{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 0.0, "type": "reset"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 0.0, "type": "inspection_model", "noise_std": 0.0, "bias": 0.0, "expanded_uncertainty": 1e-05, "dimensional_unit": "m"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 0.0, "type": "part_created", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "material": "Ti-6Al-4V_ELI_representative", "recipe": "plate_small_combined_cf_demo"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 0.3, "type": "transfer_start", "part_id": "TI-0001", "source": "raw_storage", "destination": "cnc_1"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 0.3, "type": "motion_start", "target": [0.25, -0.65, 1.25], "samples": 63, "command_duration": 3.90624999990304, "command_velocity_bound": 0.19758601885437044, "command_acceleration_bound": 0.2518530619236663}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 4.21, "type": "motion_end", "position_error": 0.000136141099447609, "angle_error": 3.416513650235231e-05, "observed_joint_velocity": 0.19624429465479507, "observed_joint_acceleration": 0.1645895463318961}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 4.21, "type": "motion_start", "target": [0.25, -0.65, 1.05], "samples": 55, "command_duration": 9.373967924365843, "command_velocity_bound": 0.07409380769936161, "command_acceleration_bound": 0.03081161101224971}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 13.586, "type": "motion_end", "position_error": 8.139596356215165e-05, "angle_error": 5.2075070357738585e-06, "observed_joint_velocity": 0.07402709254235808, "observed_joint_acceleration": 0.8419869819615795}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 14.186, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 14.186, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 4.049291175834865e-06}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 14.186, "type": "motion_start", "target": [0.25, -0.65, 1.3], "samples": 67, "command_duration": 6.696962160820133, "command_velocity_bound": 0.12853170845911022, "command_acceleration_bound": 0.07848761443332201}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 20.886, "type": "motion_end", "position_error": 0.00020914555339599073, "angle_error": 0.0002574929132295959, "observed_joint_velocity": 0.1283053592027459, "observed_joint_acceleration": 0.05887065804386152}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 20.886, "type": "motion_start", "target": [0.28, -0.299998802199326, 1.3], "samples": 94, "command_duration": 5.4887385236960915, "command_velocity_bound": 0.21298508709072472, "command_acceleration_bound": 0.24269995131196895}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 26.378, "type": "motion_end", "position_error": 0.00013505436867316577, "angle_error": 0.00021170792187737256, "observed_joint_velocity": 0.21135277089608012, "observed_joint_acceleration": 0.31025958904463785}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 26.378, "type": "motion_start", "target": [-0.3, -0.299998802199326, 1.3], "samples": 248, "command_duration": 9.062165106094398, "command_velocity_bound": 0.32605144038758654, "command_acceleration_bound": 0.8005456042882804}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 35.444, "type": "motion_end", "position_error": 0.00013042667810870832, "angle_error": 0.0002222982040853303, "observed_joint_velocity": 0.32286888839185496, "observed_joint_acceleration": 0.8741090752348064}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 35.444, "type": "motion_start", "target": [-0.29994551501790767, -0.2999936829169873, 1.2998816095525931], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.0010080523216274978, "command_acceleration_bound": 0.00775999038998484}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 35.846, "type": "motion_end", "position_error": 0.00011608676163698583, "angle_error": 0.00025448407013390126, "observed_joint_velocity": 0.0010751025581959926, "observed_joint_acceleration": 0.5075859091698394}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 35.846, "type": "machine_transition", "machine": "cnc_1", "previous": "IDLE", "state": "PREPARING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 35.846, "type": "machine_transition", "machine": "cnc_1", "previous": "PREPARING", "state": "DOOR_OPENING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 37.346, "type": "door_verified", "machine": "cnc_1", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 37.346, "type": "machine_transition", "machine": "cnc_1", "previous": "DOOR_OPENING", "state": "READY_TO_LOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 37.346, "type": "motion_start", "target": [0.28, -0.3, 1.3], "samples": 246, "command_duration": 9.061570687301318, "command_velocity_bound": 0.32606229147567267, "command_acceleration_bound": 0.7989925277366814}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 46.41, "type": "motion_end", "position_error": 0.00012881399671401712, "angle_error": 0.00023489393664252514, "observed_joint_velocity": 0.3228498535090428, "observed_joint_acceleration": 0.16218939782459516}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 46.41, "type": "motion_start", "target": [0.28, 0.0, 1.35], "samples": 169, "command_duration": 4.7526804942595025, "command_velocity_bound": 0.4153555488660301, "command_acceleration_bound": 0.8898476090431746}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 51.166, "type": "motion_end", "position_error": 0.00016423031811316473, "angle_error": 0.0002045944912795483, "observed_joint_velocity": 0.41391937135780993, "observed_joint_acceleration": 0.38022938710404414}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 51.166, "type": "machine_transition", "machine": "cnc_1", "previous": "READY_TO_LOAD", "state": "LOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 51.166, "type": "motion_start", "target": [0.95, 0.0, 1.35], "samples": 194, "command_duration": 17.945353073457895, "command_velocity_bound": 0.13802909915154984, "command_acceleration_bound": 0.10331980617529603}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 69.114, "type": "motion_end", "position_error": 0.00025340637139353086, "angle_error": 0.0003211604439858646, "observed_joint_velocity": 0.1372570987144037, "observed_joint_acceleration": 2.2422460346212296}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 69.114, "type": "motion_start", "target": [0.95, 0.0, 1.05], "samples": 77, "command_duration": 16.05803284853061, "command_velocity_bound": 0.0586009603339135, "command_acceleration_bound": 0.015834896237691503}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 85.176, "type": "motion_end", "position_error": 1.955801219280754e-05, "angle_error": 2.865188320902854e-05, "observed_joint_velocity": 0.058473531363021844, "observed_joint_acceleration": 0.17463042407038293}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 85.176, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 85.726, "type": "seating_verified", "station": "cnc_1", "seated": true, "position_error": 0.00010868607825572064, "angle_error": 0.0004223942155241173, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 85.726, "type": "motion_start", "target": [0.95, 0.0, 1.35], "samples": 78, "command_duration": 8.035715042781192, "command_velocity_bound": 0.11704011974381183, "command_acceleration_bound": 0.0632470047136241}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 93.764, "type": "motion_end", "position_error": 1.914521634868438e-05, "angle_error": 8.971197594135128e-06, "observed_joint_velocity": 0.11676909729951812, "observed_joint_acceleration": 0.04632684525408132}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 93.764, "type": "motion_start", "target": [0.28, 0.0, 1.35], "samples": 194, "command_duration": 10.468743086792582, "command_velocity_bound": 0.23659933081318113, "command_acceleration_bound": 0.302527991297689}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.236, "type": "motion_end", "position_error": 2.178127552131002e-05, "angle_error": 5.102308922184481e-06, "observed_joint_velocity": 0.23518780438729495, "observed_joint_acceleration": 0.2249321025276077}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.236, "type": "transfer_end", "part_id": "TI-0001", "destination": "cnc_1"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.236, "type": "process_start", "part_id": "TI-0001", "operation": "OP10", "station": "cnc_1"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.236, "type": "machine_tool_configured", "machine": "cnc_1", "tool": "end_mill", "model": "process configuration; turret dynamics not modeled"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.236, "type": "machine_transition", "machine": "cnc_1", "previous": "LOADING", "state": "CLAMPING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.736, "type": "hybrid_constraint", "constraint": "fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.736, "type": "clamps_verified", "machine": "cnc_1", "mode": "contact_plus_hybrid_fixture_constraint"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.736, "type": "machine_transition", "machine": "cnc_1", "previous": "CLAMPING", "state": "SETUP_VERIFICATION"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.736, "type": "robot_wait_start", "operation": "OP10", "machine": "cnc_1", "reason": "machine door closure and process cycle"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 104.736, "type": "machine_transition", "machine": "cnc_1", "previous": "SETUP_VERIFICATION", "state": "DOOR_CLOSING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 106.236, "type": "door_verified", "machine": "cnc_1", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 106.236, "type": "machine_transition", "machine": "cnc_1", "previous": "DOOR_CLOSING", "state": "READY_TO_CYCLE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 106.236, "type": "machine_transition", "machine": "cnc_1", "previous": "READY_TO_CYCLE", "state": "MACHINING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "machine_transition", "machine": "cnc_1", "previous": "MACHINING", "state": "PROCESS_COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "robot_wait_end", "operation": "OP10", "machine": "cnc_1"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "process_end", "part_id": "TI-0001", "operation": "OP10", "station": "cnc_1", "surface_quality_model": 3.0}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "OP10", "station": "cnc_1", "state": "ROUGHED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "transfer_start", "part_id": "TI-0001", "source": "cnc_1", "destination": "in_process"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 110.236, "type": "machine_transition", "machine": "cnc_1", "previous": "PROCESS_COMPLETE", "state": "DOOR_OPENING_FOR_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 111.736, "type": "door_verified", "machine": "cnc_1", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 111.736, "type": "machine_transition", "machine": "cnc_1", "previous": "DOOR_OPENING_FOR_UNLOAD", "state": "READY_TO_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 111.736, "type": "motion_start", "target": [0.95, 0.0, 1.35], "samples": 200, "command_duration": 10.468759399838921, "command_velocity_bound": 0.23660361015479908, "command_acceleration_bound": 0.3025345095530819}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 122.208, "type": "motion_end", "position_error": 1.0740914118410894e-05, "angle_error": 7.83529542412433e-06, "observed_joint_velocity": 0.23519440943232664, "observed_joint_acceleration": 0.08420584940707632}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 122.208, "type": "motion_start", "target": [0.95, 0.0, 1.05], "samples": 77, "command_duration": 14.062199782741668, "command_velocity_bound": 0.06692218077704437, "command_acceleration_bound": 0.020659949595449142}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 136.274, "type": "motion_end", "position_error": 1.3836667129784693e-05, "angle_error": 2.616692067093086e-06, "observed_joint_velocity": 0.06677913595974803, "observed_joint_acceleration": 0.1767679214489298}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 136.874, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 136.874, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 2.3698027427905618e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 136.874, "type": "machine_transition", "machine": "cnc_1", "previous": "READY_TO_UNLOAD", "state": "UNLOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 136.874, "type": "hybrid_constraint", "constraint": "fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 137.274, "type": "motion_start", "target": [0.95, 0.0, 1.35], "samples": 77, "command_duration": 8.035592512872118, "command_velocity_bound": 0.11711711937628186, "command_acceleration_bound": 0.06327282357055537}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 145.312, "type": "motion_end", "position_error": 0.00026978998408350006, "angle_error": 0.0003093318898217896, "observed_joint_velocity": 0.11677233463124426, "observed_joint_acceleration": 0.046445095010609616}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 145.312, "type": "motion_start", "target": [0.28, 0.0, 1.35], "samples": 194, "command_duration": 15.703879735137235, "command_velocity_bound": 0.15773960210756657, "command_acceleration_bound": 0.13447653965565817}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 161.018, "type": "motion_end", "position_error": 9.097082589329733e-05, "angle_error": 0.0001812430838990843, "observed_joint_velocity": 0.1568661235508717, "observed_joint_acceleration": 