": null,
601
+ "safety_abort": false,
602
+ "safety_path_error_rad": 0.006619679741561413,
603
+ "saved_data_source": "measured_rapid_planner_playback",
604
+ "send_failures": 0,
605
+ "sent_wall_accel_p95_abs_rad_s2": null,
606
+ "sent_wall_accel_peak_abs_rad_s2": null,
607
+ "sent_wall_accel_peak_joint": -1,
608
+ "sent_wall_accel_peak_time_s": null,
609
+ "sent_wall_accel_rms_rad_s2": null,
610
+ "sent_wall_jerk_p95_abs_rad_s3": null,
611
+ "sent_wall_jerk_peak_abs_rad_s3": null,
612
+ "sent_wall_jerk_peak_joint": -1,
613
+ "sent_wall_jerk_peak_time_s": null,
614
+ "sent_wall_jerk_rms_rad_s3": null,
615
+ "sent_wall_smoothness_samples": 0,
616
+ "sent_wall_velocity_peak_abs_rad_s": null,
617
+ "sent_wall_velocity_peak_joint": -1,
618
+ "sent_wall_velocity_peak_time_s": null,
619
+ "sent_wall_velocity_rms_rad_s": null,
620
+ "stage_planned_to_measured_max_error_rad": 0.04288148880004883,
621
+ "stage_planned_to_measured_rms_error_rad": 0.006019409550767676,
622
+ "stage_sent_to_measured_max_error_rad": null,
623
+ "stage_sent_to_measured_rms_error_rad": null,
624
+ "stage_sent_to_planned_max_error_rad": null,
625
+ "stage_sent_to_planned_rms_error_rad": null,
626
+ "stage_target_to_sent_max_error_rad": null,
627
+ "stage_target_to_sent_rms_error_rad": null,
628
+ "state_frame_count": 1189,
629
+ "stopped_early": false,
630
+ "strict_tracking_pass": true,
631
+ "strict_tracking_reason": "ok",
632
+ "target_wall_accel_p95_abs_rad_s2": 0.6675480604171753,
633
+ "target_wall_accel_peak_abs_rad_s2": 3.732236623764038,
634
+ "target_wall_accel_peak_joint": 5,
635
+ "target_wall_accel_peak_time_s": 3.0001450510462746,
636
+ "target_wall_accel_rms_rad_s2": 0.3417547491614073,
637
+ "target_wall_jerk_p95_abs_rad_s3": 14.737491607666016,
638
+ "target_wall_jerk_peak_abs_rad_s3": 108.78455352783203,
639
+ "target_wall_jerk_peak_joint": 5,
640
+ "target_wall_jerk_peak_time_s": 2.9668334790039808,
641
+ "target_wall_jerk_rms_rad_s3": 7.556595934200783,
642
+ "target_wall_smoothness_samples": 1189,
643
+ "target_wall_velocity_peak_abs_rad_s": 0.8413670659065247,
644
+ "target_wall_velocity_peak_joint": 5,
645
+ "target_wall_velocity_peak_time_s": 2.9668334790039808,
646
+ "target_wall_velocity_rms_rad_s": 0.10235516264140096,
647
+ "tcp_pose_count": 1189,
648
+ "timestamp_count": 1189,
649
+ "tool_failures": 0,
650
+ "tracking_geometry_pass": true,
651
+ "tracking_geometry_reason": "ok",
652
+ "tracking_pass": true,
653
+ "tracking_reason": "ok",
654
+ "tracking_threshold_abort_path_error_rad": 0.17453292519943295,
655
+ "tracking_threshold_max_error_rad": 0.08726646259971647,
656
+ "tracking_threshold_max_lag_s": 0.1,
657
+ "tracking_threshold_rms_error_rad": 0.03490658503988659,
658
+ "tracking_timing_pass": true,
659
+ "tracking_timing_reason": "ok",
660
+ "window_lag_best_lag_max_s": 0.7200000000000024,
661
+ "window_lag_best_lag_median_s": 0.0,
662
+ "window_lag_best_lag_min_s": 0.0,
663
+ "window_lag_best_lag_p95_abs_s": 0.0,
