[{"step": 113, "sim_time": 5.6499999999996, "request": 1, "name": "program", "arguments": {"code": "hold(seconds=1)\nmove_to(x=0.4575, y=-0.180, z=0.250, yaw=0, open=1)\nmove_to(x=0.4575, y=-0.180, z=0.103)\ngrip(open=0.60)\nmove_to(x=0.4575, y=-0.180, z=0.240)\ncheckpoint(note=\"Inspect board after vertical lift from INPUT.\")", "note": "Use supplied commissioned input edge grasp; maintain face-up orientation."}, "note": "Use supplied commissioned input edge grasp; maintain face-up orientation.", "receipt": {"command_id": "000-00-call_eLffztWg8eXlj45lAluDzYcT", "request_hash": "52192cedfd36fbbd8140c1200604dbd169613e5bfd78d04e20f46fe346d5fac3", "status": "ok", "error": null, "name": "program", "arguments": {"code": "hold(seconds=1)\nmove_to(x=0.4575, y=-0.180, z=0.250, yaw=0, open=1)\nmove_to(x=0.4575, y=-0.180, z=0.103)\ngrip(open=0.60)\nmove_to(x=0.4575, y=-0.180, z=0.240)\ncheckpoint(note=\"Inspect board after vertical lift from INPUT.\")"}, "before_revision": 0, "after_revision": 113, "control_ticks": 113, "execution_wall_s": 5.546510929998476, "achieved": {"revision": 113, "sim_s": 5.6499999999996, "frame": "robot_base", "pose_xyz_yaw_open": [0.4574936517698155, -0.17999702520134397, 0.23985628644585688, -0.004132570225185703, 0.6522874518120575], "commanded_open": 0.6, "measured_gap_m": 0.05544443340402489, "remaining_sim_s": 234.3500000000004}, "termination": null, "program_steps": 23}}, {"step": 296, "sim_time": 14.800000000001612, "request": 2, "name": "program", "arguments": {"code": "move_to(x=0.51715, y=0.190, z=0.240)\nmove_to(x=0.51715, y=0.190, z=0.128)\nmove_to(x=0.51715, y=0.190, z=0.114)\nmove_to(x=0.51715, y=0.190, z=0.1095)\nmove_to(x=0.51715, y=0.190, z=0.107)\ngrip(open=1)\nmove_to(x=0.51715, y=0.190, z=0.240)\nhold(seconds=2)\ncheckpoint(note=\"Inspect released board seating on open blue fixture.\")", "note": "Preserve achieved orientation and holding pressure until insertion endpoint, then release and withdraw."}, "note": "Preserve achieved orientation and holding pressure until insertion endpoint, then release and withdraw.", "receipt": {"command_id": "001-00-call_7IsfwNe6HzNXZwgQwAhF7FOC", "request_hash": "8abf1b756a6117ae743b1915e09a96f77c21b9800538db1777ee58c7e208ea80", "status": "ok", "error": null, "name": "program", "arguments": {"code": "move_to(x=0.51715, y=0.190, z=0.240)\nmove_to(x=0.51715, y=0.190, z=0.128)\nmove_to(x=0.51715, y=0.190, z=0.114)\nmove_to(x=0.51715, y=0.190, z=0.1095)\nmove_to(x=0.51715, y=0.190, z=0.107)\ngrip(open=1)\nmove_to(x=0.51715, y=0.190, z=0.240)\nhold(seconds=2)\ncheckpoint(note=\"Inspect released board seating on open blue fixture.\")"}, "before_revision": 113, "after_revision": 296, "control_ticks": 183, "execution_wall_s": 6.715791296999669, "achieved": {"revision": 296, "sim_s": 14.800000000001612, "frame": "robot_base", "pose_xyz_yaw_open": [0.5171951863487723, 0.19001659039869545, 0.23986900879856987, 0.00026501150695511846, 1.0], "commanded_open": 1.0, "measured_gap_m": 0.085, "remaining_sim_s": 225.1999999999984}, "termination": null, "program_steps": 30}}, {"step": 361, "sim_time": 18.050000000000875, "request": 3, "name": "program", "arguments": {"code": "move_to(x=0.51715, y=0.190, z=0.1054)\ngrip(open=0.60)\nmove_to(x=0.51715, y=0.190, z=0.250)\ncheckpoint(note=\"Verify board lifted face-up and clear of locating pins before output transfer.\")", "note": "Retrieve vertically at the fixture XY without resetting orientation."