0.27303259303423993}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 161.018, "type": "machine_transition", "machine": "cnc_1", "previous": "UNLOADING", "state": "COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 162.518, "type": "door_verified", "machine": "cnc_1", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 162.518, "type": "motion_start", "target": [0.28, -0.2999999987596021, 1.3], "samples": 167, "command_duration": 4.751948099720567, "command_velocity_bound": 0.415314902256571, "command_acceleration_bound": 0.8892869394123365}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 167.272, "type": "motion_end", "position_error": 0.0002239878388123297, "angle_error": 0.0002371393220488948, "observed_joint_velocity": 0.4139152491347091, "observed_joint_acceleration": 0.2678818890688578}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 167.272, "type": "motion_start", "target": [-0.3, -0.2999999987596021, 1.3], "samples": 250, "command_duration": 9.062735711767846, "command_velocity_bound": 0.3261825002560444, "command_acceleration_bound": 0.8008413841896135}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 176.338, "type": "motion_end", "position_error": 0.00012254244371661307, "angle_error": 0.00022249053293447551, "observed_joint_velocity": 0.32300442466928675, "observed_joint_acceleration": 2.2717490999077516}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 176.338, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, -6.4558496836971445e-06, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 181.002, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00031457324612449433}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 181.002, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 2.6, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 193.308, "type": "base_docked", "station": "aisle_travel", "position_error": 0.0004753032598063811}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 193.308, "type": "base_motion_start", "destination": "in_process", "target": [0.0, 2.6, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 197.972, "type": "base_docked", "station": "in_process", "position_error": 0.0003145737808876322}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 197.972, "type": "motion_start", "target": [-0.30034041385094584, 2.3000134485282793, 1.2998921389220128], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.0009097066899756145, "command_acceleration_bound": 0.007002925364546992}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 198.374, "type": "motion_end", "position_error": 0.00036893376822163583, "angle_error": 0.00024830473986218034, "observed_joint_velocity": 0.0010675502116800465, "observed_joint_acceleration": 0.16845496518290784}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 198.374, "type": "motion_start", "target": [0.28, 2.3000000000000003, 1.3], "samples": 246, "command_duration": 9.06234170578017, "command_velocity_bound": 0.3260513480882811, "command_acceleration_bound": 0.79789041081538}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 207.44, "type": "motion_end", "position_error": 0.00013893775110817292, "angle_error": 0.00023516968434821804, "observed_joint_velocity": 0.3228538237966798, "observed_joint_acceleration": 0.1977890357845444}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 207.44, "type": "motion_start", "target": [0.28, 2.6, 1.35], "samples": 169, "command_duration": 4.7526485224229305, "command_velocity_bound": 0.41536828921223506, "command_acceleration_bound": 0.8898002945588362}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 212.196, "type": "motion_end", "position_error": 0.00016425990138851704, "angle_error": 0.00020459555900759693, "observed_joint_velocity": 0.4139320456871251, "observed_joint_acceleration": 0.3755727641553269}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 212.196, "type": "motion_start", "target": [0.95, 2.6, 1.35], "samples": 194, "command_duration": 17.94535022887708, "command_velocity_bound": 0.13802910525091985, "command_acceleration_bound": 0.10331974240984838}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 230.144, "type": "motion_end", "position_error": 0.00025340544930428546, "angle_error": 0.00032115755946538263, "observed_joint_velocity": 0.13725708730006367, "observed_joint_acceleration": 2.2416199566536186}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 230.144, "type": "motion_start", "target": [0.95, 2.6, 1.05], "samples": 78, "command_duration": 16.05803293890038, "command_velocity_bound": 0.05860095956126163, "command_acceleration_bound": 0.015834895992375617}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 246.206, "type": "motion_end", "position_error": 1.345416110322042e-05, "angle_error": 1.9743418147673005e-05, "observed_joint_velocity": 0.058473530489088085, "observed_joint_acceleration": 0.17462829423533038}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 246.206, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 246.756, "type": "seating_verified", "station": "in_process", "seated": true, "position_error": 0.00010971578226889077, "angle_error": 0.0004349573269101257, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 246.756, "type": "motion_start", "target": [0.95, 2.6, 1.35], "samples": 78, "command_duration": 8.03571484639383, "command_velocity_bound": 0.11704012383589407, "command_acceleration_bound": 0.06324701321544983}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 254.794, "type": "motion_end", "position_error": 1.9145053165309266e-05, "angle_error": 8.971161164972992e-06, "observed_joint_velocity": 0.11676910160081744, "observed_joint_acceleration": 0.04632684910975404}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 254.794, "type": "motion_start", "target": [0.28, 2.6, 1.35], "samples": 194, "command_duration": 10.46874314582004, "command_velocity_bound": 0.2365993311230221, "command_acceleration_bound": 0.302527990320868}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 265.266, "type": "motion_end", "position_error": 2.178128770305786e-05, "angle_error": 5.102309868319193e-06, "observed_joint_velocity": 0.23518780502994516, "observed_joint_acceleration": 0.22493167897849986}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 265.266, "type": "hybrid_constraint", "constraint": "in_process_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 265.266, "type": "transfer_end", "part_id": "TI-0001", "destination": "in_process"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 265.266, "type": "inspection_start", "station": "in_process", "operation": "IP10"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 267.266, "type": "inspection", "part_id": "TI-0001", "operation": "IP10", "station": "in_process", "scope": "in_process", "verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.10000000149011609, "measured": 0.10000000149011609, "expanded_uncertainty": 1e-05, "lower": 0.0999, "upper": 0.10010000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.028000000864267342, "measured": 0.028000000864267342, "expanded_uncertainty": 1e-05, "lower": 0.0279, "upper": 0.0281, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 267.266, "type": "inspection_pass", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "IP10", "result": {"verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.10000000149011609, "measured": 0.10000000149011609, "expanded_uncertainty": 1e-05, "lower": 0.0999, "upper": 0.10010000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.028000000864267342, "measured": 0.028000000864267342, "expanded_uncertainty": 1e-05, "lower": 0.0279, "upper": 0.0281, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements"}}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 267.266, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "IP10", "station": "in_process", "state": "ROUGH_VERIFIED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 267.266, "type": "transfer_start", "part_id": "TI-0001", "source": "in_process", "destination": "cnc_2"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 267.266, "type": "motion_start", "target": [0.95, 2.6, 1.35], "samples": 194, "command_duration": 10.46875940031142, "command_velocity_bound": 0.23660361003386687, "command_acceleration_bound": 0.3025345074248055}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 277.738, "type": "motion_end", "position_error": 1.0739716062474101e-05, "angle_error": 7.834380276050453e-06, "observed_joint_velocity": 0.23519440951000564, "observed_joint_acceleration": 0.08420585006532061}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 277.738, "type": "motion_start", "target": [0.95, 2.6, 1.05], "samples": 77, "command_duration": 14.062199782738709, "command_velocity_bound": 0.0669221807794039, "command_acceleration_bound": 0.02065994959598915}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 291.804, "type": "motion_end", "position_error": 1.3836667132443082e-05, "angle_error": 2.616692073962533e-06, "observed_joint_velocity": 0.06677913596322486, "observed_joint_acceleration": 0.17676792234937927}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 292.404, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 292.404, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 1.8736621557195288e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 292.404, "type": "hybrid_constraint", "constraint": "in_process_fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 292.404, "type": "motion_start", "target": [0.95, 2.6, 1.35], "samples": 77, "command_duration": 8.035703148464359, "command_velocity_bound": 0.11711533775046709, "command_acceleration_bound": 0.06327152038148075}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 300.442, "type": "motion_end", "position_error": 0.00027000895668342505, "angle_error": 0.00030935190148289015, "observed_joint_velocity": 0.11677073798752603, "observed_joint_acceleration": 0.04644311951367691}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 300.442, "type": "motion_start", "target": [0.28, 2.6, 1.35], "samples": 194, "command_duration": 15.703875815118048, "command_velocity_bound": 0.1577397399958478, "command_acceleration_bound": 0.13447704545764644}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 316.148, "type": "motion_end", "position_error": 9.097129924432784e-05, "angle_error": 0.0001812446673085447, "observed_joint_velocity": 0.15686601628297267, "observed_joint_acceleration": 0.27318021294966166}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 316.148, "type": "motion_start", "target": [0.28, 2.2999970991168777, 1.3], "samples": 167, "command_duration": 4.751950693242762, "command_velocity_bound": 0.4153073573307887, "command_acceleration_bound": 0.8892431355039583}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 320.902, "type": "motion_end", "position_error": 0.000226475917964778, "angle_error": 0.00023718271681402156, "observed_joint_velocity": 0.4139077052517941, "observed_joint_acceleration": 0.26787680230774824}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 320.902, "type": "motion_start", "target": [-0.3, 2.2999970991168777, 1.3], "samples": 250, "command_duration": 9.062739170826823, "command_velocity_bound": 0.3261807037537206, "command_acceleration_bound": 0.8007621603409366}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 329.968, "type": "motion_end", "position_error": 0.00012254422943784514, "angle_error": 0.00022249254941441018, "observed_joint_velocity": 0.323003521919908, "observed_joint_acceleration": 2.2717633972408886}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 329.968, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 2.5999935440576785, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 334.632, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00031457324577433}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 334.632, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 5.2, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 346.938, "type": "base_docked", "station": "aisle_travel", "position_error": 0.00047530325954880936}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 346.938, "type": "base_motion_start", "destination": "cnc_2", "target": [0.0, 5.2, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 351.602, "type": "base_docked", "station": "cnc_2", "position_error": 0.0003145737805823638}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 351.602, "type": "motion_start", "target": [-0.30034041195643923, 4.900010546040954, 1.299892137963588], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.0009097189362712588, "command_acceleration_bound": 0.0070030196365748155}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 352.004, "type": "motion_end", "position_error": 0.0003689336306921351, "angle_error": 0.0002483070373731235, "observed_joint_velocity": 0.001067554124923346, "observed_joint_acceleration": 0.1684551648282805}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 352.004, "type": "machine_transition", "machine": "cnc_2", "previous": "IDLE", "state": "PREPARING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 352.004, "type": "machine_transition", "machine": "cnc_2", "previous": "PREPARING", "state": "DOOR_OPENING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 353.504, "type": "door_verified", "machine": "cnc_2", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 353.504, "type": "machine_transition", "machine": "cnc_2", "previous": "DOOR_OPENING", "state": "READY_TO_LOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 353.504, "type": "motion_start", "target": [0.28, 4.9, 1.3], "samples": 246, "command_duration": 