hub_archive: flex_to_biotek_v2/raw +118 files (2026-09-09)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +26 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/episode_000024_20260903_160647.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_152252.json +473 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_152252.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_153334.json +477 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_153334.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_155320.json +476 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_155320.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_160512.json +474 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_160512.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.json +662 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.json +667 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151848.json +662 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151848.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152022.json +658 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152022.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152503.json +652 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152503.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152645.json +660 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152645.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152824.json +652 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152824.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153006.json +669 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153006.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153149.json +669 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153149.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153509.json +658 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153509.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153648.json +657 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153648.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.json +663 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.json +663 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154155.json +655 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154155.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154338.json +663 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154338.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154520.json +661 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154520.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154705.json +660 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154705.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154850.json +664 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154850.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155031.json +665 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155031.npz +3 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155456.json +657 -0
- flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155456.npz +3 -0
.gitattributes
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_152252.json
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| 1 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_153334.json
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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},
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| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 63 |
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| 76 |
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| 77 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 97 |
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| 98 |
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| 99 |
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| 101 |
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| 102 |
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| 103 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 112 |
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| 122 |
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| 140 |
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|
| 141 |
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| 142 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_155320.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:d29d0c8add9ddd408b32f7748ac471736c49f7801770e0845dae0bd080bc4201
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size 93964
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_160512.json
ADDED
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@@ -0,0 +1,474 @@
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|
| 1 |
+
{
|
| 2 |
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"attempt": 1,
|
| 3 |
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"controller_state_codes": {
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| 4 |
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"running": 1,
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| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
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| 7 |
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},
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| 8 |
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"created_at": "2026-09-03T16:05:13",
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| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_160512.npz",
|
| 11 |
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"phase_labels": {
|
| 12 |
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"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
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},
|
| 17 |
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"reason": "operator_stop",
|
| 18 |
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"summary": {
|
| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"completed": false,
|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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},
|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 63 |
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| 69 |
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|
| 70 |
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| 71 |
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| 83 |
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|
| 84 |
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|
| 85 |
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"leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
|
| 86 |
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"leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
|
| 87 |
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"leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
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| 88 |
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| 89 |
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|
| 90 |
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| 91 |
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| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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],
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| 96 |
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| 98 |
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| 99 |
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],
|
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"leadthrough_capture_leadthrough_start_pose_enabled": true,
|
| 105 |
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"leadthrough_capture_leadthrough_start_pose_locked": true,
|
| 106 |
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"leadthrough_capture_leadthrough_start_pose_name": "flex_to_biotek_v2/start_pose_v017",
|
| 107 |
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"leadthrough_capture_leadthrough_start_pose_notes": "",
|
| 108 |
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"leadthrough_capture_leadthrough_start_pose_project": "flex_to_biotek_v2",
|
| 109 |
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"leadthrough_capture_leadthrough_start_pose_role": "leadthrough_start",
|
| 110 |
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"leadthrough_capture_leadthrough_start_pose_saved_task_local": true,
|
| 111 |
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"leadthrough_capture_leadthrough_start_pose_source": "saved_pose",
|
| 112 |
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"leadthrough_capture_leadthrough_start_pose_uploaded": true,
|
| 113 |
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"leadthrough_capture_leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
|
| 114 |
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"leadthrough_capture_leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
|
| 115 |
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"leadthrough_capture_leadthrough_start_tcp_pos_m": [],
|
| 116 |
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"leadthrough_capture_leadthrough_start_tcp_quat": [],
|
| 117 |
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"leadthrough_capture_leadthrough_start_tool_command_supported": false,
|
| 118 |
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"leadthrough_capture_leadthrough_start_tool_commanded": false,
|
| 119 |
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"leadthrough_capture_leadthrough_start_tool_io_backend": "",
|
| 120 |
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"leadthrough_capture_leadthrough_start_tool_state": 0.0,
|
| 121 |
