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Target Color

Total Time: 1:39:59

Best Color So Far

Time To Best: 1:16:47

Target Color [120, 120, 120]
Best Color So Far [122, 127, 126]
Minimum Difference So Far 3.701
Total Plates 2
Total Iterations 4
Population Size 32
Well Budget 128
Mixed Colors [214, 101, 123] C1
[6, 163, 170] C2
[229, 173, 10] C3

[C1 C2 C3]

Plate 1

Plate 2

Runs

Run 4

Best from Run: [88, 105, 95] Run Best Diff: 12.686

Measured Plate
Expected Plate
best_on_plate [88, 105, 95]
plate_best_diff 12.686
differences [21.966, 19.618, 18.658, 13.975, 15.514, 19.63, 22.617, 21.473, 19.036, 21.703, 21.703, 22.866, 22.622, 23.145, 23.227, 12.686, 19.253, 23.566, 23.131, 24.27, 21.898, 24.331, 25.594, 24.088, 22.66, 22.839, 22.11, 13.44, 19.948, 19.637, 22.848, 18.782]
plate_N 2
tried_values [[148.597, 146.189, 100.949], [137.975, 142.303, 113.458], [143.736, 139.078, 114.317], [144.545, 137.827, 115.583], [139.03, 135.527, 122.482], [137.975, 142.303, 113.458], [145.588, 142.512, 108.187], [142.245, 137.851, 117.051], [143.126, 134.545, 121.214], [141.727, 142.022, 111.41], [144.841, 139.702, 112.701], [132.489, 148.989, 107.459], [104.412, 144.707, 131.937], [164.786, 142.572, 95.56], [183.801, 142.994, 82.534], [116.875, 140.989, 129.125], [167.741, 138.165, 99.946], [214.925, 135.579, 72.832], [155.554, 145.839, 96.908], [145.224, 154.059, 91.873], [175.27, 125.986, 112.485], [110.214, 157.112, 110.366], [108.294, 167.373, 96.913], [185.094, 160.873, 56.062], [173.153, 143.096, 89.343], [124.262, 155.759, 103.129], [128.263, 149.973, 108.809], [121.264, 141.914, 124.932], [84.576, 156.152, 128.488], [164.858, 139.928, 99.303], [131.182, 160.141, 92.327], [178.107, 125.8, 110.898]]
run_number 4
wells ['C9', 'C10', 'C11', 'C12', 'D1', 'D2', 'D3', 'D4', 'D5', 'D6', 'D7', 'D8', 'D9', 'D10', 'D11', 'D12', 'E1', 'E2', 'E3', 'E4', 'E5', 'E6', 'E7', 'E8', 'E9', 'E10', 'E11', 'E12', 'F1', 'F2', 'F3', 'F4']
run_label run-20230511_132036
best_so_far [122, 127, 126]
results [[85, 84, 41], [79, 83, 56], [93, 93, 57], [105, 104, 77], [88, 87, 70], [88, 85, 52], [85, 83, 37], [71, 73, 49], [79, 76, 57], [79, 81, 45], [79, 81, 45], [77, 86, 41], [54, 81, 62], [101, 84, 29], [114, 89, 26], [88, 105, 95], [107, 95, 51], [140, 95, 26], [100, 88, 28], [85, 90, 25], [87, 70, 44], [61, 93, 47], [59, 100, 34], [107, 102, 13], [105, 92, 30], [78, 98, 45], [81, 98, 48], [92, 113, 98], [71, 107, 79], [108, 96, 49], [91, 106, 38], [107, 85, 56]]
exp_volumes [[89.467, 93.133, 92.4], [102.612, 105.348, 67.04], [116.042, 97.341, 61.617], [121.008, 96.008, 57.983], [128.92, 102.278, 43.801], [102.612, 105.348, 67.04], [103.125, 95.926, 75.949], [120.516, 98.879, 55.605], [133.414, 96.925, 44.661], [104.346, 100.605, 70.049], [113.829, 96.126, 65.045], [75.889, 113.911, 85.2], [87.544, 147.751, 39.704], [106.213, 72.043, 96.744], [107.871, 48.483, 118.645], [104.033, 131.274, 39.693], [123.713, 67.222, 84.065], [141.842, 7.816, 125.342], [92.022, 84.383, 98.595], [58.542, 99.374, 117.084], [171.971, 54.692, 48.337], [40.718, 143.746, 90.536], [0.827, 148.798, 125.376], [39.164, 51.509, 184.327], [105.639, 61.764, 107.597], [48.365, 125.908, 100.727], [71.365, 119.427, 84.208], [101.225, 126.05, 47.726], [39.986, 175.412, 59.602], [116.418, 71.269, 87.313], [32.664, 118.431, 123.905], [173.178, 51.112, 50.711]]
pos_on_plate 15