9.062778982638799, "command_velocity_bound": 0.3260535111044617, "command_acceleration_bound": 0.798550144703111}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 362.57, "type": "motion_end", "position_error": 0.0001286067737640382, "angle_error": 0.00023483266687788004, "observed_joint_velocity": 0.32284622192701756, "observed_joint_acceleration": 0.1621894307294017}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 362.57, "type": "motion_start", "target": [0.28, 5.2, 1.35], "samples": 169, "command_duration": 4.752679726740482, "command_velocity_bound": 0.41535519779951513, "command_acceleration_bound": 0.8898473241076689}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 367.326, "type": "motion_end", "position_error": 0.0001642698722461328, "angle_error": 0.00020459361368083397, "observed_joint_velocity": 0.41391902113232415, "observed_joint_acceleration": 0.37712692281573984}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 367.326, "type": "machine_transition", "machine": "cnc_2", "previous": "READY_TO_LOAD", "state": "LOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 367.326, "type": "motion_start", "target": [0.95, 5.2, 1.35], "samples": 194, "command_duration": 17.945350929207933, "command_velocity_bound": 0.13802910722391695, "command_acceleration_bound": 0.10331982745663235}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 385.274, "type": "motion_end", "position_error": 0.0002534069429910093, "angle_error": 0.0003211615812721214, "observed_joint_velocity": 0.13725708935892217, "observed_joint_acceleration": 2.2422270013903636}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 385.274, "type": "motion_start", "target": [0.95, 5.2, 1.05], "samples": 78, "command_duration": 16.0580328129418, "command_velocity_bound": 0.058600960542061806, "command_acceleration_bound": 0.015834896306206454}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 401.336, "type": "motion_end", "position_error": 5.816424140719839e-06, "angle_error": 4.22213833591592e-06, "observed_joint_velocity": 0.05847353156639095, "observed_joint_acceleration": 0.17462987354631546}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 401.336, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 401.886, "type": "seating_verified", "station": "cnc_2", "seated": true, "position_error": 0.00011189632535454895, "angle_error": 0.0004407321732927874, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 401.886, "type": "motion_start", "target": [0.95, 5.2, 1.35], "samples": 78, "command_duration": 8.035714423795293, "command_velocity_bound": 0.11704011716501939, "command_acceleration_bound": 0.06324696817789478}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 409.924, "type": "motion_end", "position_error": 1.9145686674466576e-05, "angle_error": 8.97112664415638e-06, "observed_joint_velocity": 0.11676909834967948, "observed_joint_acceleration": 0.046326865101115056}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 409.924, "type": "motion_start", "target": [0.28, 5.2, 1.35], "samples": 194, "command_duration": 10.468742652045403, "command_velocity_bound": 0.2365993262997203, "command_acceleration_bound": 0.30252798521769003}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.396, "type": "motion_end", "position_error": 2.1781187690739937e-05, "angle_error": 5.102301522806243e-06, "observed_joint_velocity": 0.23518780102349704, "observed_joint_acceleration": 0.2249307716618192}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.396, "type": "transfer_end", "part_id": "TI-0001", "destination": "cnc_2"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.396, "type": "process_start", "part_id": "TI-0001", "operation": "OP20", "station": "cnc_2"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.396, "type": "machine_tool_configured", "machine": "cnc_2", "tool": "drill", "model": "process configuration; turret dynamics not modeled"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.396, "type": "machine_transition", "machine": "cnc_2", "previous": "LOADING", "state": "CLAMPING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.896, "type": "hybrid_constraint", "constraint": "cnc_2_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.896, "type": "clamps_verified", "machine": "cnc_2", "mode": "contact_plus_hybrid_fixture_constraint"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.896, "type": "machine_transition", "machine": "cnc_2", "previous": "CLAMPING", "state": "SETUP_VERIFICATION"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.896, "type": "robot_wait_start", "operation": "OP20", "machine": "cnc_2", "reason": "machine door closure and process cycle"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 420.896, "type": "machine_transition", "machine": "cnc_2", "previous": "SETUP_VERIFICATION", "state": "DOOR_CLOSING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 422.396, "type": "door_verified", "machine": "cnc_2", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 422.396, "type": "machine_transition", "machine": "cnc_2", "previous": "DOOR_CLOSING", "state": "READY_TO_CYCLE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 422.396, "type": "machine_transition", "machine": "cnc_2", "previous": "READY_TO_CYCLE", "state": "MACHINING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "machine_transition", "machine": "cnc_2", "previous": "MACHINING", "state": "PROCESS_COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "robot_wait_end", "operation": "OP20", "machine": "cnc_2"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "geometry_outcome", "input_geometry": "raw", "output_geometry": "drilled", "mass_before_kg": 0.09312935428392434, "mass_after_kg": 0.09035292901410806, "mesh_sha256": "89780c8fbdd1f72234a137e49fed3642fa50050f164a322b2a6a89bce69857d0", "model": "discrete precomputed CAD outcome after successful cycle"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "process_end", "part_id": "TI-0001", "operation": "OP20", "station": "cnc_2", "surface_quality_model": 3.0}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "OP20", "station": "cnc_2", "state": "DRILLED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "transfer_start", "part_id": "TI-0001", "source": "cnc_2", "destination": "cnc_3"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 426.396, "type": "machine_transition", "machine": "cnc_2", "previous": "PROCESS_COMPLETE", "state": "DOOR_OPENING_FOR_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 427.896, "type": "door_verified", "machine": "cnc_2", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 427.896, "type": "machine_transition", "machine": "cnc_2", "previous": "DOOR_OPENING_FOR_UNLOAD", "state": "READY_TO_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 427.896, "type": "motion_start", "target": [0.95, 5.2, 1.35], "samples": 200, "command_duration": 10.468759399802076, "command_velocity_bound": 0.23660361015494408, "command_acceleration_bound": 0.30253450959335865}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 438.368, "type": "motion_end", "position_error": 1.0740914160627875e-05, "angle_error": 7.83529542789853e-06, "observed_joint_velocity": 0.23519440943201972, "observed_joint_acceleration": 0.08420584940423831}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 438.368, "type": "motion_start", "target": [0.95, 5.2, 1.05], "samples": 77, "command_duration": 14.062199782741816, "command_velocity_bound": 0.06692218077706484, "command_acceleration_bound": 0.020659949595327274}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 452.434, "type": "motion_end", "position_error": 1.383666712500172e-05, "angle_error": 2.6166920639684424e-06, "observed_joint_velocity": 0.06677913595974745, "observed_joint_acceleration": 0.17676792138375796}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 453.034, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 453.034, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 3.1183438965280056e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 453.034, "type": "machine_transition", "machine": "cnc_2", "previous": "READY_TO_UNLOAD", "state": "UNLOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 453.034, "type": "hybrid_constraint", "constraint": "cnc_2_fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 453.434, "type": "motion_start", "target": [0.95, 5.2, 1.35], "samples": 77, "command_duration": 8.035567546206188, "command_velocity_bound": 0.11711746032438536, "command_acceleration_bound": 0.06327316374254457}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 461.472, "type": "motion_end", "position_error": 0.00026265428599997004, "angle_error": 0.0002998759233172876, "observed_joint_velocity": 0.11677272374896733, "observed_joint_acceleration": 0.0945725858770924}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 461.472, "type": "motion_start", "target": [0.28, 5.2, 1.35], "samples": 194, "command_duration": 15.703866167082019, "command_velocity_bound": 0.15773964653950948, "command_acceleration_bound": 0.1344766502293418}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 477.178, "type": "motion_end", "position_error": 8.825696034291117e-05, "angle_error": 0.00017579249725860986, "observed_joint_velocity": 0.15686534722430615, "observed_joint_acceleration": 0.26887562856023367}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 477.178, "type": "machine_transition", "machine": "cnc_2", "previous": "UNLOADING", "state": "COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 478.678, "type": "door_verified", "machine": "cnc_2", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 478.678, "type": "motion_start", "target": [0.28, 4.900000001240199, 1.3], "samples": 167, "command_duration": 4.751954296332098, "command_velocity_bound": 0.41531436016043755, "command_acceleration_bound": 0.8892905453795814}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 483.432, "type": "motion_end", "position_error": 0.00022257867931522448, "angle_error": 0.0002307142967627561, "observed_joint_velocity": 0.41391471861479034, "observed_joint_acceleration": 0.2678809747763411}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 483.432, "type": "motion_start", "target": [-0.3, 4.900000001240199, 1.3], "samples": 250, "command_duration": 9.062739841190828, "command_velocity_bound": 0.32618170005492536, "command_acceleration_bound": 0.800801870412204}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 492.498, "type": "motion_end", "position_error": 0.00011917203832834945, "angle_error": 0.00021598691226259973, "observed_joint_velocity": 0.32300415665132537, "observed_joint_acceleration": 2.2719183990028844}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 492.498, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 5.199993544124134, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 497.162, "type": "base_docked", "station": "aisle_exit", "position_error": 0.0003146025749312109}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 497.162, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 7.800000000000001, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 509.468, "type": "base_docked", "station": "aisle_travel", "position_error": 0.0004753133918686814}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 509.468, "type": "base_motion_start", "destination": "cnc_3", "target": [0.0, 7.800000000000001, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 514.132, "type": "base_docked", "station": "cnc_3", "position_error": 0.0003146031080963502}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 514.132, "type": "motion_start", "target": [-0.3003405538778699, 7.500013165843484, 1.2998956275299158], "samples": 510, "command_duration": 8.414912329468919, "command_velocity_bound": 0.7000000000000001, "command_acceleration_bound": 0.27067534340978155}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 522.55, "type": "motion_end", "position_error": 0.0003419901472661838, "angle_error": 0.0003653259667874848, "observed_joint_velocity": 0.6992237819291304, "observed_joint_acceleration": 0.2555223677401519}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 522.55, "type": "machine_transition", "machine": "cnc_3", "previous": "IDLE", "state": "PREPARING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 522.55, "type": "machine_transition", "machine": "cnc_3", "previous": "PREPARING", "state": "DOOR_OPENING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 524.05, "type": "door_verified", "machine": "cnc_3", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 524.05, "type": "machine_transition", "machine": "cnc_3", "previous": "DOOR_OPENING", "state": "READY_TO_LOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 524.05, "type": "motion_start", "target": [0.28, 7.500000000000001, 1.3], "samples": 246, "command_duration": 9.062781838593313, "command_velocity_bound": 0.32605543534370096, "command_acceleration_bound": 0.7986473609397461}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 533.116, "type": "motion_end", "position_error": 0.0001253036063809142, "angle_error": 0.00022838428205933746, "observed_joint_velocity": 0.3228469249853324, "observed_joint_acceleration": 0.15746075721949535}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 533.116, "type": "motion_start", "target": [0.28, 7.800000000000001, 1.35], "samples": 169, "command_duration": 4.752672669226581, "command_velocity_bound": 0.4153558114681293, "command_acceleration_bound": 0.8898409217920096}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 537.872, "type": "motion_end", "position_error": 0.00016234407169229002, "angle_error": 0.00019919831078722835, "observed_joint_velocity": 