diff --git "a/nasa_milling/nasa_milling_metadata.json" "b/nasa_milling/nasa_milling_metadata.json"
--- "a/nasa_milling/nasa_milling_metadata.json"
+++ "b/nasa_milling/nasa_milling_metadata.json"
@@ -33,7 +33,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -46,7 +46,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -106,37 +106,11 @@
         "range_max": null,
         "axis_id": null,
         "description": null
-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r002",
@@ -172,7 +146,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -185,7 +159,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -245,37 +219,11 @@
         "range_max": null,
         "axis_id": null,
         "description": null
-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r003",
@@ -311,7 +259,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -324,7 +272,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -384,37 +332,11 @@
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         "axis_id": null,
         "description": null
-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r004",
@@ -450,7 +372,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -463,7 +385,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -523,37 +445,11 @@
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-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r005",
@@ -589,7 +485,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -602,7 +498,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -662,37 +558,11 @@
         "range_max": null,
         "axis_id": null,
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-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r006",
@@ -728,7 +598,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -741,7 +611,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -801,37 +671,11 @@
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-      },
-      {
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-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r007",
@@ -867,7 +711,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -880,7 +724,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -940,37 +784,11 @@
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-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
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-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
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-      },
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-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r008",
@@ -1006,7 +824,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1019,7 +837,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1079,37 +897,11 @@
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-      },
-      {
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-        "original_name": "setpoint_doc",
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-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r009",
@@ -1145,7 +937,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1158,7 +950,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1218,37 +1010,11 @@
         "range_max": null,
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         "description": null
-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r010",
@@ -1284,7 +1050,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1297,7 +1063,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1357,37 +1123,11 @@
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-      },
-      {
-        "name": "setpoint_doc",
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-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
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-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r011",
@@ -1423,7 +1163,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1436,7 +1176,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1496,37 +1236,11 @@
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-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
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-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r012",
@@ -1562,7 +1276,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1575,7 +1289,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
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@@ -1635,37 +1349,11 @@
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-        "unit": "mm",
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-      {
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-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c1_r013",
@@ -1701,7 +1389,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1714,7 +1402,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -1774,37 +1462,11 @@
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@@ -1840,7 +1502,7 @@
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         "original_name": "smcAC",
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@@ -1853,7 +1515,7 @@
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@@ -1913,37 +1575,11 @@
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   {
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@@ -1979,7 +1615,7 @@
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         "original_name": "smcAC",
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@@ -1992,7 +1628,7 @@
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@@ -2052,37 +1688,11 @@
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   {
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@@ -2118,7 +1728,7 @@
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         "original_name": "smcAC",
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@@ -2131,7 +1741,7 @@
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@@ -2191,37 +1801,11 @@
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   {
     "episode_id": "nasa_milling_c1_r017",
@@ -2257,7 +1841,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
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@@ -2270,7 +1854,7 @@
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@@ -2330,37 +1914,11 @@
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-    "mve_compliant": true
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   {
     "episode_id": "nasa_milling_c2_r001",
@@ -2396,7 +1954,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
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@@ -2409,7 +1967,7 @@
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@@ -2469,37 +2027,11 @@
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   {
     "episode_id": "nasa_milling_c2_r002",
@@ -2535,7 +2067,7 @@
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         "original_name": "smcAC",
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@@ -2548,7 +2080,7 @@
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@@ -2608,37 +2140,11 @@