664
+ "window_lag_count": 31,
665
+ "window_lag_window_s": 1.0,
666
+ "window_lag_worst_best_lag_s": 0.0,
667
+ "window_lag_worst_end_s": 17.0,
668
+ "window_lag_worst_max_error_rad": 0.006619679741561413,
669
+ "window_lag_worst_rms_error_rad": 0.0016558285225996673,
670
+ "window_lag_worst_start_s": 16.0,
671
+ "zero_lag_max_error_rad": 0.006619679741561413,
672
+ "zero_lag_p95_error_rad": 0.0018525097984820604,
673
+ "zero_lag_rms_error_rad": 0.0008406633410782045,
674
+ "zero_lag_samples": 1189,
675
+ "zero_lag_worst_joint": 3,
676
+ "zero_lag_worst_time_s": 16.43
677
+ }
678
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c03a3724f9d66040425293f042f0111ed90de0dadaf0e40ddc91e7693fd6c66e
3
+ size 124176
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.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": "2026-10-26T16:57:22",
9
+ "event_log": [],
10
+ "npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.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": 1171,
20
+ "actual_playback_duration_s": 39.05145573604386,
21
+ "aligned_best_lag_s": 0.0,
22
+ "aligned_max_error_rad": 0.00572127103805542,
23
+ "aligned_p95_error_rad": 0.00160922110080719,
24
+ "aligned_rms_error_rad": 0.000740169165980302,
25
+ "aligned_samples": 1171,
26
+ "aligned_worst_joint": 5,
27
+ "aligned_worst_time_s": 21.73,
28
+ "attempt": 1,
29
+ "capture_pipeline": "leadthrough_replay_measured_state_v1",
30
+ "completed": true,
31
+ "debug_sidecar_event_count": 0,
32
+ "debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.json",
33
+ "debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz",
34
+ "debug_sidecar_saved": true,
35
+ "diagnostic_connect_to_path_samples": 0,
36
+ "diagnostic_ramp_samples": 0,
37
+ "diagnostic_replay_samples": 1171,
38
+ "diagnostic_return_to_start_samples": 0,
39
+ "diagnostic_samples": 1171,
40
+ "diagnostic_settle_samples": 0,
41
+ "dropped_arm_samples": 0,
42
+ "dropped_camera_samples": 0,
43
+ "duration_ratio": 1.6684378251749064,
44
+ "image_frame_counts": {
45
+ "cam_scene": 1171,
46
+ "cam_wrist": 1171
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
+ 0.004159078001976013,
58
+ 0.0035826563835144043,
59
+ 0.0029252152889966965,
60
+ 0.004237867891788483,
61
+ 0.005648016929626465,
62
+ 0.00572127103805542
63
+ ],
64
+ "joint_lag_p95_error_rad": [
65
+ 0.0015408694744110107,
66
+ 0.001582123339176178,
67
+ 0.0013488829135894775,
68
+ 0.0006419727578759193,
69
+ 0.0016413629055023193,
70
+ 0.002295196056365967
71
+ ],
72
+ "joint_lag_rms_error_rad": [
73
+ 0.0007225732798922949,
74
+ 0.0007121711198856403,
75
+ 0.0006204933370693844,
76
+ 0.00037137455254890566,
77
+ 0.000819846946829705,
78
+ 0.0010308843101628766
79
+ ],
80
+ "joint_lag_samples": [
81
+ 1171,
82
+ 1171,
83
+ 1171,
84
+ 1171,
85
+ 1171,
86
+ 1171
87
+ ],
88
+ "joint_lag_worst_time_s": [
89
+ 22.658,
90
+ 4.4399999999999995,
91
+ 2.2520000000000002,
92
+ 4.388,
93
+ 21.714000000000002,
94
+ 21.73
95
+ ],
96