0.4139196275411921, "observed_joint_acceleration": 0.3771342456902956}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 537.872, "type": "machine_transition", "machine": "cnc_3", "previous": "READY_TO_LOAD", "state": "LOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 537.872, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.35], "samples": 194, "command_duration": 17.94535238152228, "command_velocity_bound": 0.13802903199341063, "command_acceleration_bound": 0.10332018639148932}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 555.82, "type": "motion_end", "position_error": 0.00024624455432942504, "angle_error": 0.000311681977770426, "observed_joint_velocity": 0.137256657581463, "observed_joint_acceleration": 2.2421143579402307}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 555.82, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.05], "samples": 77, "command_duration": 16.05843072744091, "command_velocity_bound": 0.05859943719639951, "command_acceleration_bound": 0.01583432308940688}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 571.882, "type": "motion_end", "position_error": 3.617615740779937e-05, "angle_error": 1.3429021582622314e-05, "observed_joint_velocity": 0.058472163337878864, "observed_joint_acceleration": 0.17060580253421262}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 571.882, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 572.432, "type": "seating_verified", "station": "cnc_3", "seated": true, "position_error": 6.1022687302218454e-05, "angle_error": 9.390997855562714e-06, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 572.432, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.35], "samples": 78, "command_duration": 8.035717110781865, "command_velocity_bound": 0.1170410820199061, "command_acceleration_bound": 0.0632517239510257}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 580.47, "type": "motion_end", "position_error": 1.9284005348098575e-05, "angle_error": 8.972721944660901e-06, "observed_joint_velocity": 0.11676981500794066, "observed_joint_acceleration": 0.04632607298819119}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 580.47, "type": "motion_start", "target": [0.28, 7.800000000000001, 1.35], "samples": 194, "command_duration": 10.468786565754982, "command_velocity_bound": 0.23659974520634475, "command_acceleration_bound": 0.30252838121417436}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 590.942, "type": "motion_end", "position_error": 2.1790103347598728e-05, "angle_error": 5.103034833015132e-06, "observed_joint_velocity": 0.23518816495934863, "observed_joint_acceleration": 0.22493569944830508}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 590.942, "type": "transfer_end", "part_id": "TI-0001", "destination": "cnc_3"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 590.942, "type": "process_start", "part_id": "TI-0001", "operation": "OP30", "station": "cnc_3"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 590.942, "type": "machine_tool_configured", "machine": "cnc_3", "tool": "end_mill", "model": "process configuration; turret dynamics not modeled"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 590.942, "type": "machine_transition", "machine": "cnc_3", "previous": "LOADING", "state": "CLAMPING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 591.442, "type": "hybrid_constraint", "constraint": "cnc_3_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 591.442, "type": "clamps_verified", "machine": "cnc_3", "mode": "contact_plus_hybrid_fixture_constraint"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 591.442, "type": "machine_transition", "machine": "cnc_3", "previous": "CLAMPING", "state": "SETUP_VERIFICATION"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 591.442, "type": "robot_wait_start", "operation": "OP30", "machine": "cnc_3", "reason": "machine door closure and process cycle"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 591.442, "type": "machine_transition", "machine": "cnc_3", "previous": "SETUP_VERIFICATION", "state": "DOOR_CLOSING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 592.942, "type": "door_verified", "machine": "cnc_3", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 592.942, "type": "machine_transition", "machine": "cnc_3", "previous": "DOOR_CLOSING", "state": "READY_TO_CYCLE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 592.942, "type": "machine_transition", "machine": "cnc_3", "previous": "READY_TO_CYCLE", "state": "MACHINING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "machine_transition", "machine": "cnc_3", "previous": "MACHINING", "state": "PROCESS_COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "robot_wait_end", "operation": "OP30", "machine": "cnc_3"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "geometry_outcome", "input_geometry": "drilled", "output_geometry": "finished", "mass_before_kg": 0.09035292901410806, "mass_after_kg": 0.08830964515444899, "mesh_sha256": "06abab8d5f439d86ea40b60e4739d12ec294ead12a3e721d4e55a37592f0c74f", "model": "discrete precomputed CAD outcome after successful cycle"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "process_end", "part_id": "TI-0001", "operation": "OP30", "station": "cnc_3", "surface_quality_model": 3.0}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "OP30", "station": "cnc_3", "state": "CONTOURED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "transfer_start", "part_id": "TI-0001", "source": "cnc_3", "destination": "finisher"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 596.942, "type": "machine_transition", "machine": "cnc_3", "previous": "PROCESS_COMPLETE", "state": "DOOR_OPENING_FOR_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 598.442, "type": "door_verified", "machine": "cnc_3", "open": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 598.442, "type": "machine_transition", "machine": "cnc_3", "previous": "DOOR_OPENING_FOR_UNLOAD", "state": "READY_TO_UNLOAD"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 598.442, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.35], "samples": 200, "command_duration": 10.4687594022381, "command_velocity_bound": 0.23660361014298703, "command_acceleration_bound": 0.3025345095755424}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 608.914, "type": "motion_end", "position_error": 1.074091459880501e-05, "angle_error": 7.835295532958345e-06, "observed_joint_velocity": 0.23519440945472153, "observed_joint_acceleration": 0.08420584951313731}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 608.914, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.05], "samples": 77, "command_duration": 14.062199782737173, "command_velocity_bound": 0.0669221807770001, "command_acceleration_bound": 0.020659949595231965}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 622.98, "type": "motion_end", "position_error": 1.3836667192609985e-05, "angle_error": 2.616692067300512e-06, "observed_joint_velocity": 0.06677913595968227, "observed_joint_acceleration": 0.1767679256913105}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 623.58, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 623.58, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 1.8912559725735834e-06}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 623.58, "type": "machine_transition", "machine": "cnc_3", "previous": "READY_TO_UNLOAD", "state": "UNLOADING"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 623.58, "type": "hybrid_constraint", "constraint": "cnc_3_fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 623.98, "type": "motion_start", "target": [0.95, 7.800000000000001, 1.35], "samples": 80, "command_duration": 8.036293616522682, "command_velocity_bound": 0.11703767280615164, "command_acceleration_bound": 0.06325310355200561}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 632.02, "type": "motion_end", "position_error": 0.00025682420698000416, "angle_error": 0.000292899009895596, "observed_joint_velocity": 0.11676472998538091, "observed_joint_acceleration": 0.1247065176195228}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 632.02, "type": "motion_start", "target": [0.28, 7.800000000000001, 1.35], "samples": 194, "command_duration": 15.703921250645159, "command_velocity_bound": 0.15773947755603, "command_acceleration_bound": 0.13447521575423751}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 647.726, "type": "motion_end", "position_error": 8.625673416366803e-05, "angle_error": 0.00017177021467088653, "observed_joint_velocity": 0.15686533949968917, "observed_joint_acceleration": 0.2640662182735046}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 647.726, "type": "machine_transition", "machine": "cnc_3", "previous": "UNLOADING", "state": "COMPLETE"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 649.226, "type": "door_verified", "machine": "cnc_3", "open": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 649.226, "type": "motion_start", "target": [0.28, 7.500000001240255, 1.3], "samples": 167, "command_duration": 4.751958846093015, "command_velocity_bound": 0.4153139641072648, "command_acceleration_bound": 0.889293222449244}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 653.98, "type": "motion_end", "position_error": 0.00022156398230058268, "angle_error": 0.00022595250078132932, "observed_joint_velocity": 0.41391433084984847, "observed_joint_acceleration": 0.26788029802671254}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 653.98, "type": "motion_start", "target": [-0.3, 7.500000001240255, 1.3], "samples": 250, "command_duration": 9.062742897685906, "command_velocity_bound": 0.32618110736352135, "command_acceleration_bound": 0.8007726013826888}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 663.046, "type": "motion_end", "position_error": 0.00011669430765549668, "angle_error": 0.00021119346658732494, "observed_joint_velocity": 0.3230039581739093, "observed_joint_acceleration": 2.272064573245333}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 663.046, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 7.799993544104168, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 667.71, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00031462415914440545}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 667.71, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 13.0, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 692.088, "type": "base_docked", "station": "aisle_travel", "position_error": 0.00024417098219409183}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 692.088, "type": "base_motion_start", "destination": "finisher", "target": [-0.05, 13.0, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 696.534, "type": "base_docked", "station": "finisher", "position_error": 0.00030180561926103355}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 696.534, "type": "motion_start", "target": [0.28, 12.7, 1.3], "samples": 254, "command_duration": 9.848874831350233, "command_velocity_bound": 0.31439353338208487, "command_acceleration_bound": 0.7671368698595967}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 706.386, "type": "motion_end", "position_error": 0.0003011261542327781, "angle_error": 0.00022786848952211598, "observed_joint_velocity": 0.3107702501138921, "observed_joint_acceleration": 0.18262204110522373}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 706.386, "type": "motion_start", "target": [0.28, 13.0, 1.42], "samples": 142, "command_duration": 5.049309451111572, "command_velocity_bound": 0.33135076667374636, "command_acceleration_bound": 0.5601070585523786}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 711.438, "type": "motion_end", "position_error": 0.00016610020607180402, "angle_error": 0.00019576185207514327, "observed_joint_velocity": 0.33033483469211505, "observed_joint_acceleration": 0.23531414371321235}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 711.438, "type": "motion_start", "target": [0.95, 13.0, 1.42], "samples": 203, "command_duration": 10.468269307196103, "command_velocity_bound": 0.2432756503830838, "command_acceleration_bound": 0.3012172104945933}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 721.91, "type": "motion_end", "position_error": 0.0002550120126418785, "angle_error": 0.0003154662574154455, "observed_joint_velocity": 0.24227515243875072, "observed_joint_acceleration": 1.6072184545769352}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 721.91, "type": "part_pose_target", "part_position": [0.95, 13.0, 1.234], "part_orientation": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "observed_tcp_offset": [3.559217810456519e-05, 1.0001919258276192e-05, -1.5579649654187422e-06], "tcp_target": [0.9499644078729391, 13.000010001771226, 1.2339984399200203]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 721.91, "type": "motion_start", "target": [0.9499644078729391, 13.000010001771226, 1.2339984399200203], "samples": 504, "command_duration": 9.950721672489154, "command_velocity_bound": 0.59197059029196, "command_acceleration_bound": 0.2589522885828096}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 731.864, "type": "motion_end", "position_error": 2.5887519927960495e-05, "angle_error": 0.00016888509995506825, "observed_joint_velocity": 0.5915008231059106, "observed_joint_acceleration": 0.3341736877372462}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 731.864, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 732.564, "type": "finisher_loaded", "position": [0.9499907613854155, 12.999987633445864, 1.233999198504479], "support_force": 0.866317607969915, "media_model": "rigid bed envelope, no individual media or abrasive