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   {
     "episode_id": "nasa_milling_c2_r003",
@@ -2674,7 +2180,7 @@
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         "original_name": "smcAC",
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@@ -2687,7 +2193,7 @@
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@@ -2747,37 +2253,11 @@
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   {
     "episode_id": "nasa_milling_c2_r004",
@@ -2813,7 +2293,7 @@
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         "original_name": "smcAC",
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@@ -2826,7 +2306,7 @@
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@@ -2886,37 +2366,11 @@
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   {
     "episode_id": "nasa_milling_c2_r005",
@@ -2952,7 +2406,7 @@
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         "original_name": "smcAC",
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@@ -2965,7 +2419,7 @@
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@@ -3025,37 +2479,11 @@
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   {
     "episode_id": "nasa_milling_c2_r006",
@@ -3091,7 +2519,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
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@@ -3104,7 +2532,7 @@
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@@ -3164,37 +2592,11 @@
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+    "has_setpoint": false,
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   {
     "episode_id": "nasa_milling_c2_r007",
@@ -3230,7 +2632,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
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@@ -3243,7 +2645,7 @@
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@@ -3303,37 +2705,11 @@
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+    "has_setpoint": false,
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   {
     "episode_id": "nasa_milling_c2_r008",
@@ -3369,7 +2745,7 @@
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         "original_name": "smcAC",
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@@ -3382,7 +2758,7 @@
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@@ -3442,37 +2818,11 @@
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   {
     "episode_id": "nasa_milling_c2_r009",
@@ -3508,7 +2858,7 @@
         "name": "effort_current_spindle_ac",
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@@ -3521,7 +2871,7 @@
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@@ -3581,37 +2931,11 @@
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@@ -3647,7 +2971,7 @@
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@@ -3660,7 +2984,7 @@
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@@ -3720,37 +3044,11 @@
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@@ -3786,7 +3084,7 @@
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@@ -3799,7 +3097,7 @@
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@@ -3925,7 +3197,7 @@
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@@ -3938,7 +3210,7 @@
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@@ -3998,37 +3270,11 @@
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@@ -4064,7 +3310,7 @@
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@@ -4077,7 +3323,7 @@
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@@ -4137,37 +3383,11 @@
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@@ -4203,7 +3423,7 @@
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@@ -4216,7 +3436,7 @@
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@@ -4276,37 +3496,11 @@
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@@ -4342,7 +3536,7 @@
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@@ -4355,7 +3549,7 @@
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@@ -4415,37 +3609,11 @@
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@@ -4481,7 +3649,7 @@
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@@ -4494,7 +3662,7 @@
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@@ -4620,7 +3762,7 @@
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@@ -4633,7 +3775,7 @@
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@@ -4693,37 +3835,11 @@
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@@ -4759,7 +3875,7 @@
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@@ -4772,7 +3888,7 @@
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@@ -4832,37 +3948,11 @@
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@@ -4898,7 +3988,7 @@
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@@ -4911,7 +4001,7 @@
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@@ -4971,37 +4061,11 @@
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   {
     "episode_id": "nasa_milling_c3_r007",
@@ -5037,7 +4101,7 @@
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@@ -5050,7 +4114,7 @@
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@@ -5110,37 +4174,11 @@
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   {
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@@ -5176,7 +4214,7 @@
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@@ -5189,7 +4227,7 @@
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@@ -5249,37 +4287,11 @@
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@@ -5315,7 +4327,7 @@
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@@ -5328,7 +4340,7 @@
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@@ -5454,7 +4440,7 @@
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@@ -5467,7 +4453,7 @@
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@@ -5593,7 +4553,7 @@
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@@ -5606,7 +4566,7 @@
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@@ -5732,7 +4666,7 @@
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@@ -5745,7 +4679,7 @@
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@@ -5871,7 +4779,7 @@
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@@ -5884,7 +4792,7 @@
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@@ -6010,7 +4892,7 @@
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@@ -6023,7 +4905,7 @@
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@@ -6149,7 +5005,7 @@
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@@ -6162,7 +5018,7 @@
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@@ -6288,7 +5118,7 @@
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@@ -6301,7 +5131,7 @@
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@@ -6427,7 +5231,7 @@
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@@ -6440,7 +5244,7 @@
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@@ -6500,37 +5304,11 @@
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@@ -6566,7 +5344,7 @@
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@@ -6579,7 +5357,7 @@
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@@ -6639,37 +5417,11 @@