+ "leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
97
+ "leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
98
+ "leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
99
+ "leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
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": 24,
108
+ "leadthrough_capture_egm_drained_packet_p95": 1.0,
109
+ "leadthrough_capture_egm_poll_duration_max_s": 0.005988122953567654,
110
+ "leadthrough_capture_egm_poll_duration_median_s": 0.003951544989831746,
111
+ "leadthrough_capture_egm_poll_duration_p95_s": 0.004452706052688882,
112
+ "leadthrough_capture_egm_poll_duration_p99_s": 0.004595389231108128,
113
+ "leadthrough_capture_egm_poll_duration_warn_count": 2608,
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": 0.0060370819992385805,
119
+ "leadthrough_capture_host_loop_dt_median_s": 0.003975787025410682,
120
+ "leadthrough_capture_host_loop_dt_p95_s": 0.0044798602990340445,
121
+ "leadthrough_capture_host_loop_dt_p99_s": 0.004627082800725475,
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": 0.005917611008044332,
125
+ "leadthrough_capture_host_receive_dt_median_s": 0.003980745037551969,
126
+ "leadthrough_capture_host_receive_dt_p95_s": 0.004469960770802572,
127
+ "leadthrough_capture_host_receive_dt_p99_s": 0.0046073568332940336,
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": 0.0073710650322027504,
170
+ "leadthrough_capture_loop_late_median_s": 0.003676400752738118,
171
+ "leadthrough_capture_loop_late_p95_s": 0.004168557410594076,
172
+ "leadthrough_capture_loop_late_p99_s": 0.004329361777636222,
173
+ "leadthrough_capture_loop_late_warn_count": 890,
174
+ "leadthrough_capture_none_reads": 0,
175
+ "leadthrough_capture_read_duration_max_s": 0.006017829990014434,
176
+ "leadthrough_capture_read_duration_median_s": 0.003964942472521216,
177
+ "leadthrough_capture_read_duration_p95_s": 0.004468853704747744,
178
+ "leadthrough_capture_read_duration_p99_s": 0.004616707126842812,
179
+ "leadthrough_capture_read_duration_warn_count": 2800,
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": 0.004999999999999893,
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
+ 0.003113478422164917,
190
+ 0.002033717930316925,
191
+ 0.002562582492828369,
192
+ 0.0012583434581756592,
193
+ 0.0022416114807128906,
194
+ 0.008170843124389648
195
+ ],
196
+ "leadthrough_delta_max_abs_rad": 0.008170843124389648,
197
+ "leadthrough_delta_p95_abs_by_joint_rad": [
198
+ 0.002268278505653143,
199
+ 0.001720496453344822,
200
+ 0.0019193746848031878,
201
+ 0.0003360369591973722,
202
+ 0.0014047869481146336,
203
+ 0.0037031173706054688
204
+ ],
205
+ "leadthrough_delta_rms_by_joint_rad": [
206
+ 0.0008292992715723813,
207
+ 0.0007611504988744855,
208
+ 0.0008050348260439932,
209
+ 0.00018345985154155642,
210
+ 0.0005431473255157471,
211
+ 0.0016157859936356544
212
+ ],
213
+ "leadthrough_delta_samples": 5852,
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": -0.008170843124389648,