physics"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 732.564, "type": "motion_start", "target": [0.95, 13.0, 1.42], "samples": 503, "command_duration": 8.41507171738698, "command_velocity_bound": 0.7, "command_acceleration_bound": 0.3619116730526071}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 740.982, "type": "motion_end", "position_error": 1.2440534956086712e-05, "angle_error": 0.0002817722380166522, "observed_joint_velocity": 0.699223808259857, "observed_joint_acceleration": 0.25551770121245987}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 740.982, "type": "motion_start", "target": [0.28, 13.0, 1.42], "samples": 203, "command_duration": 10.46875850068357, "command_velocity_bound": 0.24326259410447973, "command_acceleration_bound": 0.30007709087270806}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 751.454, "type": "motion_end", "position_error": 2.4224617042964606e-05, "angle_error": 8.40112104464035e-06, "observed_joint_velocity": 0.24250865005788733, "observed_joint_acceleration": 1.2800808134546886}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 751.454, "type": "motion_start", "target": [0.28, 12.69998997224575, 1.3], "samples": 142, "command_duration": 5.048582768222874, "command_velocity_bound": 0.33140831800800546, "command_acceleration_bound": 0.559714678709182}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 756.506, "type": "motion_end", "position_error": 0.00016571960323826993, "angle_error": 2.4303048055433945e-05, "observed_joint_velocity": 0.33046329596663543, "observed_joint_acceleration": 0.28135761051391955}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 756.506, "type": "motion_start", "target": [-0.3, 12.69998997224575, 1.3], "samples": 233, "command_duration": 9.062872299161699, "command_velocity_bound": 0.3144005244561213, "command_acceleration_bound": 0.7715780021612123}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 765.572, "type": "motion_end", "position_error": 3.031644268588376e-05, "angle_error": 7.725634291567654e-06, "observed_joint_velocity": 0.3108077315766759, "observed_joint_acceleration": 1.5970451467453624}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 765.572, "type": "base_motion_start", "destination": "finisher_clear", "target": [-0.9, 13.0, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 770.018, "type": "base_docked", "station": "finisher_clear", "position_error": 0.0003027649799597354}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 770.018, "type": "transfer_end", "part_id": "TI-0001", "destination": "finisher"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 770.018, "type": "process_start", "part_id": "TI-0001", "operation": "GRIND_POLISH", "station": "finisher"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 770.018, "type": "finishing_phase_start", "operation": "GRIND_POLISH", "station": "finisher", "phase": "grinding", "duration": 3.0}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 773.018, "type": "finishing_phase_end", "operation": "GRIND_POLISH", "station": "finisher", "phase": "grinding", "surface_quality_model": 0.8}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 773.018, "type": "finishing_phase_start", "operation": "GRIND_POLISH", "station": "finisher", "phase": "polishing", "duration": 3.0}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 776.018, "type": "finishing_phase_end", "operation": "GRIND_POLISH", "station": "finisher", "phase": "polishing", "surface_quality_model": 0.2}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 777.0179999954497, "type": "discharge_start", "position": [0.949990761344711, 12.999987632623995, 1.2339991985062224]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 791.0179999951187, "type": "finisher_return_start"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 800.0179999949058, "type": "finisher_return_end", "returned_home": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 800.0179999949058, "type": "finisher_shuttle_start", "target": -0.7}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.4259999944942, "type": "finisher_shuttle_end", "complete": true, "slip": 2.189623034436205e-05}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.4259999944942, "type": "discharge_observation", "passed": true, "mechanism_complete": true, "collisions": [], "commanded_tilt_rad": -2.8, "received": true, "settled": true, "initial_part_position": [0.949990761344711, 12.999987632623995, 1.2339991985062224], "part_position": [0.2648961254430032, 13.00577477700918, 0.6097349049599193], "part_orientation_wxyz": [0.4999405166090843, -0.4999329753547944, 0.5000678551126865, -0.5000586368502611], "observed_tilt_rad": -2.799999999999993, "sieve_contacts": [["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_31", "part_collision"], ["finisher_sieve_31", "part_collision"], ["finisher_sieve_31", "part_collision"], ["finisher_sieve_31", "part_collision"], ["finisher_sieve_32", "part_collision"], ["finisher_sieve_32", "part_collision"], ["finisher_sieve_32", "part_collision"], ["finisher_sieve_32", "part_collision"], ["finisher_sieve_33", "part_collision"], ["finisher_sieve_33", "part_collision"], ["finisher_sieve_33", "part_collision"], ["finisher_sieve_33", "part_collision"], ["finisher_sieve_34", "part_collision"], ["finisher_sieve_34", "part_collision"]], "returned_home": true, "returned_tilt_rad": -1.4531726740739735e-11, "return_part_displacement": 1.3229249115680914e-05, "shuttle_complete": true, "shuttle_slip_m": 2.189623034436205e-05}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.426, "type": "process_end", "part_id": "TI-0001", "operation": "GRIND_POLISH", "station": "finisher", "surface_quality_model": 0.2}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.426, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "GRIND_POLISH", "station": "finisher", "state": "POLISHED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.426, "type": "transfer_start", "part_id": "TI-0001", "source": "finisher", "destination": "cleaning"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 817.426, "type": "base_motion_start", "destination": "finisher_pickup", "target": [-0.75, 13.0, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 818.934, "type": "base_docked", "station": "finisher_pickup", "position_error": 0.00017286705132624203}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 818.934, "type": "receiver_grasp_selected", "face": "negative_y", "yaw": -1.5710491634287287, "rejected_candidates": [], "observation_model": "ideal MuJoCo part pose; symmetric long-edge grasp"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 818.934, "type": "motion_start", "target": [0.2648961204496321, 13.005773086168016, 0.8597348951257545], "samples": 331, "command_duration": 21.468340951143492, "command_velocity_bound": 0.1730813796006457, "command_acceleration_bound": 0.024825040452469135}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 840.406, "type": "motion_end", "position_error": 0.00017416105513996932, "angle_error": 2.0814713966408765e-05, "observed_joint_velocity": 0.173055640622094, "observed_joint_acceleration": 0.033826805135297656}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 840.406, "type": "motion_start", "target": [0.2648961204496321, 13.005773086168016, 0.6097348951257545], "samples": 53, "command_duration": 13.39300743128107, "command_velocity_bound": 0.04271686085053036, "command_acceleration_bound": 0.014292701905718087}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 853.802, "type": "motion_end", "position_error": 9.347485532382514e-06, "angle_error": 4.043983435500756e-06, "observed_joint_velocity": 0.042661900438841896, "observed_joint_acceleration": 0.01713049724248685}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 854.402, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 854.402, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 2.583651556926304e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 854.402, "type": "motion_start", "target": [0.2648961204496321, 13.005773086168016, 0.9097348951257545], "samples": 64, "command_duration": 9.374949574717037, "command_velocity_bound": 0.07433566730654084, "command_acceleration_bound": 0.038163972845596174}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 863.78, "type": "motion_end", "position_error": 0.000261782029472647, "angle_error": 0.0002912165483389047, "observed_joint_velocity": 0.07410485931424811, "observed_joint_acceleration": 0.06665843289602857}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 863.78, "type": "finisher_retrieved", "part_id": "TI-0001", "receiver_position": [0.2648961204496321, 13.005773086168016, 0.6097348951257545], "grasp_yaw": -1.5710491634287287, "receiver_face": "negative_y", "input_face_inverted": false, "position": [0.26482474705232045, 13.005747352807205, 0.909478434340893]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 863.78, "type": "motion_start", "target": [-0.15, 13.65, 1.35], "samples": 169, "command_duration": 27.620071516622755, "command_velocity_bound": 0.06190439019635622, "command_acceleration_bound": 0.022268081788482594}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 891.404, "type": "motion_end", "position_error": 0.00021779380942358275, "angle_error": 0.0002905917290948116, "observed_joint_velocity": 0.06167384461620195, "observed_joint_acceleration": 0.10606593254291644}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 891.404, "type": "part_pose_target", "part_position": [-0.15, 13.65, 1.35], "part_orientation": [[1.0, -0.0, 0.0], [0.0, 2.220446049250313e-16, 1.0], [-0.0, -1.0, 2.220446049250313e-16]], "observed_tcp_offset": [1.5798177918046663e-05, -2.9764973086156678e-06, 1.89019450870629e-05], "tcp_target": [-0.1500158013216295, 13.649997023503941, 1.3500188993173372]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 891.404, "type": "motion_start", "target": [-0.1500158013216295, 13.649997023503941, 1.3500188993173372], "samples": 262, "command_duration": 4.208017740073579, "command_velocity_bound": 0.7000000000000001, "command_acceleration_bound": 0.5130294002287058}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 895.642, "type": "motion_end", "position_error": 0.0002168348388594327, "angle_error": 0.0008506976838187114, "observed_joint_velocity": 0.6969192274061055, "observed_joint_acceleration": 0.507386114469488}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 895.642, "type": "part_pose_target", "part_position": [-0.15, 13.65, 1.1], "part_orientation": [[1.0, -0.0, 0.0], [0.0, 2.220446049250313e-16, 1.0], [-0.0, -1.0, 2.220446049250313e-16]], "observed_tcp_offset": [2.14764969428267e-05, -2.9782780570058727e-06, 1.9395134885271246e-05], "tcp_target": [-0.15002147741558236, 13.649997021374487, 1.1000193940642542]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 895.642, "type": "motion_start", "target": [-0.15002147741558236, 13.649997021374487, 1.1000193940642542], "samples": 65, "command_duration": 15.61149911673878, "command_velocity_bound": 0.050933399968397484, "command_acceleration_bound": 0.013550991188402233}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 911.256, "type": "motion_end", "position_error": 0.0002066724419482221, "angle_error": 0.00028497131726128855, "observed_joint_velocity": 0.050825501093289434, "observed_joint_acceleration": 3.6208867905726914}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 911.756, "type": "hybrid_constraint", "constraint": "turnover_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 911.756, "type": "turnover_clamped", "forces": {"left": 3.4914453446195384, "right": 3.4444253702090797}, "model": "contact-verified hybrid end clamp"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 911.756, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 912.156, "type": "motion_start", "target": [-0.15001983889733758, 13.649996121109831, 1.3500174552484576], "samples": 114, "command_duration": 3.90625, "command_velocity_bound": 0.20357949833464295, "command_acceleration_bound": 0.2160514015830612}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 916.066, "type": "motion_end", "position_error": 0.00014325490194342375, "angle_error": 6.062266452872606e-05, "observed_joint_velocity": 0.2021875931274216, "observed_joint_acceleration": 0.16483812420098332}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 916.066, "type": "turnover_rotation_start", "target": 1.5707963267948966}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 921.602, "type": "turnover_rotation_end", "angle": 1.570792061373804, "part_orientation": [0.999999986428243, -0.0001226617712224277, -2.079636734645688e-06, 0.00010996944608918167]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 921.602, "type": "motion_start", "target": [-0.15, 13.65, 1.35], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.00020000401370900978, "command_acceleration_bound": 0.0015396316153853654}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 922.004, "type": "motion_end", "position_error": 4.877109807144608e-06, "angle_error": 8.805147948410177e-06, "observed_joint_velocity": 0.0001563484188238027, "observed_joint_acceleration": 0.0009865734532153473}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 922.004, "type": "motion_start", "target": [-0.150014273824176, 13.65020754688747, 1.099948264438019], "samples": 65, "command_duration": 15.628414848489266, "command_velocity_bound": 0.05088498235365669, "command_acceleration_bound": 0.013535088275514508}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 937.636, "type": "motion_end", "position_error": 2.702135876600547e-06, "angle_error": 1.3958780692349458e-06, "observed_joint_velocity": 