Run 3

Best from Run: [122, 127, 126] Run Best Diff: 3.701

Measured Plate
Expected Plate
best_on_plate [122, 127, 126]
plate_best_diff 3.701
differences [21.696, 18.189, 15.928, 7.56, 3.701, 8.798, 14.687, 10.84, 16.537, 21.074, 14.046, 24.166, 21.315, 25.275, 19.364, 9.656, 8.98, 8.977, 21.451, 21.535, 6.04, 5.904, 28.559, 24.768, 24.058, 24.565, 18.767, 21.513, 27.694, 11.752, 23.456, 23.627]
plate_N 2
tried_values [[152.738, 146.147, 98.305], [138.957, 139.366, 117.026], [134.314, 139.914, 119.274], [123.092, 136.623, 131.322], [117.771, 135.596, 136.269], [129.655, 135.469, 128.689], [135.402, 138.715, 120.282], [129.815, 134.167, 130.45], [127.655, 142.518, 119.891], [142.843, 142.584, 109.876], [133.026, 135.573, 126.337], [144.759, 145.84, 103.956], [145.536, 142.471, 108.278], [144.239, 168.099, 72.392], [134.868, 142.193, 115.646], [136.75, 129.682, 132.348], [126.731, 135.474, 130.592], [123.785, 130.245, 140.011], [36.64, 154.985, 161.473], [173.382, 132.537, 104.329], [130.04, 129.879, 136.45], [112.193, 132.34, 144.58], [219.653, 128.822, 79.428], [117.667, 167.884, 90.057], [179.748, 139.187, 90.638], [173.201, 139.629, 94.282], [148.726, 133.507, 119.043], [148.814, 145.373, 101.978], [185.344, 167.048, 47.048], [107.359, 133.467, 146.122], [181.351, 136.403, 93.582], [156.765, 151.7, 87.715]]
run_number 3
wells ['A1', 'A2', 'A3', 'A4', 'A5', 'A6', 'A7', 'A8', 'A9', 'A10', 'A11', 'A12', 'B1', 'B2', 'B3', 'B4', 'B5', 'B6', 'B7', 'B8', 'B9', 'B10', 'B11', 'B12', 'C1', 'C2', 'C3', 'C4', 'C5', 'C6', 'C7', 'C8']
run_label run-20230511_125735
best_so_far [122, 127, 126]
results [[142, 104, 42], [133, 115, 64], [132, 121, 79], [125, 123, 108], [122, 127, 126], [134, 122, 106], [142, 129, 94], [147, 134, 117], [145, 138, 98], [154, 139, 76], [145, 133, 102], [160, 143, 59], [122, 103, 39], [125, 141, 34], [124, 114, 56], [120, 104, 96], [112, 108, 93], [109, 107, 121], [20, 137, 140], [157, 111, 53], [135, 124, 122], [114, 117, 128], [213, 122, 22], [134, 153, 69], [153, 103, 22], [156, 107, 14], [131, 102, 58], [134, 120, 46], [168, 146, 16], [91, 100, 117], [160, 111, 35], [149, 129, 39]]
exp_volumes [[90.346, 87.968, 96.686], [114.106, 103.364, 57.53], [111.19, 109.286, 54.524], [121.94, 122.402, 30.658], [124.979, 128.759, 21.263], [127.524, 113.933, 33.544], [116.003, 107.62, 51.377], [132.57, 113.396, 29.034], [100.0, 118.25, 56.75], [102.372, 99.361, 73.266], [127.704, 109.764, 37.532], [90.148, 97.82, 87.031], [103.272, 95.979, 75.749], [4.241, 104.241, 166.518], [102.502, 109.187, 63.31], [151.06, 103.6, 20.34], [126.999, 117.574, 30.427], [146.648, 119.886, 8.466], [36.197, 234.781, 4.022], [146.388, 58.741, 69.871], [149.143, 112.004, 13.853], [136.568, 134.859, 3.573], [168.709, 0.178, 106.112], [0.476, 137.262, 137.262], [121.85, 52.541, 100.61], [119.015, 60.805, 95.18], [138.384, 89.684, 46.932], [92.652, 92.652, 89.695], [15.4, 52.8, 206.8], [131.387, 141.168, 2.445], [132.862, 49.823, 92.315], [69.631, 84.395, 120.974]]
pos_on_plate 4

