{
  "robot": "so101",
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  "checkpoint_manifest_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5",
  "controller": "online shadow-policy Cartesian retargeting; no recorded-action replay",
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  "calibration": {
    "calibration_seed": 42000,
    "grasp_tick": 112,
    "release_tick": 396
  },
  "success": false,
  "error": "HTTPStatusError: Client error '422 Unprocessable Entity' for url 'http://127.0.0.1:8000/v1/sessions/s_6b7c4f019c2a416181d43e929bd6a5bb/setpoint'\nFor more information check: https://developer.mozilla.org/en-US/docs/Web/HTTP/Status/422",
  "model_calls": 25,
  "api_observation_calls": 199,
  "api_setpoint_calls": 198,
  "api_step_calls": 198,
  "ik_failures": 0,
  "mapping": {
    "source_pick_tool_m": [
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    "source_place_tool_m": [
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    ],
    "target_pick_m": [
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      5.799917456049495e-06,
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    "target_place_m": [
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    "xy_scale": 0.5731090591154671,
    "xy_rotation_degrees": 66.9156328002944,
    "simulation_steps_per_model_tick": 40
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  "api_rejection": {
    "status": 422,
    "body": "{\"error\":{\"code\":\"invalid_command\",\"message\":\"wrist_flex must be within [-1.65806, 1.65806] rad\"},\"request_id\":\"49547434818d4ce28f1af06660b95265\"}",
    "command": {
      "tick": 198,
      "observation_sequence": 7920,
      "positions": {
        "shoulder_pan": -0.008475454411030233,
        "shoulder_lift": -0.7732473686062767,
        "elbow_flex": 0.21655889076503093,
        "wrist_flex": 1.6580878481100028,
        "wrist_roll": 0.010013022338753683,
        "gripper": -0.17453
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  },
  "wall_seconds": 27.157717825000873
}