218
+ "leadthrough_delta_worst_from_rad": -0.8859674334526062,
219
+ "leadthrough_delta_worst_joint": 5,
220
+ "leadthrough_delta_worst_time_s": 0.7639999999999998,
221
+ "leadthrough_delta_worst_to_rad": -0.8941382765769958,
222
+ "leadthrough_duration_s": 23.406000000000002,
223
+ "leadthrough_expected_dt_s": 0.004,
224
+ "leadthrough_final_stillness_joint_tol_rad": 0.0034906585,
225
+ "leadthrough_final_stillness_last_motion_index": 5851,
226
+ "leadthrough_final_stillness_min_trim_s": 0.25,
227
+ "leadthrough_final_stillness_removed_s": 0.5629999999999988,
228
+ "leadthrough_final_stillness_removed_samples": 141,
229
+ "leadthrough_final_stillness_tool_tol": 0.005,
230
+ "leadthrough_final_stillness_trim_enabled": true,
231
+ "leadthrough_final_stillness_trim_end_index": 5852,
232
+ "leadthrough_final_stillness_trimmed": true,
233
+ "leadthrough_frame_count": 6744,
234
+ "leadthrough_initial_stillness_first_motion_index": 751,
235
+ "leadthrough_initial_stillness_joint_tol_rad": 0.0034906585,
236
+ "leadthrough_initial_stillness_min_trim_s": 0.25,
237
+ "leadthrough_initial_stillness_removed_s": 2.999,
238
+ "leadthrough_initial_stillness_removed_samples": 750,
239
+ "leadthrough_initial_stillness_tool_tol": 0.005,
240
+ "leadthrough_initial_stillness_trim_enabled": true,
241
+ "leadthrough_initial_stillness_trim_start_index": 750,
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
+ 0.003113478422164917,
249
+ 0.002033717930316925,
250
+ 0.002562582492828369,
251
+ 0.0012583434581756592,
252
+ 0.0022416114807128906,
253
+ 0.008170843124389648
254
+ ],
255
+ "leadthrough_unwrapped_delta_max_abs_rad": 0.008170843124389648,
256
+ "leadthrough_velocity_max_abs_by_joint_rad_s": [
257
+ 0.7783696055409693,
258
+ 0.5902896324793274,
259
+ 0.8488893508910811,
260
+ 0.4174504429101786,
261
+ 0.5862315495808698,
262
+ 2.719422181447244
263
+ ],
264
+ "leadthrough_velocity_peak_abs_rad_s": 2.401949405670166,
265
+ "leadthrough_velocity_rms_rad_s": 0.22918603378657648,
266
+ "leadthrough_wrap_suspect": false,
267
+ "leadthrough_wrap_suspect_count": 0,
268
+ "leadthrough_wrap_threshold_rad": 3.0,
269
+ "max_tracking_error_rad": 0.00572127103805542,
270
+ "measured_wall_accel_p95_abs_rad_s2": 0.4596211314201355,
271
+ "measured_wall_accel_peak_abs_rad_s2": 2.99462890625,
272
+ "measured_wall_accel_peak_joint": 3,
273
+ "measured_wall_accel_peak_time_s": 51.808492643001955,
274
+ "measured_wall_accel_rms_rad_s2": 0.24587648802299536,
275
+ "measured_wall_jerk_p95_abs_rad_s3": 8.241509437561035,
276
+ "measured_wall_jerk_peak_abs_rad_s3": 54.33930206298828,
277
+ "measured_wall_jerk_peak_joint": 5,
278
+ "measured_wall_jerk_peak_time_s": 38.47610396699747,
279
+ "measured_wall_jerk_rms_rad_s3": 4.120624660341801,
280
+ "measured_wall_smoothness_samples": 1171,
281
+ "measured_wall_velocity_peak_abs_rad_s": 0.6425217390060425,
282
+ "measured_wall_velocity_peak_joint": 5,
283
+ "measured_wall_velocity_peak_time_s": 38.47610396699747,