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"leadthrough_capture_leadthrough_start_tool_state_valid": true,
|
| 122 |
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"leadthrough_capture_likely_gap_layer": "blocking_arm_read_or_socket_timeout",
|
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"saved_data_source": "measured_rapid_planner_playback",
|
| 446 |
+
"send_failures": 0,
|
| 447 |
+
"stage_planned_to_measured_max_error_rad": 0.026912927627563477,
|
| 448 |
+
"stage_planned_to_measured_rms_error_rad": 0.009929183989108392,
|
| 449 |
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"stage_sent_to_measured_max_error_rad": null,
|
| 450 |
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"stage_sent_to_measured_rms_error_rad": null,
|
| 451 |
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"stage_sent_to_planned_max_error_rad": null,
|
| 452 |
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"stage_sent_to_planned_rms_error_rad": null,
|
| 453 |
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|
| 454 |
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"stage_target_to_sent_rms_error_rad": null,
|
| 455 |
+
"state_frame_count": 156,
|
| 456 |
+
"stopped_early": true,
|
| 457 |
+
"strict_tracking_pass": false,
|
| 458 |
+
"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 459 |
+
"tcp_pose_count": 156,
|
| 460 |
+
"timestamp_count": 156,
|
| 461 |
+
"tool_failures": 0,
|
| 462 |
+
"tracking_geometry_pass": false,
|
| 463 |
+
"tracking_geometry_reason": "diagnostics_skipped_operator_stop",
|
| 464 |
+
"tracking_pass": false,
|
| 465 |
+
"tracking_reason": "diagnostics_skipped_operator_stop",
|
| 466 |
+
"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 467 |
+
"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 468 |
+
"tracking_threshold_max_lag_s": 0.1,
|
| 469 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 470 |
+
"tracking_timing_pass": false,
|
| 471 |
+
"tracking_timing_reason": "diagnostics_skipped_operator_stop",
|
| 472 |
+
"window_lag_count": 0
|
| 473 |
+
}
|
| 474 |
+
}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_operator_stop_20260903_160512.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f6d42f5ff02e27160f23c22e1958a63c337d0b0b06b69faf35ff47c06c647b9c
|
| 3 |
+
size 24015
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.json
ADDED
|
@@ -0,0 +1,662 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-09-03T15:15:14",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1042,
|
| 20 |
+
"actual_playback_duration_s": 34.7482726679882,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.004999995231628418,
|
| 23 |
+
"aligned_p95_error_rad": 0.002106670057401061,
|
| 24 |
+
"aligned_rms_error_rad": 0.0009055359231550779,
|
| 25 |
+
"aligned_samples": 1042,
|
| 26 |
+
"aligned_worst_joint": 5,
|
| 27 |
+
"aligned_worst_time_s": 10.894,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.json",
|
| 33 |
+
"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1042,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
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+
"zero_lag_worst_joint": 5,
|
| 660 |
+
"zero_lag_worst_time_s": 10.894
|
| 661 |
+
}
|
| 662 |
+
}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151513.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:45d1659db3e5eeefe0c389e9358ee63fef41be9af93964dd1a3340d1fd9873af
|
| 3 |
+
size 107534
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.json
ADDED
|
@@ -0,0 +1,667 @@
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|
| 1 |
+
{
|
| 2 |
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"attempt": 1,
|
| 3 |
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"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
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| 7 |
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},
|
| 8 |
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"created_at": "2026-09-03T15:17:10",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.npz",
|
| 11 |
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"phase_labels": {
|
| 12 |
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"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
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},
|
| 17 |
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"reason": "rapid_planner_completed_candidate",
|
| 18 |
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"summary": {
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| 19 |
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|
| 20 |
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|
| 21 |
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| 23 |
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| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
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"completed": true,
|
| 31 |
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|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151709.npz",
|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 1089,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1089,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.3891576622700226,
|
| 44 |
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"image_frame_counts": {
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| 45 |
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"cam_scene": 1089,
|
| 46 |
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"cam_wrist": 1089
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 55 |
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],
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| 56 |
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"joint_lag_max_error_rad": [
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| 58 |
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],
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| 64 |
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| 66 |
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-09-03T15:18:49",
|
| 9 |
+
"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151848.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1055,
|
| 20 |
+
"actual_playback_duration_s": 35.17748751002364,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.005537107586860657,
|
| 23 |
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"aligned_p95_error_rad": 0.002278084633871913,
|
| 24 |
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"aligned_rms_error_rad": 0.0009726465836517091,
|
| 25 |
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"aligned_samples": 1055,
|
| 26 |
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"aligned_worst_joint": 1,
|
| 27 |
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"aligned_worst_time_s": 13.546999999999999,
|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
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"completed": true,
|
| 31 |
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"debug_sidecar_event_count": 0,
|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_151848.json",
|
| 33 |
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|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 1055,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1055,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.7997282057722113,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1055,
|
| 46 |
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"cam_wrist": 1055
|
| 47 |
+
},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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0.0
|
| 55 |
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],
|
| 56 |
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"joint_lag_max_error_rad": [
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"joint_lag_p95_error_rad": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0017464666161686182,
|
| 68 |
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0.0013000527396798134,
|
| 69 |
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0.002834904007613659,
|
| 70 |
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|
| 71 |
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],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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0.0005630324105643491,
|
| 77 |
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0.0011273103680636458,
|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"joint_lag_samples": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"joint_lag_worst_time_s": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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18.778,
|
| 93 |
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13.546999999999999,
|
| 94 |
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18.49
|
| 95 |
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],
|
| 96 |
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"leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
|
| 97 |
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"leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
|
| 98 |
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"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 99 |
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"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
|
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
+
},
|
| 8 |
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"created_at": "2026-09-03T15:20:23",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152022.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
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},
|