0.050776034040109844, "observed_joint_acceleration": 0.03385097900188309}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 938.236, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 938.236, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 1.6223306564332324e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 938.236, "type": "hybrid_constraint", "constraint": "turnover_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 938.636, "type": "turnover_released"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 938.636, "type": "motion_start", "target": [-0.15, 13.65, 1.35], "samples": 66, "command_duration": 7.820492803350022, "command_velocity_bound": 0.10167944960161253, "command_acceleration_bound": 0.05393498041730379}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 946.46, "type": "motion_end", "position_error": 0.00023560253497113405, "angle_error": 0.00028208680770604134, "observed_joint_velocity": 0.10137280516005798, "observed_joint_acceleration": 0.11138122628140676}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 946.46, "type": "turnover_regrasp_complete", "part_id": "TI-0001"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 946.46, "type": "turnover_reset_start"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 951.996, "type": "turnover_reset_end", "angle": 4.085648804606123e-06}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 951.996, "type": "finisher_receiver_reset_start"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 968.904, "type": "finisher_receiver_reset_end", "position": -9.537157919528624e-11}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 968.904, "type": "part_pose_target", "part_position": [-0.14998757469446936, 13.650020326517716, 1.3497660601233437], "part_orientation": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "observed_tcp_offset": [-1.2638974437613483e-07, 1.4621628118251612e-07, 1.849197645909701e-05], "tcp_target": [-0.14998744828401445, 13.65002047123436, 1.349784552111458]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 968.904, "type": "motion_start", "target": [-0.14998744828401445, 13.65002047123436, 1.349784552111458], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.0022535241204393874, "command_acceleration_bound": 0.01734763676747993}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 969.306, "type": "motion_end", "position_error": 0.00021519456711726028, "angle_error": 0.0003510565712205477, "observed_joint_velocity": 0.0017155353227694275, "observed_joint_acceleration": 0.13375925003513753}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 969.306, "type": "motion_start", "target": [0.28, 12.700001099342373, 1.3], "samples": 224, "command_duration": 16.312333701595218, "command_velocity_bound": 0.15317385799624872, "command_acceleration_bound": 0.13038334868358925}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 985.622, "type": "motion_end", "position_error": 0.00028121743985950136, "angle_error": 0.0003247365200422414, "observed_joint_velocity": 0.15187621107375393, "observed_joint_acceleration": 0.41584302989614247}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 985.622, "type": "motion_start", "target": [-0.3, 12.700001099342373, 1.3], "samples": 178, "command_duration": 9.06298830409063, "command_velocity_bound": 0.24231223629552215, "command_acceleration_bound": 0.1625167066387088}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 994.688, "type": "motion_end", "position_error": 0.00012420390544611452, "angle_error": 0.0002169069430575612, "observed_joint_velocity": 0.24150907346298836, "observed_joint_acceleration": 0.17784371015154463}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 994.688, "type": "motion_start", "target": [-1.0500311736798706, 12.7, 1.3], "samples": 284, "command_duration": 11.719349292630188, "command_velocity_bound": 0.2930118357231925, "command_acceleration_bound": 0.6416185479680308}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1006.41, "type": "motion_end", "position_error": 0.0001271131327650731, "angle_error": 0.0002093215728563881, "observed_joint_velocity": 0.2899494734113405, "observed_joint_acceleration": 0.2608481197200613}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1006.41, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 12.999996327972319, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1007.918, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00017122273783864994}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1007.918, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 18.2, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1032.296, "type": "base_docked", "station": "aisle_travel", "position_error": 0.00024417087102790447}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1032.296, "type": "base_motion_start", "destination": "cleaning", "target": [0.0, 18.2, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1036.96, "type": "base_docked", "station": "cleaning", "position_error": 0.0003146245690538108}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1036.96, "type": "motion_start", "target": [-0.3003212888021148, 17.900015736374858, 1.299898174751062], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.00042388162239184735, "command_acceleration_bound": 0.0032630422505662447}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1037.362, "type": "motion_end", "position_error": 0.00036726285587355745, "angle_error": 0.00018852436419924354, "observed_joint_velocity": 0.0010118614761397725, "observed_joint_acceleration": 0.16024122523991077}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1037.362, "type": "motion_start", "target": [0.28, 17.9, 1.3], "samples": 246, "command_duration": 9.062040966927892, "command_velocity_bound": 0.32605678054595505, "command_acceleration_bound": 0.7983218043833831}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1046.428, "type": "motion_end", "position_error": 0.00013357590759928596, "angle_error": 0.00022401945887203325, "observed_joint_velocity": 0.3228537397109202, "observed_joint_acceleration": 0.17571519016482998}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1046.428, "type": "motion_start", "target": [0.28, 18.2, 1.35], "samples": 169, "command_duration": 4.752643499289257, "command_velocity_bound": 0.415369126505744, "command_acceleration_bound": 0.889789193363625}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1051.184, "type": "motion_end", "position_error": 0.00016095238566411565, "angle_error": 0.0001952424855632061, "observed_joint_velocity": 0.41393287656169814, "observed_joint_acceleration": 0.37444186359880893}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1051.184, "type": "motion_start", "target": [0.95, 18.2, 1.35], "samples": 194, "command_duration": 17.94535209371086, "command_velocity_bound": 0.13802897794179947, "command_acceleration_bound": 0.1033204011250904}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1069.132, "type": "motion_end", "position_error": 0.00024100097937943362, "angle_error": 0.0003047306825544523, "observed_joint_velocity": 0.1372563341071653, "observed_joint_acceleration": 2.2416015640130533}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1069.132, "type": "motion_start", "target": [0.95, 18.2, 1.05], "samples": 77, "command_duration": 16.058722828244036, "command_velocity_bound": 0.058598319359404946, "command_acceleration_bound": 0.015833902363288164}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1085.194, "type": "motion_end", "position_error": 5.6651857172658086e-05, "angle_error": 7.60118347280916e-05, "observed_joint_velocity": 0.05847115891792232, "observed_joint_acceleration": 0.16764702725080247}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1085.194, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1085.744, "type": "seating_verified", "station": "cleaning", "seated": true, "position_error": 7.583518816372078e-05, "angle_error": 6.381513437738708e-05, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1085.744, "type": "motion_start", "target": [0.95, 18.2, 1.35], "samples": 78, "command_duration": 8.035716349919195, "command_velocity_bound": 0.11704020346497108, "command_acceleration_bound": 0.06324746048324259}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1093.782, "type": "motion_end", "position_error": 1.9154823087880032e-05, "angle_error": 8.970638884030929e-06, "observed_joint_velocity": 0.11676915421817716, "observed_joint_acceleration": 0.046326745198166375}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1093.782, "type": "motion_start", "target": [0.28, 18.2, 1.35], "samples": 194, "command_duration": 10.468747462970335, "command_velocity_bound": 0.236599329151713, "command_acceleration_bound": 0.3025278005861489}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "motion_end", "position_error": 2.178215002842594e-05, "angle_error": 5.102373643843197e-06, "observed_joint_velocity": 0.23518786495980512, "observed_joint_acceleration": 0.22493484428026378}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "hybrid_constraint", "constraint": "cleaning_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "transfer_end", "part_id": "TI-0001", "destination": "cleaning"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "process_start", "part_id": "TI-0001", "operation": "CLEAN", "station": "cleaning"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "cleaner_retention_verified", "station": "cleaning", "initial_seating": {"seated": true, "position_error": 2.081132371134869e-05, "angle_error": 6.381517175068666e-05, "support_contact": true}, "model": "contact-verified hybrid carrier retention; dynamic support force may unload"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1104.254, "type": "cleaner_motion_start", "station": "cleaning", "state": "LIFTING", "target": [0.0, 0.2]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1108.946, "type": "cleaner_motion_end", "station": "cleaning", "state": "LIFTING", "position": [-1.2884490608968942e-13, 0.19992418179371596]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1108.946, "type": "cleaner_motion_start", "station": "cleaning", "state": "OVER_BATH", "target": [0.4, 0.2]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1118.324, "type": "cleaner_motion_end", "station": "cleaning", "state": "OVER_BATH", "position": [0.399999073980171, 0.19992780668846766]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1118.324, "type": "cleaner_motion_start", "station": "cleaning", "state": "IMMERSING", "target": [0.4, -0.08]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1124.888, "type": "cleaner_motion_end", "station": "cleaning", "state": "IMMERSING", "position": [0.3999999996274555, -0.08001494145727502]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1124.888, "type": "cleaner_dwell_start", "station": "cleaning", "duration": 2, "model": "abstract cleaning; no fluid or cleanliness certification"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1126.888, "type": "cleaner_dwell_end", "station": "cleaning"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1126.888, "type": "cleaner_motion_start", "station": "cleaning", "state": "DRAINING", "target": [0.4, 0.2]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1133.454, "type": "cleaner_motion_end", "station": "cleaning", "state": "DRAINING", "position": [0.400000000000017, 0.1999259351710981]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1134.454, "type": "cleaner_motion_start", "station": "cleaning", "state": "RETURNING", "target": [0.0, 0.2]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1143.832, "type": "cleaner_motion_end", "station": "cleaning", "state": "RETURNING", "position": [9.260387136606754e-07, 0.19992780671366167]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1143.832, "type": "cleaner_motion_start", "station": "cleaning", "state": "PRESENTING", "target": [0, 0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "cleaner_motion_end", "station": "cleaning", "state": "PRESENTING", "position": [2.2934519651574995e-09, -6.855699479161578e-05]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "cleaner_complete", "station": "cleaning", "seating": {"seated": true, "position_error": 2.0368381317267457e-05, "angle_error": 0.0005951061423099338, "support_contact": true}, "retention": {"retained": true, "constraint_active": true, "relative_position_error": 6.914788818052662e-06, "relative_angle_error": 0.0005952746758043052}}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "process_end", "part_id": "TI-0001", "operation": "CLEAN", "station": "cleaning", "surface_quality_model": 0.2}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "CLEAN", "station": "cleaning", "state": "CLEANED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "transfer_start", "part_id": "TI-0001", "source": "cleaning", "destination": "final_inspection"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1148.52, "type": "motion_start", "target": [0.95, 18.2, 1.35], "samples": 200, "command_duration": 10.468759400018405, "command_velocity_bound": 0.23660361015094783, "command_acceleration_bound": 0.3025345096776784}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1158.992, "type": "motion_end", "position_error": 1.0740914203967254e-05, "angle_error": 7.835295404754662e-06, "observed_joint_velocity": 0.23519440943696476, "observed_joint_acceleration": 0.08420584943177184}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1158.992, "type": "motion_start", "target": [0.95, 18.2, 1.05], "samples": 77, "command_duration": 14.062199782741274, "command_velocity_bound": 0.06692218077703528, "command_acceleration_bound": 