284
+ "measured_wall_velocity_rms_rad_s": 0.10104158743229846,
285
+ "moving_aligned_best_lag_s": 0.0,
286
+ "moving_aligned_max_error_rad": 0.00572127103805542,
287
+ "moving_aligned_p95_error_rad": 0.001782034058123827,
288
+ "moving_aligned_rms_error_rad": 0.0008536201012669692,
289
+ "moving_aligned_samples": 865,
290
+ "moving_aligned_worst_joint": 5,
291
+ "moving_aligned_worst_time_s": 21.73,
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
+ 0.004159078001976013,
302
+ 0.0035826563835144043,
303
+ 0.0029252152889966965,
304
+ 0.0035842470824718475,
305
+ 0.005648016929626465,
306
+ 0.00572127103805542
307
+ ],
308
+ "moving_joint_lag_p95_error_rad": [
309
+ 0.0017336944583803415,
310
+ 0.0016504712402820587,
311
+ 0.0015052584931254387,
312
+ 0.0016223059501498938,
313
+ 0.0024860540870577097,
314
+ 0.00308718322776258
315
+ ],
316
+ "moving_joint_lag_rms_error_rad": [
317
+ 0.0008757870177013971,
318
+ 0.0008185980090333561,
319
+ 0.0007491982012773855,
320
+ 0.0006696072470573439,
321
+ 0.0011757987305322383,
322
+ 0.0016029938647513294
323
+ ],
324
+ "moving_joint_lag_samples": [
325
+ 738,
326
+ 791,
327
+ 688,
328
+ 152,
329
+ 524,
330
+ 444
331
+ ],
332
+ "moving_joint_lag_worst_time_s": [
333
+ 22.658,
334
+ 4.4399999999999995,
335
+ 2.2520000000000002,
336
+ 4.32,
337
+ 21.714000000000002,
338
+ 21.73
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": 2.426412343978882,
348
+ "playback_velocity_rms_rad_s": 0.38091457127603323,
349
+ "rapid_planner_done_timeout_margin_s": 30.0,
350
+ "rapid_planner_done_timeout_s": 76.81200000000001,
351
+ "rapid_planner_done_timeout_scale": 2.0,
352
+ "rapid_planner_duration_s": 23.406000000000002,
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
+ 2229,
357
+ 5037
358
+ ],
359
+ "rapid_planner_event_upload_enabled": true,
360
+ "rapid_planner_event_wait_s": 0.2,
361
+ "rapid_planner_keypoint_error_deg": 0.43761022012271694,
362
+ "rapid_planner_last_state": 6.0,
363
+ "rapid_planner_max_delta_rad": 0.0868319571018219,
364
+ "rapid_planner_max_dt_s": 2.3240000000000016,
365
+ "rapid_planner_max_joint_step_deg": 5.0,
366
+ "rapid_planner_max_keypoint_error_rad": 0.007637739181518555,
367
+ "rapid_planner_median_dt_s": 0.11599999999999966,
368
+ "rapid_planner_path_max_error_rad": 0.00572127103805542,
369
+ "rapid_planner_path_p95_error_rad": 0.002610340714454651,
370
+ "rapid_planner_path_rms_error_rad": 0.001303201769473016,
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
+ 51,
377
+ 69,
378
+ 80,
379
+ 92,
380
+ 102,
381
+ 113,
382
+ 124,
383
+ 134,
384
+ 145,
385
+ 156,
386
+ 167,
387
+ 172,
388
+ 178,
389
+ 188,
390
+ 198,
391
+ 208,
392
+ 217,
393
+ 228,
394
+ 238,
395
+ 248,
396
+ 258,
397
+ 266,
398
+ 275,
399
+ 289,
400
+ 304,
401
+ 321,
402
+ 357,
403
+ 393,
404
+ 430,
405
+ 466,
406
+ 505,
407
+ 544,
408
+ 590,
409
+ 602,
410
+ 638,
411
+ 656,
412
+ 704,
413
+ 753,
414
+ 788,
415
+ 852,
416
+ 915,
417
+ 976,
418
+ 1033,
419