| 17 |
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"reason": "rapid_planner_completed_candidate",
|
| 18 |
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"summary": {
|
| 19 |
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"action_frame_count": 1044,
|
| 20 |
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"actual_playback_duration_s": 34.81882039492484,
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
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"completed": true,
|
| 31 |
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|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152022.json",
|
| 33 |
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|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 1044,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1044,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.665494135412075,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1044,
|
| 46 |
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"cam_wrist": 1044
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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|
| 54 |
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|
| 55 |
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],
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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| 87 |
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],
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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3.252,
|
| 93 |
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|
| 94 |
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|
| 95 |
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],
|
| 96 |
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"leadthrough_capture_controller_tm_dt_max_s": 0.13599999994039536,
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"leadthrough_capture_controller_tm_gap_warn": true,
|
| 101 |
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|
| 102 |
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|
| 103 |
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"leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
|
| 104 |
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|
| 105 |
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"leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
|
| 106 |
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"leadthrough_capture_egm_drained_packet_events": 2,
|
| 107 |
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"leadthrough_capture_egm_drained_packet_max": 34,
|
| 108 |
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"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
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"leadthrough_capture_egm_poll_duration_max_s": 0.1374564579455182,
|
| 110 |
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"leadthrough_capture_egm_poll_duration_median_s": 0.003972806967794895,
|
| 111 |
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"leadthrough_capture_egm_poll_duration_p95_s": 0.004363787185866386,
|
| 112 |
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"leadthrough_capture_egm_poll_duration_p99_s": 0.005207465926650902,
|
| 113 |
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"leadthrough_capture_egm_poll_duration_warn_count": 2331,
|
| 114 |
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"leadthrough_capture_egm_recorded_seqno_jump_count": 2,
|
| 115 |
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"leadthrough_capture_egm_recorded_seqno_step_max": 34,
|
| 116 |
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"leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
|
| 117 |
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"leadthrough_capture_expected_dt_s": 0.004,
|
| 118 |
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"leadthrough_capture_host_loop_dt_max_s": 0.13756904494948685,
|
| 119 |
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"leadthrough_capture_host_loop_dt_median_s": 0.003997648018412292,
|
| 120 |
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|
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152503.json
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|
| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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},
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 43 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 57 |
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| 71 |
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| 95 |
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| 115 |
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| 117 |
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| 123 |
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| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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"leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
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| 132 |
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"leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
|
| 133 |
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"leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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],
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| 142 |
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| 144 |
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| 145 |
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| 149 |
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],
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| 150 |
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| 151 |
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|
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152503.npz
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size 108476
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152645.json
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| 1 |
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| 2 |
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| 3 |
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| 12 |
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| 13 |
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| 16 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152645.npz
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version https://git-lfs.github.com/spec/v1
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size 111194
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152824.json
ADDED
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| 1 |
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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| 544 |
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| 546 |
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| 548 |
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| 549 |
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| 550 |
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|
| 556 |
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|
| 557 |
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| 558 |
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| 562 |
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|
| 563 |
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| 564 |
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| 565 |
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| 566 |
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|
| 567 |
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|
| 568 |
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| 569 |
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|
| 570 |
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| 571 |
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| 572 |
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| 573 |
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| 581 |
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| 582 |
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| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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| 590 |
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| 592 |
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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| 627 |
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| 634 |
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| 638 |
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| 639 |
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|
| 640 |
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| 641 |
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| 642 |
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| 649 |
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| 651 |
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|
| 652 |
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}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_152824.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:5d637c786cbacc114b90a4be31fc475b5d9ccac5f196710bd59e8a8b3f366894
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| 3 |
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size 108401
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153006.json
ADDED
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@@ -0,0 +1,669 @@
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| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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| 576 |
