*idZddlZddlZddlZddlZddlZddlZddlZddlZddl Z ddl Z ddl m Z m Z ddlmZddlmZddlmZmZmZddlZddlZddlmZddlmZdd lmZmZdd l m!Z!dd l"m#Z#dd l$m%Z%dd l&m'Z'ddl(m)Z)ddl*m+Z+ddl,m-Z-dedddfdZ.e GddZ/GddZ0efde1dee%fdZ2ej3dZ4de1de1dzfdZ5de6e1e1ffdZ7de8fd Z9d!edefd"Z:d#ed$e1d%e1ddfd&Z;d'e+d(e'ded'e+d(e'de : camera.grab() loop per camera (active while recording) robot-recorder : reads all joint observations at 100 Hz (active while recording) Cameras are opened once at session start and stay open across episodes. Teleop threads are started/stopped per episode. Camera and robot threads are started/stopped per recording episode. Output layout:: data/raw/// metadata.json robot_data.npz cameras/ scene_camera.svo2 left_wrist_camera.svo2 right_wrist_camera.svo2 ... After conversion (``rd convert``) each camera directory is expanded into PNG frames and depth maps. N)asdict dataclass)datetime)Path)DictListOptional) CLOCK_CAMERA)CLOCK_FALLBACK)CALIBRATION_FILE CAMERA_CONFIG) AudioRecorder) CameraConfig)Camera)TeleopInterface)get_db)RobotController) fzf_selectcamerasrreturntuple[int, str]c t|dtfS#ttt f$rt jtfcYSwxYw)a8Read the reference camera clock with fallback. Returns ``(ts_ns, clock_label)``. On a healthy ZED setup the camera clock matches `robot_data.npz` and converted camera frames; on failure we substitute `time.time_ns()` and label the value so downstream consumers can detect the inconsistency. r) intget_current_timestamp_ns _CLOCK_CAMERA RuntimeErrorOSError ValueErrortimetime_ns_CLOCK_FALLBACK)rs -/home/robot-lab/raiden_cmu/raiden/recorder.py_capture_clockr#;sc/71:668899=HH ': .///|~~..../s-01A$#A$ceZdZUeed<eed<eed<eed<eed<eed<eeed<eed<d Zeed <d Z e ed <d Z e ed <dS)RecordingMetadata task_nametask_instruction timestamp duration_s robot_framesrobot_hzr camera_fpsleadercontrolFcomplete convertedN) __name__ __module__ __qualname__str__annotations__floatrrr.r/boolr0r"r%r%NsNNNNNNOOO #YOOOGSHdItr9r%ceZdZdZ ddeededededede d e d fd Z dd Z dde d efdZddZd dZdedejd dfdZdejd dfdZddZddede d dfdZdS)!DemonstrationRecorderuManages one recording episode. Cameras are opened before this object is created and remain open across episodes (opening/closing ZED cameras is slow). start_recording() / stop_recording() toggle the SVO2 writers and the robot data thread. stop_recording() does NOT close cameras or shut down robots — the caller (run_recording) is responsible for that at session end. Nrrobot_controller recording_dirr&r' interfaceaudio_recorderrc||_||_||_||_||_||_||_|dz |_d|_tj |_ g|_ g|_ d|_g|_dS)NrF)rr<r=r&r'r>r? cameras_dir is_recording threadingEvent _stop_event_threads _robot_frames _start_time_event_markers)selfrr<r=r&r'r>r?s r"__init__zDemonstrationRecorder.__init__ms 0*" 0",(94!$?,,02 *,"%+-r9rcjrdSjddjddd_t j_g_g_j g_ i_ dfd fdj D}|D]}||D]}|j D]\}t!jj|j fd|jd}|j |]t!jjj j dfd d}|j |jjjt1d t1d t1d t1d dS)NTparentsexist_okrcj|jd|jz }tj}|||j|j<dS)N.)rBnamerecording_extensionrr start_recording_camera_start_times_ns)camerapatht0rKs r" _start_onez9DemonstrationRecorder.start_recording.._start_onesW#&S&Sv7Q&S&SSDB  " "4 ( ( (79D ' 4 4 4r9c@g|]}tj|fdST)targetargsdaemonrDThread).0camrZs r" z9DemonstrationRecorder.start_recording..s=     JcVD I I I   r9zcamera-)r]r^rSr_rzrobot-recorder= !