+ 1057,
420
+ 1162,
421
+ 1280,
422
+ 1374,
423
+ 1446,
424
+ 1730,
425
+ 1849,
426
+ 2229,
427
+ 2810,
428
+ 2859,
429
+ 2906,
430
+ 2950,
431
+ 2994,
432
+ 3030,
433
+ 3060,
434
+ 3098,
435
+ 3137,
436
+ 3176,
437
+ 3215,
438
+ 3256,
439
+ 3296,
440
+ 3343,
441
+ 3372,
442
+ 3402,
443
+ 3441,
444
+ 3480,
445
+ 3504,
446
+ 3527,
447
+ 3556,
448
+ 3584,
449
+ 3608,
450
+ 3632,
451
+ 3652,
452
+ 3672,
453
+ 3688,
454
+ 3705,
455
+ 3720,
456
+ 3734,
457
+ 3756,
458
+ 3779,
459
+ 3809,
460
+ 3834,
461
+ 3867,
462
+ 3900,
463
+ 3947,
464
+ 3997,
465
+ 4051,
466
+ 4109,
467
+ 4168,
468
+ 4272,
469
+ 4684,
470
+ 5037,
471
+ 5300,
472
+ 5329,
473
+ 5357,
474
+ 5385,
475
+ 5413,
476
+ 5450,
477
+ 5477,
478
+ 5508,
479
+ 5532,
480
+ 5557,
481
+ 5580,
482
+ 5602,
483
+ 5624,
484
+ 5647,
485
+ 5678,
486
+ 5699,
487
+ 5710,
488
+ 5720,
489
+ 5738,
490
+ 5755,
491
+ 5785,
492
+ 5852
493
+ ],
494
+ "rapid_planner_selected_max_joint_step_deg": 4.97510466879541,
495
+ "rapid_planner_selected_samples": 119,
496
+ "rapid_planner_service_configured": true,
497
+ "rapid_planner_source_samples": 5853,
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": 0.00572127103805542,
515
+ "raw_replay_rms_error_rad": 0.000740169165980302,
516
+ "replay_smoothing_accel_p95_abs_rad_s2_ratio": 0.9677181646457071,
517
+ "replay_smoothing_accel_peak_abs_rad_s2_ratio": 0.9873204029351202,
518
+ "replay_smoothing_accel_rms_rad_s2_ratio": 0.9912880574254741,
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": 0.9849860345564652,
533
+ "replay_smoothing_jerk_peak_abs_rad_s3_ratio": 0.9867733206550234,
534
+ "replay_smoothing_jerk_rms_rad_s3_ratio": 0.9965875073626401,
535
+ "replay_smoothing_max_deviation_by_joint_rad": [
536
+ 0.0005898922681808472,
537
+ 0.0002823173999786377,
538
+ 0.0006197988986968994,
539
+ 0.0013840217143297195,
540
+ 0.001323997974395752,
541
+ 0.005907535552978516
542
+ ],
543
+ "replay_smoothing_max_deviation_normalized": 0.6769537142622355,
544
+ "replay_smoothing_max_deviation_rad": 0.005907535552978516,
545
+ "replay_smoothing_method": "scipy_savgol",
546
+ "replay_smoothing_p95_deviation_rad": 0.0016841163160279393,
547
+ "replay_smoothing_passes": 8,
548
+ "replay_smoothing_raw_accel_p95_abs_rad_s2": 4.6273322105407715,
549
+ "replay_smoothing_raw_accel_peak_abs_rad_s2": 79.68036651611328,
550
+ "replay_smoothing_raw_accel_rms_rad_s2": 4.029847967392113,
551
+ "replay_smoothing_raw_jerk_p95_abs_rad_s3": 863.2059326171875,
552
+ "replay_smoothing_raw_jerk_peak_abs_rad_s3": 21575.5625,
553
+ "replay_smoothing_raw_jerk_rms_rad_s3": 1033.1298529008388,
554
+ "replay_smoothing_raw_velocity_peak_abs_rad_s": 2.429403066635132,
555
+ "replay_smoothing_raw_velocity_rms_rad_s": 0.2299281872736943,
556
+ "replay_smoothing_rms_deviation_rad": 0.0008360029205525509,
557
+ "replay_smoothing_smoothed_accel_p95_abs_rad_s2": 4.4779534339904785,
558
+ "replay_smoothing_smoothed_accel_peak_abs_rad_s2": 78.67005157470703,
559