0.020659949595426545}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1173.058, "type": "motion_end", "position_error": 1.3836667131844172e-05, "angle_error": 2.616692069935322e-06, "observed_joint_velocity": 0.06677913595973557, "observed_joint_acceleration": 0.17676792176838013}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1173.658, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1173.658, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 2.0262112345306429e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1173.658, "type": "hybrid_constraint", "constraint": "cleaning_fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1173.658, "type": "motion_start", "target": [0.95, 18.2, 1.35], "samples": 77, "command_duration": 8.035676750864527, "command_velocity_bound": 0.11711585637560175, "command_acceleration_bound": 0.06327193874012017}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1181.696, "type": "motion_end", "position_error": 0.00025671378791722034, "angle_error": 0.00029284535632189334, "observed_joint_velocity": 0.11677118165108293, "observed_joint_acceleration": 0.061496688151216096}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1181.696, "type": "motion_start", "target": [0.28, 18.2, 1.35], "samples": 194, "command_duration": 15.703838382451238, "command_velocity_bound": 0.15773909558779445, "command_acceleration_bound": 0.1344749855565413}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1197.402, "type": "motion_end", "position_error": 8.626022427961517e-05, "angle_error": 0.00017178184714670148, "observed_joint_velocity": 0.15686499508756713, "observed_joint_acceleration": 0.2659792810383109}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1197.402, "type": "motion_start", "target": [0.28, 17.899997099447248, 1.3], "samples": 167, "command_duration": 4.751961448517327, "command_velocity_bound": 0.41530642142584223, "command_acceleration_bound": 0.8892494167906277}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1202.156, "type": "motion_end", "position_error": 0.0002240786949965423, "angle_error": 0.0002260075074152177, "observed_joint_velocity": 0.4139067888871411, "observed_joint_acceleration": 0.2678752129630646}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1202.156, "type": "motion_start", "target": [-0.3, 17.899997099447248, 1.3], "samples": 250, "command_duration": 9.062746325266339, "command_velocity_bound": 0.32617931217328994, "command_acceleration_bound": 0.8006934101990248}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1211.222, "type": "motion_end", "position_error": 0.0001166938696334639, "angle_error": 0.0002111902163742411, "observed_joint_velocity": 0.3230030563149524, "observed_joint_acceleration": 2.2720811624012387}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1211.222, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 18.199993544012056, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1215.886, "type": "base_docked", "station": "aisle_exit", "position_error": 0.0003146241587572707}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1215.886, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 20.8, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1228.192, "type": "base_docked", "station": "aisle_travel", "position_error": 0.00047532084832369037}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1228.192, "type": "base_motion_start", "destination": "final_inspection", "target": [0.0, 20.8, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1232.856, "type": "base_docked", "station": "final_inspection", "position_error": 0.00031462469079288454}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1232.856, "type": "motion_start", "target": [-0.30034065349342726, 20.500010054488428, 1.2998981990862912], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.000858144290932436, "command_acceleration_bound": 0.006605997831645099}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1233.258, "type": "motion_end", "position_error": 0.00036699975434325346, "angle_error": 0.00023516711015350792, "observed_joint_velocity": 0.0010128470055052515, "observed_joint_acceleration": 0.1602398110584453}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1233.258, "type": "motion_start", "target": [0.28, 20.5, 1.3], "samples": 248, "command_duration": 9.062347241930034, "command_velocity_bound": 0.3260499594245613, "command_acceleration_bound": 0.7978535380000784}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1242.324, "type": "motion_end", "position_error": 0.00013356531783644628, "angle_error": 0.00022403740620603862, "observed_joint_velocity": 0.32285295580514123, "observed_joint_acceleration": 0.1871866074770457}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1242.324, "type": "motion_start", "target": [0.28, 20.8, 1.35], "samples": 169, "command_duration": 4.752636518912134, "command_velocity_bound": 0.41536935501357325, "command_acceleration_bound": 0.8897892628428824}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1247.08, "type": "motion_end", "position_error": 0.00016093150498068355, "angle_error": 0.00019524054252761437, "observed_joint_velocity": 0.41393309940456957, "observed_joint_acceleration": 0.3756087640152598}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1247.08, "type": "motion_start", "target": [0.95, 20.8, 1.35], "samples": 194, "command_duration": 17.945352801720322, "command_velocity_bound": 0.13802897413363222, "command_acceleration_bound": 0.10332036468355046}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1265.028, "type": "motion_end", "position_error": 0.000240999625246133, "angle_error": 0.00030472849828028253, "observed_joint_velocity": 0.13725633753558691, "observed_joint_acceleration": 2.241451343497704}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1265.028, "type": "motion_start", "target": [0.95, 20.8, 1.05], "samples": 77, "command_duration": 16.05872289551495, "command_velocity_bound": 0.05859831908942551, "command_acceleration_bound": 0.01583390226995761}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1281.09, "type": "motion_end", "position_error": 7.17612454040414e-05, "angle_error": 7.444450753295924e-05, "observed_joint_velocity": 0.05847115871614352, "observed_joint_acceleration": 0.16764622110782978}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1281.09, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1281.64, "type": "seating_verified", "station": "final_inspection", "seated": true, "position_error": 2.6219395703846505e-05, "angle_error": 3.608619853554401e-05, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1281.64, "type": "motion_start", "target": [0.95, 20.8, 1.35], "samples": 78, "command_duration": 8.035714316522089, "command_velocity_bound": 0.11704075925636753, "command_acceleration_bound": 0.06325013988913408}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1289.678, "type": "motion_end", "position_error": 1.9237134766763445e-05, "angle_error": 9.017143495127768e-06, "observed_joint_velocity": 0.11676958472879936, "observed_joint_acceleration": 0.04632639425578011}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1289.678, "type": "motion_start", "target": [0.28, 20.8, 1.35], "samples": 194, "command_duration": 10.468770897425575, "command_velocity_bound": 0.23659964761072644, "command_acceleration_bound": 0.3025284870168337}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1300.15, "type": "motion_end", "position_error": 2.1786936932753235e-05, "angle_error": 5.102785318993149e-06, "observed_joint_velocity": 0.23518800511405571, "observed_joint_acceleration": 0.22492996285053185}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1300.15, "type": "hybrid_constraint", "constraint": "final_inspection_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1300.15, "type": "transfer_end", "part_id": "TI-0001", "destination": "final_inspection"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1300.15, "type": "inspection_start", "station": "final_inspection", "operation": "FINAL"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1302.15, "type": "inspection", "part_id": "TI-0001", "operation": "FINAL", "station": "final_inspection", "scope": "final", "verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.09950000047683713, "measured": 0.09950000047683713, "expanded_uncertainty": 1e-05, "lower": 0.0994, "upper": 0.09960000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.02749999985098838, "measured": 0.02749999985098838, "expanded_uncertainty": 1e-05, "lower": 0.0274, "upper": 0.0276, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_diameter", "reference": 0.004999997634347046, "measured": 0.004999997634347046, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_x", "reference": -0.03499999794082706, "measured": -0.03499999794082706, "expanded_uncertainty": 1e-05, "lower": -0.035050000000000005, "upper": -0.03495, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_y", "reference": 2.168404344971009e-18, "measured": 2.168404344971009e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_diameter", "reference": 0.004999997802373881, "measured": 0.004999997802373881, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_x", "reference": -0.011999999754943282, "measured": -0.011999999754943282, "expanded_uncertainty": 1e-05, "lower": -0.01205, "upper": -0.01195, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_y", "reference": -1.0842021724855044e-18, "measured": -1.0842021724855044e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_diameter", "reference": 0.004999997695428597, "measured": 0.004999997695428597, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_x", "reference": 0.012000000068955333, "measured": 0.012000000068955333, "expanded_uncertainty": 1e-05, "lower": 0.01195, "upper": 0.01205, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_y", "reference": 0.0, "measured": 0.0, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_diameter", "reference": 0.004999997634347567, "measured": 0.004999997634347567, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_x", "reference": 0.0350000023571961, "measured": 0.0350000023571961, "expanded_uncertainty": 1e-05, "lower": 0.03495, "upper": 0.035050000000000005, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_y", "reference": 6.5052130349130266e-18, "measured": 6.5052130349130266e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_count", "reference": 4.0, "measured": 4.0, "expanded_uncertainty": 0.0, "lower": 3.9, "upper": 4.1, "verdict": "PASS", "unit": "count"}, {"feature": "surface_indicator", "reference": 0.2, "measured": 0.2, "expanded_uncertainty": 0.0, "lower": 0.1, "upper": 0.30000000000000004, "verdict": "PASS", "unit": "dimensionless"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements; separate abstract surface model"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1302.15, "type": "inspection_pass", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "FINAL", "result": {"verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.09950000047683713, "measured": 0.09950000047683713, "expanded_uncertainty": 1e-05, "lower": 0.0994, "upper": 0.09960000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.02749999985098838, "measured": 0.02749999985098838, "expanded_uncertainty": 1e-05, "lower": 0.0274, "upper": 0.0276, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_diameter", "reference": 0.004999997634347046, "measured": 0.004999997634347046, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_x", "reference": -0.03499999794082706, "measured": -0.03499999794082706, "expanded_uncertainty": 1e-05, "lower": -0.035050000000000005, "upper": -0.03495, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_y", "reference": 2.168404344971009e-18, "measured": 2.168404344971009e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_diameter", "reference": 0.004999997802373881, "measured": 0.004999997802373881, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_x", "reference": -0.011999999754943282, "measured": -0.011999999754943282, "expanded_uncertainty": 1e-05, "lower": -0.01205, "upper": -0.01195, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_y", "reference": -1.0842021724855044e-18, "measured": -1.0842021724855044e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_diameter", "reference": 0.004999997695428597, "measured": 0.004999997695428597, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_x", "reference": 0.012000000068955333, "measured": 0.012000000068955333, "expanded_uncertainty": 1e-05, "lower": 0.01195, "upper": 0.01205, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_y", "reference": 0.0, "measured": 0.0, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_diameter", "reference": 0.004999997634347567, "measured": 0.004999997634347567, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_x", "reference": 0.0350000023571961, "measured": 0.0350000023571961, "expanded_uncertainty": 1e-05, "lower": 0.03495, "upper": 0.035050000000000005, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_y", "reference": 6.5052130349130266e-18, "measured": 6.5052130349130266e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_count", "reference": 4.0, "measured": 4.0, "expanded_uncertainty": 0.0, "lower": 3.9, "upper": 4.1, "verdict": "PASS", "unit": "count"}, {"feature": "surface_indicator", "reference": 0.2, "measured": 0.2, "expanded_uncertainty": 0.0, "lower": 0.1, "upper": 0.30000000000000004, "verdict": "PASS", "unit": "dimensionless"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements; separate abstract surface