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!z RECORDING STARTEDz++      68#  : : : : : :     |     A GGIIII  A FFHHHHl $ $F (d./,v{,, A GGIII M  # # # #  #"DLO4!       Q   *   - -d.@ A A A o #$$$ h <=====r9Tr/cJ|js|jSd|_|jt j|jz }|j|j D]}| dd|j D}|D]}| |D]}| |j A|j |j st!dt!dt!dt!d |d d t!d t#|jt!d |||||jS)utStop the current recording episode and persist data. Shuts down the robot controller (returns home + closes motor connections) and stops camera recording, but does NOT close cameras — they stay open so the next episode can start without re-initialising the camera SDK. The caller is responsible for calling camera.close() at session end. Args: complete: Set to True when the episode was cleanly stopped by the user. Set to False on crash / Ctrl-C so the directory can be detected as incomplete and overridden next run. Fg@)timeoutcDg|]}tj|jdS)T)r]r_)rDrastop_recording)rbrWs r"rdz8DemonstrationRecorder.stop_recording..s;     F$9$ G G G   r9NzV ! Audio flush did not complete in time; metadata.json may under-count audio_segmentsrez RECORDING STOPPEDz Duration : .2fz sz Robot frames : z=!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! r/)rCr=rFsetrrhrIr<shutdownrGrkrrjr? stop_episodewait_until_idlerplenrH_save_robot_data_save_metadata)rKr/durationrr stop_threadss r"rvz$DemonstrationRecorder.stop_recordings  &% %! >##d&66 &&(((  A FF3F      ,     A GGIIII  A FFHHHH   *   , , . . . &6688 C o #$$$ .h..../// ;#d&8"9"9;;<<< o  Hx888!!r9rc*t|jS)zgRead the reference camera clock with fallback. See module-level ``_capture_clock`` for details.)r#r)rKs r"r#z$DemonstrationRecorder._capture_clocksdl+++r9Optional[tuple[int, str]]c >|jsdSt} t|jd}nf#t t tf$rL}tj }t}tdt|j d|dYd}~nd}~wwxYwtj|jz }|j|t%|d|dtdt'|jd |d d |d |d ||fS)apRecord a timestamped subtask-boundary marker. Captures the reference camera's clock so the marker shares the same time base as the robot frames and camera frame timestamps. If the camera-clock read fails (e.g. transient SDK error), falls back to ``time.time_ns()`` and records ``clock="wallclock_fallback"`` so downstream consumers can detect the inconsistency. Returns the captured ``(t_ns, clock)`` so callers can fan it out to other consumers (e.g. ``AudioRecorder.mark_boundary``) without a second clock read. Returns ``None`` if not recording. Nrz+ ! Event marker camera-clock read failed (z: zS); falling back to time.time_ns(). Marker will not align with ZED frame timestamps.)rr elapsed_sclocku ✓ Event marker #z at rwzs (ts=z, clock=))rCrrrrrrrrr r!rptyper1rhrIrJrmroundr})rKrts_nseelapseds r"add_event_markerz&DemonstrationRecorder.add_event_markers  4  Q@@BBCCEEgz2   LNNE#E (d1gg>N((RS(((         .""T%55 ""eGQ&7&7% H H     +3t':#;#; + + P + + + +"' + + +   e|s,?B"ABB"rW stop_eventc|s*||(dSdS)u<Grab loop – camera SDK rate-limits to its own FPS (30 Hz).N)is_setgrab)rKrWrs r"rlz"DemonstrationRecorder._camera_loopEsM##%%  KKMMM##%%     r9c d}|stj} |}|j}|j}|j|||dn)#t$r}td|Yd}~nd}~wwxYwtj|z } || z } | dkrtj | |dSdS)aRead joint observations at ~100 Hz and buffer them. Timestamps are recorded via ``ref_camera.get_current_timestamp_ns()``. - ZED cameras override this to return the ZED SDK hardware clock, which is on the same clock as the frame timestamps in the SVO2 