+ "replay_smoothing_smoothed_accel_rms_rad_s2": 3.9947401633161235,
560
+ "replay_smoothing_smoothed_jerk_p95_abs_rad_s3": 850.2457885742188,
561
+ "replay_smoothing_smoothed_jerk_peak_abs_rad_s3": 21290.189453125,
562
+ "replay_smoothing_smoothed_jerk_rms_rad_s3": 1029.604304884378,
563
+ "replay_smoothing_smoothed_velocity_peak_abs_rad_s": 2.401949405670166,
564
+ "replay_smoothing_smoothed_velocity_rms_rad_s": 0.22918603378657648,
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": 0.9886994211285858,
575
+ "replay_smoothing_velocity_rms_rad_s_ratio": 0.9967722379064625,
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": 1.1919999999999997,
581
+ "replay_smoothing_wrist_max_deviation_rad": 0.005907535552978516,
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": 0.00572127103805542,
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": 0.03702890872955322,
617
+ "stage_planned_to_measured_rms_error_rad": 0.005992615536291975,
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": 1171,
625
+ "stopped_early": false,
626
+ "strict_tracking_pass": true,
627
+ "strict_tracking_reason": "ok",
628
+ "target_wall_accel_p95_abs_rad_s2": 0.6751689910888672,
629
+ "target_wall_accel_peak_abs_rad_s2": 4.341183662414551,
630
+ "target_wall_accel_peak_joint": 5,
631
+ "target_wall_accel_peak_time_s": 38.20005544699961,
632
+ "target_wall_accel_rms_rad_s2": 0.35491560149223694,
633
+ "target_wall_jerk_p95_abs_rad_s3": 16.275182723999023,
634
+ "target_wall_jerk_peak_abs_rad_s3": 100.74664306640625,
635
+ "target_wall_jerk_peak_joint": 5,
636
+ "target_wall_jerk_peak_time_s": 38.16672231099801,
637
+ "target_wall_jerk_rms_rad_s3": 7.989409827294004,
638
+ "target_wall_smoothness_samples": 1171,
639
+ "target_wall_velocity_peak_abs_rad_s": 0.6690287590026855,
640
+ "target_wall_velocity_peak_joint": 5,
641
+ "target_wall_velocity_peak_time_s": 25.46681506698951,
642
+ "target_wall_velocity_rms_rad_s": 0.10186513998104002,
643
+ "tcp_pose_count": 1171,
644
+ "timestamp_count": 1171,
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": 1.5900000000000034,
657
+ "window_lag_best_lag_median_s": 0.0,
658
+ "window_lag_best_lag_min_s": -1.0399999999999991,
659
+ "window_lag_best_lag_p95_abs_s": 1.3150000000000013,
660
+ "window_lag_count": 31,
661
+ "window_lag_window_s": 1.0,
662
+ "window_lag_worst_best_lag_s": -1.0399999999999991,
663
+ "window_lag_worst_end_s": 21.0,
664
+ "window_lag_worst_max_error_rad": 0.2330506145954132,
665
+ "window_lag_worst_rms_error_rad": 0.01445803227607932,
666
+ "window_lag_worst_start_s": 20.0,
667
+ "zero_lag_max_error_rad": 0.00572127103805542,
668
+ "zero_lag_p95_error_rad": 0.00160922110080719,
669
+ "zero_lag_rms_error_rad": 0.000740169165980302,
670
+ "zero_lag_samples": 1171,
671
+ "zero_lag_worst_joint": 5,
672
+ "zero_lag_worst_time_s": 21.73
673
+ }
674
+ }
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:66544dce73633f38e89a94b65ae83e5e2d649d1f960a6ab37b443d76b9dd590c
3
+ size 121056