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@@ -6705,7 +5457,7 @@
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@@ -6718,7 +5470,7 @@
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@@ -6778,37 +5530,11 @@
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@@ -6844,7 +5570,7 @@
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@@ -6857,7 +5583,7 @@
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@@ -6917,37 +5643,11 @@
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@@ -6983,7 +5683,7 @@
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@@ -6996,7 +5696,7 @@
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@@ -7056,37 +5756,11 @@
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@@ -7122,7 +5796,7 @@
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@@ -7135,7 +5809,7 @@
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@@ -7261,7 +5909,7 @@
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@@ -7274,7 +5922,7 @@
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@@ -7400,7 +6022,7 @@
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@@ -7413,7 +6035,7 @@
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@@ -7539,7 +6135,7 @@
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@@ -7552,7 +6148,7 @@
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@@ -7678,7 +6248,7 @@
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@@ -7691,7 +6261,7 @@
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@@ -7817,7 +6361,7 @@
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@@ -7830,7 +6374,7 @@
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@@ -7956,7 +6474,7 @@
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@@ -7969,7 +6487,7 @@
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@@ -8095,7 +6587,7 @@
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@@ -8108,7 +6600,7 @@
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@@ -8168,37 +6660,11 @@
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@@ -8234,7 +6700,7 @@
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@@ -8247,7 +6713,7 @@
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@@ -8307,37 +6773,11 @@
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@@ -8373,7 +6813,7 @@
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@@ -8386,7 +6826,7 @@
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@@ -8446,37 +6886,11 @@
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@@ -8512,7 +6926,7 @@
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@@ -8525,7 +6939,7 @@
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@@ -8585,37 +6999,11 @@
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@@ -8651,7 +7039,7 @@
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@@ -8664,7 +7052,7 @@
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@@ -8724,37 +7112,11 @@
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@@ -8790,7 +7152,7 @@
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@@ -8803,7 +7165,7 @@
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@@ -8863,37 +7225,11 @@
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@@ -8929,7 +7265,7 @@
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@@ -8942,7 +7278,7 @@
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@@ -9068,7 +7378,7 @@
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@@ -9081,7 +7391,7 @@
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@@ -9207,7 +7491,7 @@
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@@ -9220,7 +7504,7 @@
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@@ -9346,7 +7604,7 @@
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@@ -9359,7 +7617,7 @@
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@@ -9485,7 +7717,7 @@
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@@ -9498,7 +7730,7 @@
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@@ -9624,7 +7830,7 @@
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@@ -9637,7 +7843,7 @@
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@@ -9763,7 +7943,7 @@
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@@ -9776,7 +7956,7 @@
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@@ -9902,7 +8056,7 @@
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@@ -9915,7 +8069,7 @@
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@@ -10041,7 +8169,7 @@
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@@ -10054,7 +8182,7 @@
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@@ -10180,7 +8282,7 @@
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@@ -10193,7 +8295,7 @@
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@@ -10319,7 +8395,7 @@
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@@ -10332,7 +8408,7 @@
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@@ -10392,37 +8468,11 @@
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@@ -10458,7 +8508,7 @@
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@@ -10471,7 +8521,7 @@
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@@ -10597,7 +8621,7 @@
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@@ -10610,7 +8634,7 @@
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@@ -10875,7 +8847,7 @@
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@@ -11014,7 +8960,7 @@
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@@ -11027,7 +8973,7 @@
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@@ -11153,7 +9073,7 @@
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@@ -11166,7 +9086,7 @@
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@@ -11292,7 +9186,7 @@
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@@ -11305,7 +9199,7 @@
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@@ -11431,7 +9299,7 @@
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@@ -11444,7 +9312,7 @@
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@@ -11570,7 +9412,7 @@
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@@ -11583,7 +9425,7 @@
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@@ -11709,7 +9525,7 @@
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@@ -11722,7 +9538,7 @@
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@@ -11848,7 +9638,7 @@
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@@ -11861,7 +9651,7 @@
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@@ -11921,37 +9711,11 @@
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@@ -11987,7 +9751,7 @@
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@@ -12000,7 +9764,7 @@
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@@ -12060,37 +9824,11 @@
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@@ -12126,7 +9864,7 @@
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@@ -12139,7 +9877,7 @@
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@@ -12199,37 +9937,11 @@
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@@ -12265,7 +9977,7 @@
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@@ -12278,7 +9990,7 @@