model"}}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1302.15, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "FINAL", "station": "final_inspection", "state": "INSPECTED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1302.15, "type": "transfer_start", "part_id": "TI-0001", "source": "final_inspection", "destination": "packaging"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1302.15, "type": "motion_start", "target": [0.95, 20.8, 1.35], "samples": 194, "command_duration": 10.468759401916289, "command_velocity_bound": 0.23660361003272914, "command_acceleration_bound": 0.3025345068927157}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1312.622, "type": "motion_end", "position_error": 1.0739716206105908e-05, "angle_error": 7.834380211455839e-06, "observed_joint_velocity": 0.2351944095209541, "observed_joint_acceleration": 0.08420585012722248}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1312.622, "type": "motion_start", "target": [0.95, 20.8, 1.05], "samples": 77, "command_duration": 14.062199782737316, "command_velocity_bound": 0.06692218077939414, "command_acceleration_bound": 0.020659949595840783}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1326.688, "type": "motion_end", "position_error": 1.3836667179504581e-05, "angle_error": 2.6166920809140103e-06, "observed_joint_velocity": 0.06677913596318083, "observed_joint_acceleration": 0.17676792518389045}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1327.288, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1327.288, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 2.2753325350953928e-07}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1327.288, "type": "hybrid_constraint", "constraint": "final_inspection_fixture_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1327.288, "type": "motion_start", "target": [0.95, 20.8, 1.35], "samples": 77, "command_duration": 8.035677987152592, "command_velocity_bound": 0.11711577349259218, "command_acceleration_bound": 0.06327196001832794}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1335.326, "type": "motion_end", "position_error": 0.00025683789689579694, "angle_error": 0.00029284590347213897, "observed_joint_velocity": 0.11677112186655376, "observed_joint_acceleration": 0.10208502615712016}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1335.326, "type": "motion_start", "target": [0.28, 20.8, 1.35], "samples": 194, "command_duration": 15.703837332113723, "command_velocity_bound": 0.1577392703414993, "command_acceleration_bound": 0.13447560815797907}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1351.032, "type": "motion_end", "position_error": 8.625847652700014e-05, "angle_error": 0.00017177668240183768, "observed_joint_velocity": 0.15686489007497995, "observed_joint_acceleration": 0.2659787517315961}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1351.032, "type": "motion_start", "target": [0.28, 20.499997099428825, 1.3], "samples": 167, "command_duration": 4.751961450486862, "command_velocity_bound": 0.4153064208656869, "command_acceleration_bound": 0.8892494200594664}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1355.786, "type": "motion_end", "position_error": 0.0002240793536561747, "angle_error": 0.0002260085083562285, "observed_joint_velocity": 0.4139067885375769, "observed_joint_acceleration": 0.26787521411300586}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1355.786, "type": "motion_start", "target": [-0.3, 20.499997099428825, 1.3], "samples": 250, "command_duration": 9.062746328447798, "command_velocity_bound": 0.3261793121700813, "command_acceleration_bound": 0.8006934158466248}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1364.852, "type": "motion_end", "position_error": 0.00011669635758802424, "angle_error": 0.00021119671265214094, "observed_joint_velocity": 0.3230030562679269, "observed_joint_acceleration": 2.2720794674882643}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1364.852, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, 20.79999354401206, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1369.516, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00031462415878247274}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1369.516, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 23.400000000000002, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1381.822, "type": "base_docked", "station": "aisle_travel", "position_error": 0.00047532084826329424}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1381.822, "type": "base_motion_start", "destination": "packaging", "target": [0.0, 23.400000000000002, 0.0]}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1386.486, "type": "base_docked", "station": "packaging", "position_error": 0.0003146246908177316}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1386.486, "type": "motion_start", "target": [-0.3003406534523113, 23.10001005475561, 1.299898196515651], "samples": 2, "command_duration": 0.4, "command_velocity_bound": 0.0008581737806243744, "command_acceleration_bound": 0.006606224843399485}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1386.888, "type": "motion_end", "position_error": 0.00036700054191671856, "angle_error": 0.00023517463235542545, "observed_joint_velocity": 0.0010128647457097674, "observed_joint_acceleration": 0.16024166854467317}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1386.888, "type": "motion_start", "target": [0.28, 23.1, 1.3], "samples": 248, "command_duration": 9.06234724089077, "command_velocity_bound": 0.32604995910430146, "command_acceleration_bound": 0.7978535109770616}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1395.954, "type": "motion_end", "position_error": 0.0001335655428392136, "angle_error": 0.00022403843199698877, "observed_joint_velocity": 0.3228529558486962, "observed_joint_acceleration": 0.1872023379716624}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1395.954, "type": "motion_start", "target": [0.28, 23.400000000000002, 1.35], "samples": 169, "command_duration": 4.752636511980169, "command_velocity_bound": 0.4153693556022776, "command_acceleration_bound": 0.8897892663528099}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1400.71, "type": "motion_end", "position_error": 0.00016093012122562597, "angle_error": 0.00019523553799723355, "observed_joint_velocity": 0.4139331000927101, "observed_joint_acceleration": 0.3756096308558574}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1400.71, "type": "motion_start", "target": [0.95, 23.400000000000002, 1.35], "samples": 194, "command_duration": 17.945352809555203, "command_velocity_bound": 0.13802897414798007, "command_acceleration_bound": 0.10332036518496907}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1418.658, "type": "motion_end", "position_error": 0.00024099808495526277, "angle_error": 0.00030472585811267987, "observed_joint_velocity": 0.1372563376858186, "observed_joint_acceleration": 2.241450797553997}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1418.658, "type": "motion_start", "target": [0.95, 23.400000000000002, 1.05], "samples": 77, "command_duration": 16.05872297799431, "command_velocity_bound": 0.05859831868479201, "command_acceleration_bound": 0.015833902133739728}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1434.72, "type": "motion_end", "position_error": 1.5253705729159173e-05, "angle_error": 1.5983533511858182e-05, "observed_joint_velocity": 0.05847115836142418, "observed_joint_acceleration": 0.16764567289419147}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1434.72, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1435.27, "type": "seating_verified", "station": "packaging", "seated": true, "position_error": 2.4802618718909722e-05, "angle_error": 8.710630533147372e-05, "support_contact": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1435.27, "type": "motion_start", "target": [0.95, 23.400000000000002, 1.35], "samples": 78, "command_duration": 8.035715275547407, "command_velocity_bound": 0.11704036193316554, "command_acceleration_bound": 0.06324818029892662}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1443.308, "type": "motion_end", "position_error": 1.9141880391451424e-05, "angle_error": 8.969368016151026e-06, "observed_joint_velocity": 0.11676927941215823, "observed_joint_acceleration": 0.04632665957969573}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1443.308, "type": "motion_start", "target": [0.28, 23.400000000000002, 1.35], "samples": 194, "command_duration": 10.468753883563114, "command_velocity_bound": 0.2365994199666825, "command_acceleration_bound": 0.3025280180977135}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1453.78, "type": "motion_end", "position_error": 2.1783463646642632e-05, "angle_error": 5.1024867732644785e-06, "observed_joint_velocity": 0.23518790176837034, "observed_joint_acceleration": 0.22493239687977676}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1453.78, "type": "hybrid_constraint", "constraint": "packaging_fixture_hold", "enabled": true}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1453.78, "type": "transfer_end", "part_id": "TI-0001", "destination": "packaging"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1453.78, "type": "packaging_start", "station": "packaging", "operation": "PACK"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1455.78, "type": "packaged", "part_id": "TI-0001", "package": "SIM-TRAY-0001"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1455.78, "type": "operation_complete", "part_id": "TI-0001", "family": "plate_small", "lot": "SIM-LOT-001", "operation": "PACK", "station": "packaging", "state": "FINISHED"}
{"run_id": "58aea732-b521-4723-8963-421dfe797445", "seed": 7, "time": 1455.78, "type": "line_sequence_end", "status": "sequence_complete", "scope": "provisional full-route handling prototype; full acceptance still pending", "geometry_backend": "provisional", "tool_identity": "parallel_jaw_narrow", "tool_state": "FIXED_TOOL", "tool_attached": true, "geometry_state": "finished", "part_mass_kg": 0.08830964515444899, "simulation_seconds": 1455.7799999793992, "part_id": "TI-0001", "part_state": "FINISHED", "disposition": "PACKAGED", "location": "packaging", "package": "SIM-TRAY-0001", "operations_completed": 8, "rework_attempts": {}, "rework_operations_completed": 0, "inspections": [{"verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.10000000149011609, "measured": 0.10000000149011609, "expanded_uncertainty": 1e-05, "lower": 0.0999, "upper": 0.10010000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.028000000864267342, "measured": 0.028000000864267342, "expanded_uncertainty": 1e-05, "lower": 0.0279, "upper": 0.0281, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements"}, {"verdict": "PASS", "measurements": [{"feature": "length", "reference": 0.09950000047683713, "measured": 0.09950000047683713, "expanded_uncertainty": 1e-05, "lower": 0.0994, "upper": 0.09960000000000001, "verdict": "PASS", "unit": "m"}, {"feature": "width", "reference": 0.02749999985098838, "measured": 0.02749999985098838, "expanded_uncertainty": 1e-05, "lower": 0.0274, "upper": 0.0276, "verdict": "PASS", "unit": "m"}, {"feature": "thickness", "reference": 0.008000000379979609, "measured": 0.008000000379979609, "expanded_uncertainty": 1e-05, "lower": 0.0079, "upper": 0.0081, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_diameter", "reference": 0.004999997634347046, "measured": 0.004999997634347046, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_x", "reference": -0.03499999794082706, "measured": -0.03499999794082706, "expanded_uncertainty": 1e-05, "lower": -0.035050000000000005, "upper": -0.03495, "verdict": "PASS", "unit": "m"}, {"feature": "hole_0_y", "reference": 2.168404344971009e-18, "measured": 2.168404344971009e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_diameter", "reference": 0.004999997802373881, "measured": 0.004999997802373881, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_x", "reference": -0.011999999754943282, "measured": -0.011999999754943282, "expanded_uncertainty": 1e-05, "lower": -0.01205, "upper": -0.01195, "verdict": "PASS", "unit": "m"}, {"feature": "hole_1_y", "reference": -1.0842021724855044e-18, "measured": -1.0842021724855044e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_diameter", "reference": 0.004999997695428597, "measured": 0.004999997695428597, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_x", "reference": 0.012000000068955333, "measured": 0.012000000068955333, "expanded_uncertainty": 1e-05, "lower": 0.01195, "upper": 0.01205, "verdict": "PASS", "unit": "m"}, {"feature": "hole_2_y", "reference": 0.0, "measured": 0.0, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_diameter", "reference": 0.004999997634347567, "measured": 0.004999997634347567, "expanded_uncertainty": 1e-05, "lower": 0.00495, "upper": 0.00505, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_x", "reference": 0.0350000023571961, "measured": 0.0350000023571961, "expanded_uncertainty": 1e-05, "lower": 0.03495, "upper": 0.035050000000000005, "verdict": "PASS", "unit": "m"}, {"feature": "hole_3_y", "reference": 6.5052130349130266e-18, "measured": 6.5052130349130266e-18, "expanded_uncertainty": 1e-05, "lower": -5e-05, "upper": 5e-05, "verdict": "PASS", "unit": "m"}, {"feature": "hole_count", "reference": 4.0, "measured": 4.0, "expanded_uncertainty": 0.0, "lower": 3.9, "upper": 4.1, "verdict": "PASS", "unit": "count"}, {"feature": "surface_indicator", "reference": 0.2, "measured": 0.2, "expanded_uncertainty": 0.0, "lower": 0.1, "upper": 0.30000000000000004, "verdict": "PASS", "unit": "dimensionless"}], "model": "actual active CAD mesh dimensions and mid-plane hole measurements; separate abstract surface model"}]}