file. Direct interpolation at conversion time requires no correction. - RealSense cameras fall back to ``time.time_ns()`` (system wall clock), while frame timestamps use the RealSense hardware clock. The offset between the two clocks is measured once per session and stored in ``metadata.json`` as ``realsense_clock_offsets``, then applied at conversion time. g{Gz?)rrobscmdz% Warning: robot observation failed: Nr) rrrhrr<get_all_observationsget_last_commanded_positionsrHrm Exceptionrpsleep) rKr ref_camera target_dt loop_startrrrrr sleep_times r"rnz!DemonstrationRecorder._robot_loopJs7 ##%% '))J C";;==+@@BB+HHJJ"))c#*N*NOOOO C C CAaAABBBBBBBB Cn&&3G"W,JA~~ :&&&##%% ' ' ' ' 'sA$B B6B11B6c |jdz }t|j}|dkrtddSi}t jd|jDtj|d<t|jdd}|D]ot|jdd}|D]2t j fd |jD}||d <3pd D]d }d }||vr~||vrz|| |d tj } t j || tj | gd|d<d} fd|jD} ||vrtd| Dstddd} g} t!| D]F\}}||} | | | !| |vr!| || |Gt| |kr&tddt| d|dt j |  tj |d<t j|fi|td|d|dS)zEFlatten the robot frame list into per-key numpy arrays and save .npz.zrobot_data.npzrz# Warning: no robot frames recordedNcg|] }|d S)rrr8)rbfs r"rdz:DemonstrationRecorder._save_robot_data..xs 0 0 0QsV 0 0 0r9)dtype timestampsrc8g|]}|dS)rr8)rbrkey robot_names r"rdz:DemonstrationRecorder._save_robot_data..s'VVVa% 4S 9VVVr9_) follower_r follower_l _joint_pos _gripper_pos)axis _joint_pos_7dcFg|]}|dS)r)get)rbrarm_keys r"rdz:DemonstrationRecorder._save_robot_data..s)JJJ!% W--JJJr9c3K|]}|duV dSNr8rbcs r" z9DemonstrationRecorder._save_robot_data..s&;;Q1D=;;;;;;r9z$No commanded positions recorded for z5. The teleop loop never issued a command to this arm.z'Could not build complete cmd array for z: got /z frames. _joint_cmdu ✓ Robot data saved (u frames) → )r=r}rHrpnparrayint64listkeysstackreshapeastypefloat32 concatenateanyr enumeratermsavez_compressed)rK output_filendata robot_namesobs_keysarrjp_keygp_keygrip pos7d_keyraw_cmdsfallbackfilledirrrrs @@@r"r~z&DemonstrationRecorder._save_robot_datams(+;; " # # 66 7 8 8 8 F&(X 0 0T/ 0 0 0   \ 4-a07<<>>?? % 2 2JD.q1%8DIIKKLLH 2 2hVVVVV4CUVVVWW.1 **S**++ 24# S# SG+++F---F~~&D..F|++Aq1188DD24.&\((44d;!333.../#111IJJJJt7IJJJH~~;;(;;;;;&NwNNN !%h//::DAq}#$+ h////"d** d9oa&8999v;;!##&9'99"6{{99-.99902x/?/?/F/Frz/R/R+++, K004000 G!GG+GGHHHHHr9rc |jdz }t|j}|dkr||z nd}t|j|jt jt|d|t|dd|j Dd|j j |d }t|}|jr |j|d <d |j D}|r||d <|jr |j|d <|j?|j} | dr | d|d<| dr | d|d<t%|d5} t'j|| ddddn #1swxYwYt+d|dS)N metadata.jsonrrArrcg|] }|j Sr8rSrs r"rdz8DemonstrationRecorder._save_metadata..s222QV222r9F) r&r'r(r)r*r+rr,r.r/r0camera_start_times_nscJi|] }t|dd|j|j!S)_clock_offset_nsN)getattrrSr)rbrcs r" z8DemonstrationRecorder._save_metadata..s<   s.55A Hc*AAAr9realsense_clock_offsets event_markers audio_fullaudio_segmentsw)indentu ✓ Metadata saved → )r=r}rHr%r&r'rnow isoformatrrr>rSrrVrJr?drainopenjsondumprp) rKrr/rrhzmeta meta_dict rs_offsets audio_datars r"rz$DemonstrationRecorder._save_metadatas (?: " # #%\\Q\\s n!2lnn..00Xq))2q\\22T\222N'    4LL  & M151LI- .  |    >3=I/ 0   =)-)C>C>C>J@"@"t@"t@"@"@"@"D,,,, """"P6y4 'io'd''''F@I@I@I@ID-9-9u-9-9-9-9-9-9-9-9r9r; config_filec>t|}iidtddffd fd|D}|D]}||D]}|rt dfd|DS)z7Create Camera instances for every entry in camera.json.rSrNc & |}||}|}t d|d|d|d||<dS#t $r}||<Yd}~dSd}~wwxYw)Nu ✓ Camera 'z ' opened (z , serial: r) create_camerarget_camera_typeget_serial_by_namerpr)rSrccam_typeserialexccfgerrorsresultss r"_openz'load_cameras_from_config.._opens ##D))C HHJJJ**400H++D11F P4PP8PPvPPP Q Q QGDMMM   F4LLLLLLL sA1A66 BB  Bc@g|]}tj|fdSr\r`)rbrSrs r"rdz,load_cameras_from_config..s:FJ TGDAAAr9zCamera initialization failed: c g|] }| Sr8r8)rbrSrs r"rdz,load_cameras_from_config..s , , ,dGDM , , ,r9)rlist_camera_namesr4rjrkr)rnamesthreadsrrrrrrs @@@@r"load_cameras_from_configrs { # #C  ! ! # #EGF C D        NSG    FDFDDEEE - , , ,e , , ,,r9z^[A-Za-z0-9_]+$rScF|sdSt|sdSdS)uReturn an error message if *name* is invalid, otherwise None. Valid names contain only letters, digits, and underscores — no spaces. Examples: ``PickUpApple``, ``pick_up_apple``, ``task01``. zTask name cannot be empty.zlTask name must contain only letters, digits, and underscores (no spaces). E.g. PickUpApple or pick_up_apple.N) _TASK_NAME_REmatchrs r"validate_task_namers4 ,++   t $ $~}} 4r9ct}|}d}dt|D}tt ||gzdd}||krt d}t|}|r&td|tj dt d }|s#td tj d| |}|+| ||| |}|d |d fS||}|d |d fS)z3Use fzf to choose (or create) a task for recording.z<< Add new task >>c8i|]}|dd|dd|S)rSz ( instructionrr8rbrrs r"rzselect_task..#s4 O O O!622q/222A O O Or9z Record task> promptrz New task name: zError: rz Task instruction: z'Error: task instruction cannot be emptyNrSr ) r get_tasksreversedrrinputstriprrpsysexitget_task_by_nameadd_task) dbtasks_NEWlabelschosenrSerrr tasks r" select_taskrsa B LLNNE D O Ox O O OF V v-o F F Fq IF ~~())//11 &&   /C// " " " HQKKK23399;;   ; < < < HQKKK""4(( < KKk * * *&&t,,DF|T-000 &>D <m, ,,r9ct}|}d}dt|D|gz}t|dd}||krzt d}|s#t dtjd| |}|r|d S| |S| |}|r|d S| |S) zCUse fzf to choose (or create) a teacher; returns the DB teacher id.z<< Add new teacher >>cg|] }|d Srr8r s r"rdz"select_teacher..@s 4 4 4Aai 4 4 4r9zSelect teacher> r rz New teacher name: z#Error: teacher name cannot be emptyrid) r get_teachersrrrrrprrget_teacher_by_name add_teacher)rteachersrrrrSexistings r"select_teacherr%:s B  H "D 4 4(!3!3 4 4 4v =F '9 : : :1 =F ~~+,,2244  7 8 8 8 HQKKK))$//  "D> !~~d###%%f--H~ >>& ! !!r9task_dirctd|D}|r|d}|dz }d}|rRt|5}t j|}dddn #1swxYwY|dd }|r.`s@WWAqxxzzWafnnFVFVWaWWWWWWr9rTNr/Fz# Overriding incomplete recording: 04d) sortediterdirexistsrrloadrrpshutilrmtreergr}) r&r$last_dir meta_file is_incompleterr episode_idxnew_dirs r"_next_recording_dirr9YsRWW!1!1!3!3WWWWWH B<.       <i $Ay|| $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $U ; ;;M   BBB C C C M( # # # NN   O]]((K$G MMOOO Ns BBBr=bucketprefixc tjd}t|dD]y}|s||j}|d|}td|jd|d|| t|||ztd|d|ddS)Ns3*rz Uploading u → s3://u ✓ Upload complete → s3://) boto3clientr.rglobis_file relative_toparentrprS upload_filer4)r=r:r;r= file_pathrelrs r" upload_to_s3rH|s d  BM//445544   ""  ##M$899# EY^EEvEEEEFFF s9~~vs3333 >F > >V > > >?????r9r<r>ctj}tj|} t j| |jr# tj|tj |dS| |r# tj|tj |dStj tjgggddrtj d}| dkr# tj|tj |dS|dvr# tj|tj |dStjd!#tj|tj |wxYw)uWait for Enter/Space (proceed) or 'q' (quit session). Returns: True — 'q' pressed or footpedal e-stop; caller should end the session. False — Enter/Space or footpedal left fired; caller should proceed. TFrrq   皙?rstdinfilenotermios tcgetattrtty setcbreaksession_estop_requested tcsetattr TCSADRAINpollselectreadlowerrrr<r>fd old_settingschs r"_wait_for_enter_or_quitrbs~     B$R((L? b 7  "g/>>>>>~~.