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@@ -12338,37 +10050,11 @@
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@@ -12404,7 +10090,7 @@
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@@ -12417,7 +10103,7 @@
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@@ -12543,7 +10203,7 @@
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@@ -12682,7 +10316,7 @@
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@@ -12695,7 +10329,7 @@
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@@ -12821,7 +10429,7 @@
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@@ -12834,7 +10442,7 @@
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@@ -12960,7 +10542,7 @@
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@@ -12973,7 +10555,7 @@
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@@ -13099,7 +10655,7 @@
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@@ -13112,7 +10668,7 @@
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@@ -13238,7 +10768,7 @@
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@@ -13251,7 +10781,7 @@
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@@ -13377,7 +10881,7 @@
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@@ -13390,7 +10894,7 @@
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@@ -13516,7 +10994,7 @@
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@@ -13529,7 +11007,7 @@
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@@ -13655,7 +11107,7 @@
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@@ -13668,7 +11120,7 @@
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@@ -13728,37 +11180,11 @@
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@@ -13794,7 +11220,7 @@
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@@ -13807,7 +11233,7 @@
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@@ -13933,7 +11333,7 @@
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@@ -13946,7 +11346,7 @@
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@@ -14006,37 +11406,11 @@
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@@ -14072,7 +11446,7 @@
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@@ -14085,7 +11459,7 @@
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@@ -14211,7 +11559,7 @@
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@@ -14224,7 +11572,7 @@
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@@ -14350,7 +11672,7 @@
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@@ -14363,7 +11685,7 @@
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@@ -14489,7 +11785,7 @@
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@@ -14502,7 +11798,7 @@
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@@ -14628,7 +11898,7 @@
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@@ -14641,7 +11911,7 @@
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@@ -14767,7 +12011,7 @@
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@@ -14780,7 +12024,7 @@
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@@ -14906,7 +12124,7 @@
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@@ -14919,7 +12137,7 @@
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@@ -15045,7 +12237,7 @@
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@@ -15058,7 +12250,7 @@
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@@ -15184,7 +12350,7 @@
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@@ -15197,7 +12363,7 @@
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@@ -15323,7 +12463,7 @@
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@@ -15336,7 +12476,7 @@
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@@ -15462,7 +12576,7 @@
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@@ -15475,7 +12589,7 @@
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@@ -15535,37 +12649,11 @@
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@@ -15601,7 +12689,7 @@
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@@ -15614,7 +12702,7 @@
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@@ -15674,37 +12762,11 @@
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@@ -15740,7 +12802,7 @@
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@@ -15753,7 +12815,7 @@
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@@ -15813,37 +12875,11 @@
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@@ -15879,7 +12915,7 @@
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@@ -15892,7 +12928,7 @@
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@@ -16018,7 +13028,7 @@
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@@ -16031,7 +13041,7 @@
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@@ -16157,7 +13141,7 @@
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@@ -16170,7 +13154,7 @@
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@@ -16296,7 +13254,7 @@
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@@ -16309,7 +13267,7 @@
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@@ -16435,7 +13367,7 @@
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@@ -16448,7 +13380,7 @@
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@@ -16574,7 +13480,7 @@
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@@ -16587,7 +13493,7 @@
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@@ -16713,7 +13593,7 @@
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@@ -16726,7 +13606,7 @@
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@@ -16852,7 +13706,7 @@
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@@ -16865,7 +13719,7 @@
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@@ -16925,37 +13779,11 @@
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@@ -16991,7 +13819,7 @@
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@@ -17004,7 +13832,7 @@
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@@ -17064,37 +13892,11 @@
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@@ -17130,7 +13932,7 @@
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@@ -17143,7 +13945,7 @@
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@@ -17203,37 +14005,11 @@
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@@ -17269,7 +14045,7 @@
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@@ -17282,7 +14058,7 @@
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@@ -17342,37 +14118,11 @@
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   {
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@@ -17408,7 +14158,7 @@
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@@ -17421,7 +14171,7 @@
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@@ -17481,37 +14231,11 @@
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   {
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@@ -17547,7 +14271,7 @@
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@@ -17560,7 +14284,7 @@
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@@ -17620,37 +14344,11 @@
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@@ -17686,7 +14384,7 @@
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@@ -17699,7 +14397,7 @@