}, "note": "Retrieve vertically at the fixture XY without resetting orientation.", "receipt": {"command_id": "002-00-call_8CtW7ju0WJIE4hsMhHf7ry9j", "request_hash": "7ef4f81f69c7692785f07c8d3c9c5c8c32ecbf18e23f7f7860c4fb9ccbb96e46", "status": "ok", "error": null, "name": "program", "arguments": {"code": "move_to(x=0.51715, y=0.190, z=0.1054)\ngrip(open=0.60)\nmove_to(x=0.51715, y=0.190, z=0.250)\ncheckpoint(note=\"Verify board lifted face-up and clear of locating pins before output transfer.\")"}, "before_revision": 296, "after_revision": 361, "control_ticks": 65, "execution_wall_s": 2.7332742830039933, "achieved": {"revision": 361, "sim_s": 18.050000000000875, "frame": "robot_base", "pose_xyz_yaw_open": [0.5171420006661953, 0.1899977689585624, 0.2498543321923693, 7.251288440335734e-05, 0.6545423167173473], "commanded_open": 0.6, "measured_gap_m": 0.05563609692097452, "remaining_sim_s": 221.94999999999914}, "termination": null, "program_steps": 12}}, {"step": 508, "sim_time": 25.3999999999968, "request": 4, "name": "program", "arguments": {"code": "move_to(x=0.2375, y=0.310, z=0.250)\nmove_to(x=0.2375, y=0.310, z=0.1055)\ngrip(open=1)\nmove_to(x=0.2375, y=0.310, z=0.280)\nhold(seconds=2)\ncheckpoint(note=\"Inspect final face-up placement on OUTPUT with gripper withdrawn.\")", "note": "Board visibly clear of fixture pins; transfer under maintained grip pressure, place flat, release and retreat."}, "note": "Board visibly clear of fixture pins; transfer under maintained grip pressure, place flat, release and retreat.", "receipt": {"command_id": "003-00-call_epnb7b9HvHHzz1cxI4ejUkqE", "request_hash": "2f7bca4b28e1c52366de9326a5f5358e13c31366c9fdf98b74354306d2fc1b9d", "status": "ok", "error": null, "name": "program", "arguments": {"code": "move_to(x=0.2375, y=0.310, z=0.250)\nmove_to(x=0.2375, y=0.310, z=0.1055)\ngrip(open=1)\nmove_to(x=0.2375, y=0.310, z=0.280)\nhold(seconds=2)\ncheckpoint(note=\"Inspect final face-up placement on OUTPUT with gripper withdrawn.\")"}, "before_revision": 361, "after_revision": 508, "control_ticks": 147, "execution_wall_s": 6.223353856999893, "achieved": {"revision": 508, "sim_s": 25.3999999999968, "frame": "robot_base", "pose_xyz_yaw_open": [0.23752576219849586, 0.31003012503094185, 0.27987245435277885, 0.004750556580053321, 1.0], "commanded_open": 1.0, "measured_gap_m": 0.085, "remaining_sim_s": 214.6000000000032}, "termination": null, "program_steps": 18}}, {"step": 508, "sim_time": 25.3999999999968, "request": 5, "name": "finish", "arguments": {"note": "Completed INPUT pickup, fixture insertion and release, withdrawal and visual seating inspection, then vertical retrieval and OUTPUT placement. Final images show the board face-up and flat on the OUTPUT nest, released with the gripper withdrawn. The fixture remains open; no electrical test was performed."}, "note": "Completed INPUT pickup, fixture insertion and release, withdrawal and visual seating inspection, then vertical retrieval and OUTPUT placement. Final images show the board face-up and flat on the OUTPUT nest, released with the gripper withdrawn. The fixture remains open; no electrical test was performed.", "receipt": {"command_id": "004-00-call_jfSr0fcEL2xGlIDCJRNbCBcB", "request_hash": "bf387d0e81427cf090427a42f29fae5669242e50510ebdd8949b53e6a371f349", "status": "ok", "error": null, "name": "finish", "arguments": {}, "before_revision": 508, "after_revision": 508, "control_ticks": 0, "execution_wall_s": 0.0033831209875643253, "achieved": {"revision": 508, "sim_s": 25.3999999999968, "frame": "robot_base", "pose_xyz_yaw_open": [0.23752576219849586, 0.31003012503094185, 0.27987245435277885, 0.004750556580053321, 1.0], "commanded_open": 1.0, "measured_gap_m": 0.085, "remaining_sim_s": 214.6000000000032}, "termination": "model_finish"}}]