| t, s | step | message | data |
|---|
| 1.0 | S0 | cycle start |
|
| 4.6 | S0 | parts detected on table -> S1 |
{"base": [-0.12000000000015668, 0.4400000000000001, 0.029892244579783813], "peg": [0.12000077860295454, 0.4400004764498537, 0.04993460754454997]} |
| 4.6 | S1 | approach |
|
| 15.4 | S1 | grasps confirmed -> S2 |
|
| 15.4 | S2 | carry to fixture/staging |
|
| 23.096 | S2 | at meet point -> S3 |
{"block_tilt": 1.5835, "peg_tilt": 1.6148} |
| 23.096 | S3 | align |
{"err_xy": 0.0187} |
| 26.296 | S3 | aligned -> S4 |
{"err_xy": 0.0064} |
| 26.296 | S4 | insert (guarded) |
{"tau_baseline": 5.6469} |
| 26.872 | S4 | insert done -> S5 |
{"depth_mm": 22.1169, "aborted": false} |
| 29.08 | S5 | QC verify |
{"depth_mm": 22.1244, "tilt_deg": 1.3854, "err_xy_mm": 1.3331, "result": "ACCEPT"} |
| 29.08 | S6 | place to ACCEPT bin |
|
| 39.376 | S6 | released on bin |
{"unit_at": [-0.2311813401341423, 0.41368127993497156, 0.03986495270679367], "peg_rel_z": 0.0249} |
| 42.384 | S7 | cycle complete |
{"cycle_time_s": 42.384} |