Run 2

Best from Run: [114, 111, 122] Run Best Diff: 7.186

Measured Plate
Expected Plate
best_on_plate [114, 111, 122]
plate_best_diff 7.186
differences [21.514, 12.089, 18.811, 12.298, 18.419, 16.37, 12.514, 21.813, 12.846, 8.321, 20.196, 27.626, 25.243, 12.498, 21.274, 24.225, 15.996, 17.175, 25.854, 24.224, 18.922, 7.186, 16.831, 26.354, 22.139, 27.426, 24.701, 21.198, 25.505, 23.629, 24.127, 24.09]
plate_N 1
tried_values [[149.968, 145.984, 100.348], [143.35, 131.215, 125.841], [154.535, 136.073, 111.571], [134.08, 135.917, 125.156], [145.248, 141.802, 109.425], [131.32, 139.346, 122.044], [134.428, 135.204, 125.952], [162.693, 138.604, 102.615], [132.761, 137.89, 123.189], [128.45, 130.867, 136.072], [142.738, 142.067, 110.685], [144.753, 167.842, 72.424], [152.04, 163.328, 74.135], [130.183, 134.115, 130.284], [154.199, 137.618, 109.576], [181.372, 147.757, 77.294], [97.341, 143.407, 138.419], [122.532, 144.022, 121.083], [217.121, 151.592, 48.445], [162.08, 152.384, 83.263], [102.803, 148.596, 127.412], [133.575, 129.142, 135.197], [130.416, 143.593, 116.546], [195.293, 145.988, 70.736], [144.089, 144.792, 105.897], [213.735, 170.106, 24.119], [114.968, 162.559, 99.452], [132.427, 143.668, 115.126], [215.714, 137.608, 69.408], [155.293, 146.006, 96.838], [170.852, 139.695, 95.721], [168.849, 142.312, 93.278]]
run_number 2
wells ['D1', 'D2', 'D3', 'D4', 'D5', 'D6', 'D7', 'D8', 'D9', 'D10', 'D11', 'D12', 'E1', 'E2', 'E3', 'E4', 'E5', 'E6', 'E7', 'E8', 'E9', 'E10', 'E11', 'E12', 'F1', 'F2', 'F3', 'F4', 'F5', 'F6', 'F7', 'F8']
run_label run-20230511_123224
best_so_far [103, 104, 106]
results [[118, 114, 42], [112, 104, 82], [118, 101, 54], [102, 96, 80], [112, 104, 57], [106, 106, 69], [106, 101, 80], [132, 117, 41], [114, 113, 85], [102, 101, 108], [140, 136, 75], [138, 154, 27], [129, 131, 9], [104, 102, 81], [114, 100, 39], [137, 112, 8], [72, 94, 88], [97, 107, 71], [169, 119, 2], [132, 124, 19], [93, 123, 84], [114, 111, 122], [120, 120, 75], [170, 131, 12], [118, 109, 34], [160, 143, 0], [90, 128, 31], [96, 104, 47], [161, 99, 0], [117, 107, 17], [129, 97, 12], [129, 107, 8]]
exp_volumes [[90.495, 91.374, 93.131], [146.293, 95.782, 32.925], [129.497, 83.118, 62.384], [126.56, 108.541, 39.899], [105.802, 96.164, 73.033], [112.865, 112.865, 49.27], [129.372, 107.923, 37.705], [121.15, 73.619, 80.231], [118.725, 110.695, 45.58], [145.057, 114.24, 15.703], [104.346, 99.358, 71.296], [5.32, 103.534, 166.146], [23.984, 93.293, 157.724], [132.834, 112.924, 29.242], [123.48, 83.938, 67.582], [89.089, 52.742, 133.169], [91.334, 156.216, 27.45], [93.318, 125.018, 56.664], [80.483, 9.236, 185.281], [67.913, 77.957, 129.13], [72.269, 150.763, 51.969], [152.595, 107.412, 14.993], [96.332, 115.092, 63.576], [98.317, 34.954, 141.73], [94.075, 98.383, 82.542], [8.518, 18.252, 248.23], [20.538, 139.241, 115.222], [96.392, 112.608, 66.0], [134.155, 7.36, 133.485], [91.329, 84.752, 98.919], [118.351, 63.747, 92.902], [107.915, 66.919, 100.166]]
pos_on_plate 21