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@@ -17759,37 +14457,11 @@
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@@ -17825,7 +14497,7 @@
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@@ -17964,7 +14610,7 @@
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@@ -17977,7 +14623,7 @@
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@@ -18103,7 +14723,7 @@
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@@ -18116,7 +14736,7 @@
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@@ -18242,7 +14836,7 @@
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@@ -18255,7 +14849,7 @@
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@@ -18381,7 +14949,7 @@
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@@ -18394,7 +14962,7 @@
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@@ -18520,7 +15062,7 @@
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@@ -18533,7 +15075,7 @@
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@@ -18659,7 +15175,7 @@
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@@ -18672,7 +15188,7 @@
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@@ -18798,7 +15288,7 @@
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@@ -18811,7 +15301,7 @@
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@@ -18937,7 +15401,7 @@
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@@ -18950,7 +15414,7 @@
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@@ -19076,7 +15514,7 @@
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@@ -19089,7 +15527,7 @@
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@@ -19149,37 +15587,11 @@
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@@ -19215,7 +15627,7 @@
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@@ -19228,7 +15640,7 @@
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@@ -19288,37 +15700,11 @@
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@@ -19354,7 +15740,7 @@
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@@ -19367,7 +15753,7 @@
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@@ -19493,7 +15853,7 @@
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@@ -19506,7 +15866,7 @@
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@@ -19910,7 +16192,7 @@
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@@ -20188,7 +16418,7 @@
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@@ -20201,7 +16431,7 @@
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@@ -20466,7 +16644,7 @@
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@@ -20479,7 +16657,7 @@
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@@ -20605,7 +16757,7 @@
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@@ -20618,7 +16770,7 @@
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@@ -20744,7 +16870,7 @@
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@@ -20757,7 +16883,7 @@
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@@ -20883,7 +16983,7 @@
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@@ -20896,7 +16996,7 @@
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@@ -21022,7 +17096,7 @@
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@@ -21035,7 +17109,7 @@
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@@ -21161,7 +17209,7 @@
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@@ -21174,7 +17222,7 @@
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@@ -21300,7 +17322,7 @@
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@@ -21313,7 +17335,7 @@
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@@ -21439,7 +17435,7 @@
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@@ -21452,7 +17448,7 @@
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@@ -21578,7 +17548,7 @@
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@@ -21591,7 +17561,7 @@
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@@ -21717,7 +17661,7 @@
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@@ -21730,7 +17674,7 @@
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@@ -21856,7 +17774,7 @@
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@@ -21869,7 +17787,7 @@
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@@ -21995,7 +17887,7 @@
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@@ -22008,7 +17900,7 @@
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@@ -22134,7 +18000,7 @@
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@@ -22147,7 +18013,7 @@
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@@ -22273,7 +18113,7 @@
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@@ -22286,7 +18126,7 @@
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@@ -22412,7 +18226,7 @@
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@@ -22425,7 +18239,7 @@
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@@ -22485,37 +18299,11 @@
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@@ -22551,7 +18339,7 @@
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@@ -22564,7 +18352,7 @@
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@@ -22624,37 +18412,11 @@
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@@ -22690,7 +18452,7 @@
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@@ -22703,7 +18465,7 @@
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@@ -22829,7 +18565,7 @@
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@@ -22842,7 +18578,7 @@
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@@ -22968,7 +18678,7 @@
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@@ -22981,7 +18691,7 @@
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@@ -23041,37 +18751,11 @@
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-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   },
   {
     "episode_id": "nasa_milling_c16_r006",
@@ -23107,7 +18791,7 @@
         "name": "effort_current_spindle_ac",
         "original_name": "smcAC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -23120,7 +18804,7 @@
         "name": "effort_current_spindle_dc",
         "original_name": "smcDC",
         "role": "effort",
-        "tier": "tier1",
+        "tier": "tier3",
         "sampling_rate_hz": 250.0,
         "unit": "A",
         "source_type": "measured",
@@ -23180,36 +18864,10 @@
         "range_max": null,
         "axis_id": null,
         "description": null
-      },
-      {
-        "name": "setpoint_doc",
-        "original_name": "setpoint_doc",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
-      },
-      {
-        "name": "setpoint_feed",
-        "original_name": "setpoint_feed",
-        "role": "setpoint",
-        "tier": "tier1",
-        "sampling_rate_hz": 250.0,
-        "unit": "mm/rev",
-        "source_type": "measured",
-        "range_min": null,
-        "range_max": null,
-        "axis_id": null,
-        "description": null
       }
     ],
-    "has_setpoint": true,
+    "has_setpoint": false,
     "has_effort": true,
-    "mve_compliant": true
+    "mve_compliant": false
   }
 ]
\ No newline at end of file