//  "g/>>>>>}ci["b!44Q7 !Y^^A&&88::$$ "g/>>>>> ***  "g/>>>>> Jt     "g/>>>>s$E*3E*+AE*-E*E**"F ctdtdtdtdtj}t j|} t j|tj dz}tj |krtj tjgggddrtj d}|dvr# t j |tj |d S|d kr# t j |tj |d S t j |tj |d Stjd tj |kt j |tj |n%#t j |tj |wxYwd S)u%After recording stops, wait for a keyboard verdict. Inputs accepted: - Enter key → "success" - 'f' key → "failure" - Any other key / timeout → None (leaves status as "pending") Returns: "success", "failure", or None. z= ------------------------------------------------------------z Mark this demonstration:u: Enter → success f → failure other key → skipz=------------------------------------------------------------ g>@rr)rLrMsuccessrfailureNrO)rprrQrRrSrTrUrVrrhr[r\rXrYr]r)r_r`deadlineras r"_wait_for_verdictrgs / &''' FGGG /     B$R((L ? b>##d*n))}ci["b!44Q7 Y^^A&&%%$ "g/>>>>> 88::$$$ "g/>>>>> "g/>>>>> Jt   n)) "g/>>>>"g/>>>> 4s0B G G =+G "G+ctj}tj|} t j| |jr# tj|tj |dS| |r# tj|tj |dStj tjgggddrZtj d}| dkr# tj|tj |dStjd#tj|tj |wxYw)uWait for a leader-arm button press (start) or the 'q' key (quit session). Returns: True — 'q' pressed or session e-stop; caller should end the session. False — leader-arm button pressed; caller should start recording. TFrrrJrOrPr^s r"_wait_for_start_or_quitrisM     B$R((L ? b 7  "g/>>>>>~~.//  "g/>>>>> }ci["b!44Q7 Y^^A&&88::$$ "g/>>>>> Jt     "g/>>>>sE3E+AE-E"E$bimanualrF s3_bucket s3_prefixcamera_config_filecalibration_filearmsdata_dir record_audioaudio_device_indexc B.tdtdtdt\} } t|dz | z } | ddt } td| td| d t } t |5}tj|}d d d n #1swxYwY| ||}n&#t$r| i|}YnwxYw| | }|r|d nd }| }|r|d nd }d td d ffd }|tdtd t|}n>#t$r1}td||Yd }~d Sd }~wwxYwtdt|dd }|r3t!|}|tdd g..fd}t%jt$j|t%jt$j|d }d }d }|dk}d} d }t+|jo||jo|||}|.d< |n*#t$r}td|Yd }~n|D]}-|-|n^#||!||>|D]}-|-|wxYw|r"|r td3t||||r#td4|td5d Std6d S)7uRun teleoperation with continuous demonstration recording. Cameras and robots are fully instantiated and torn down each episode so every demonstration starts from a clean state. - Press the leader button (or Enter) to START each episode; press again to STOP and save. - During recording, each foot-pedal press logs a subtask boundary into ``event_markers`` (and into ``audio_segments`` when ``--record-audio``). - After each stop, mark the verdict on the keyboard: ``Enter`` for success, ``f`` for failure (30 s timeout → ``pending``). - Incomplete recordings (estop / Ctrl-C) are detected via the ``complete`` flag in metadata.json and overridden on the next run. Args: record_audio: If True, capture continuous microphone audio in parallel with the recording. The first pedal press in an episode starts the stream; subsequent presses mark segment boundaries aligned with the corresponding ``event_markers``. Per-segment WAVs land under ``/audio/`` with sidecar JSONs and an ``audio_segments`` index in ``metadata.json``. audio_device_index: Optional PyAudio input device index. Default: system default microphone. z= ============================================================z DEMONSTRATION RECORDINGz============================================================= rawTrNz Task : z Instruction: rMNrdest_dirrct}|r9tj|||jz t d||jz dSt d|dS)Nu✓ Calibration copied → z) Warning: calibration file not found at )rr0r2copyrSrp)ru calib_srcrns r"_copy_calibrationz(run_recording.._copy_calibration1s)**      K K 8in#< = = = K9>0IKK L L L L L IiII J J J J Jr9z Foot pedal: each press during recording logs a subtask boundary (into event_markers; into audio_segments when --record-audio). zInitializing cameras...zError initialising cameras: u✓ z camera(s) ready ) device_indexz Audio recording: stream opens at episode start; pre-first-press audio is discarded as warm-up noise. From first press onwards, audio_full.wav + per-press segment WAVs land in /audio/. cPdddSdS)Nr)emergency_stop)signumframe _active_ctrls r"r|z%run_recording..emergency_stopXs1 ? & O * * , , , , , ' &r9rj)use_right_leaderuse_left_leaderuse_right_followeruse_left_followerrzError initialising robots: g?z READYz<============================================================z Data dir : z/ Press the button on any leader arm to START.z" Press Enter to START recording.z Press 'q' to end session. z Ending session. z Output: )rr<r=r&r'r>r?rrKrOrxre) teacher_idtask_id raw_data_pathcamera_config_idcalibration_result_idF)statusr0u* Recording aborted — marked as failure. pendingz Demonstration marked as: u✓ Recording saved to: z Cancelled by user.z Error during recording: z Uploading to S3...u ✓ Done. Last recording at: z< Run 'rd convert' to extract PNG frames from camera files. u! ✓ Done (no recordings saved). )@rprrrgr%rrrr1snapshot_camera_configrrget_latest_calibration_resultrcloser}r start_sessionsignalSIGTERMSIGINTr uses_leaderssetup_for_teleop_recordingsetuprstdoutflushrrwaits_for_button_startrirbrzr9r;rjrUset_active_recordingdrain_pedal_eventsrQrRrSrTrUrVrW poll_subtaskr mark_boundaryr[r\rZrXrYrvrgadd_demonstrationr4update_demonstrationKeyboardInterruptrC stop_sessionrH)/rkrlr>rmrnrorprqrrr&r'r&rr_f _cam_cfg_datar task_recordr latest_calibrryrrr?r|last_saved_dirrecorderr< use_rightuse_left quit_sessionr= needs_stdinr_r`capturedrrraestop saved_dirverdictdemo_idrrcrs/ ` @r" run_recordingrsh F / %&&& /#.--IH~~% 1H NN4$N///!!J )i ) )*** 0, 0 0 0111 BM $ % % * IbMMM * * * * * * * * * * * * * * *44]DVWW MMM44R9KLLM%%i00K#.8k$DG3355L2>HL..DKDKTKKKKKKNN  K  #$$$*+=>>  0Q00111 1W 1 1 1222/3N &4FGGG$$&&&  X   6:FL----- M&..111 M&-000 &*N04H26 "IH|] <H /!*!7!EI ) 6 C8#,"*      /LO  ;;====   7A77888  OO, - - - J      JsOOO / " " " )    (OOO 0h00 1 1 1/ =HIIII;<<< 1 2 2 2 / " " "/ T67GSS 67GSS  +,,, ))+++"& Q#' 099M 000 1 1 1,!1+#!1#-H OO, - - -  $ $ & & &  * *+; < < <  ( ()9 : : :(>>K!!##B4?I7,R000TL " b!!! K%'? !--.>??G#+#<#<#>#>#/N4N+3LE5*88FFF""!=#)b"a@@C&!$!2!2B!%666 %$>>*:;;"!Jt$$$)%, +%b'*;\JJJ +%b'*;\JJJJ,  * *4 0 0 0$C DC##D&C#'D D$#D$*F:: G5&G00G5$)]K#"]# L -L?]L  H] C W:#]:%XD"]a)A`  a)" ` +A`a)`  a))Ac)Arrrer[r2rrrSrDrrU dataclassesrrrpathlibrtypingrrr r?numpyr raiden._clockr rr r!raiden._configr r raiden.audiorraiden.camera_configrraiden.camerasrraiden.controlrraiden.db.databaserraiden.robot.controllerr raiden.utilsrr#r%r;r4rcompilerrtuplerrr%r9rHr7rbrgrirr8r9r"rsV8  ))))))))'''''''''' 777777;;;;;;::::::::&&&&&&------!!!!!!******%%%%%%333333###### /DN //@ / / / /&          &z9z9z9z9z9z9z9z9F %!-!-!- &\!-!-!-!-R -..  S S4Z    -U38_----:""""">$4F @ @c @3 @4 @ @ @ @$?%?? ????