Run 1

Best from Run: [103, 104, 106] Run Best Diff: 6.428

Measured Plate
Expected Plate
best_on_plate [103, 104, 106]
plate_best_diff 6.428
differences [25.686, 23.786, 33.647, 24.686, 26.268, 23.356, 21.771, 29.267, 20.633, 6.428, 23.9, 12.809, 8.578, 18.396, 16.735, 24.198, 22.803, 19.226, 16.678, 17.63, 20.227, 21.848, 27.386, 15.627, 22.362, 21.34, 24.733, 24.354, 20.645, 26.261, 10.708, 23.382]
plate_N 1
tried_values [[214.0, 101.0, 123.0], [6.0, 163.0, 170.0], [229.0, 173.0, 10.0], [190.475, 122.224, 107.945], [103.004, 163.353, 106.13], [140.495, 151.701, 98.341], [109.51, 160.15, 106.471], [202.837, 143.906, 68.792], [148.392, 144.108, 104.066], [118.701, 131.856, 141.022], [140.218, 156.505, 91.638], [133.373, 126.092, 139.7], [122.745, 134.393, 134.745], [134.915, 144.986, 111.612], [135.637, 135.036, 125.402], [155.724, 156.305, 81.795], [127.465, 153.99, 103.571], [142.888, 137.113, 117.688], [156.836, 122.852, 129.018], [141.911, 138.762, 115.963], [113.305, 151.393, 116.544], [165.981, 135.09, 105.504], [180.683, 162.686, 56.346], [142.904, 123.163, 137.673], [163.52, 140.91, 98.769], [141.828, 145.139, 106.877], [139.622, 162.201, 83.861], [134.972, 156.247, 95.433], [112.949, 148.958, 120.267], [192.296, 140.993, 79.853], [109.911, 139.653, 135.588], [116.405, 167.699, 91.147]]
run_number 1
wells ['A5', 'A6', 'A7', 'A8', 'A9', 'A10', 'A11', 'A12', 'B1', 'B2', 'B3', 'B4', 'B5', 'B6', 'B7', 'B8', 'B9', 'B10', 'B11', 'B12', 'C1', 'C2', 'C3', 'C4', 'C5', 'C6', 'C7', 'C8', 'C9', 'C10', 'C11', 'C12']
run_label run-20230511_121004
best_so_far [103, 104, 106]
results [[216, 97, 124], [6, 156, 158], [224, 168, 7], [193, 117, 59], [120, 161, 73], [147, 136, 51], [124, 141, 75], [206, 144, 31], [135, 106, 47], [103, 104, 106], [140, 135, 42], [126, 103, 113], [130, 113, 105], [138, 121, 68], [140, 110, 74], [153, 129, 34], [133, 135, 53], [151, 123, 70], [157, 115, 97], [154, 128, 85], [109, 115, 55], [147, 107, 43], [175, 143, 24], [134, 100, 109], [157, 116, 46], [143, 129, 58], [141, 139, 39], [133, 142, 49], [118, 129, 65], [183, 129, 30], [120, 119, 96], [122, 144, 66]]
exp_volumes [[275.0, 0.0, 0.0], [0.0, 275.0, 0.0], [0.0, 0.0, 275.0], [189.104, 34.789, 51.108], [15.41, 154.34, 105.249], [66.814, 104.649, 103.537], [28.884, 145.41, 100.705], [107.648, 25.022, 142.33], [97.454, 92.849, 84.697], [139.558, 126.631, 8.811], [48.248, 106.24, 120.512], [164.317, 106.873, 3.81], [130.478, 122.255, 22.267], [91.742, 109.853, 73.405], [130.226, 106.375, 38.399], [51.699, 86.885, 136.416], [55.737, 121.462, 97.801], [123.472, 97.886, 53.642], [180.866, 76.826, 17.308], [116.948, 99.53, 58.522], [63.301, 138.415, 73.283], [135.266, 68.615, 71.118], [31.413, 57.471, 186.116], [177.259, 94.248, 3.492], [112.402, 73.188, 89.41], [92.347, 101.288, 81.366], [26.182, 108.458, 140.36], [48.334, 112.703, 113.963], [72.629, 138.227, 64.144], [117.056, 37.389, 120.554], [107.978, 139.595, 27.427], [0.97, 138.786, 135.244]]
pos_on_plate 9

Workflow Steps

Move from Camera Module to OT2 duration: 0:00:34.366000
start_time: 2023-05-11 13:20:36.491000
module: pf400
end_time: 2023-05-11 13:21:10.857000
comment: Place plate in ot2
command: transfer
target_plate_rotation: wide
source_plate_rotation: narrow
source: camera_module.positions.plate_station
target: ot2_cp_gamma.positions.deck2
Mix all colors duration: 0:21:56.933000
start_time: 2023-05-11 13:21:10.857000
module: ot2_cp_gamma
end_time: 2023-05-11 13:43:07.790000
comment: Mix R, G, and B portions according to input data
command: run_protocol
red_volumes: payload.red_volumes
use_existing_resources: payload.use_existing_resources
destination_wells: payload.destination_wells
blue_volumes: payload.blue_volumes
config_path: /home/rpl/workspace/rpl_workcell/color_picker/protocol_files/combined_protocol.yaml
green_volumes: payload.green_volumes
Move to Picture duration: 0:00:36.447000
start_time: 2023-05-11 13:43:07.790000
module: pf400
end_time: 2023-05-11 13:43:44.237000
command: transfer
target_plate_rotation: narrow
source_plate_rotation: wide
source: ot2_cp_gamma.positions.deck2
target: camera_module.positions.plate_station
Take Picture duration: 0:00:02.150000
start_time: 2023-05-11 13:43:44.237000
module: camera_module
end_time: 2023-05-11 13:43:46.387000
command: take_picture
save_location: local_run_results
file_name: final_image.jpg