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| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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| 581 |
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|
| 582 |
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| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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| 588 |
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| 589 |
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| 590 |
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| 591 |
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| 592 |
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| 595 |
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| 597 |
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| 598 |
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| 599 |
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| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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| 606 |
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| 607 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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| 613 |
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| 614 |
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| 615 |
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| 616 |
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| 617 |
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| 619 |
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| 620 |
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| 621 |
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| 622 |
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| 623 |
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| 626 |
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| 629 |
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| 637 |
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| 638 |
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| 639 |
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| 640 |
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|
| 641 |
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"tracking_geometry_pass": true,
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| 642 |
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"tracking_geometry_reason": "ok",
|
| 643 |
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"tracking_pass": true,
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| 644 |
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| 645 |
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| 647 |
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| 648 |
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| 651 |
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| 652 |
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|
| 653 |
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| 654 |
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| 655 |
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| 656 |
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|
| 657 |
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| 658 |
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| 659 |
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| 661 |
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| 662 |
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| 663 |
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| 664 |
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| 665 |
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"zero_lag_samples": 1088,
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| 666 |
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"zero_lag_worst_joint": 4,
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| 667 |
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| 668 |
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}
|
| 669 |
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}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153006.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:072a6d5970627ea0bc9440880c3d4d62d4e3c285039efc047ea2459eafcd59f9
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| 3 |
+
size 114469
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153149.json
ADDED
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@@ -0,0 +1,669 @@
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"return_measured_wall_smoothness_samples": 0,
|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"safety_abort": false,
|
| 593 |
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"safety_path_error_rad": 0.5876266956329346,
|
| 594 |
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"saved_data_source": "measured_rapid_planner_playback",
|
| 595 |
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"send_failures": 0,
|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 603 |
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"sent_wall_jerk_peak_joint": -1,
|
| 604 |
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|
| 605 |
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|
| 606 |
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"sent_wall_smoothness_samples": 0,
|
| 607 |
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|
| 608 |
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"sent_wall_velocity_peak_joint": -1,
|
| 609 |
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|
| 610 |
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|
| 611 |
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| 612 |
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| 613 |
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| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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| 619 |
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| 620 |
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|
| 621 |
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| 622 |
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"strict_tracking_reason": "ok",
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| 623 |
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"target_wall_accel_p95_abs_rad_s2": 0.8038682341575623,
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| 624 |
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"target_wall_accel_peak_abs_rad_s2": 3.758707284927368,
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| 625 |
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| 626 |
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| 627 |
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| 628 |
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| 629 |
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| 630 |
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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| 635 |
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| 636 |
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| 637 |
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"target_wall_velocity_rms_rad_s": 0.10018652108326395,
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| 638 |
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"tcp_pose_count": 1063,
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| 639 |
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"timestamp_count": 1063,
|
| 640 |
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"tool_failures": 0,
|
| 641 |
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"tracking_geometry_pass": true,
|
| 642 |
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"tracking_geometry_reason": "ok",
|
| 643 |
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"tracking_pass": true,
|
| 644 |
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"tracking_reason": "ok",
|
| 645 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 646 |
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"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 647 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 648 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 649 |
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"tracking_timing_pass": true,
|
| 650 |
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"tracking_timing_reason": "ok",
|
| 651 |
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|
| 652 |
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"window_lag_best_lag_median_s": 0.0,
|
| 653 |
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"window_lag_best_lag_min_s": -1.0799999999999992,
|
| 654 |
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"window_lag_best_lag_p95_abs_s": 1.019999999999999,
|
| 655 |
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"window_lag_count": 24,
|
| 656 |
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"window_lag_window_s": 1.0,
|
| 657 |
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"window_lag_worst_best_lag_s": 0.010000000000001563,
|
| 658 |
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"window_lag_worst_end_s": 1.0,
|
| 659 |
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|
| 660 |
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"window_lag_worst_rms_error_rad": 0.008195710634983365,
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| 661 |
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|
| 662 |
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"zero_lag_max_error_rad": 0.5876266956329346,
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| 663 |
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"zero_lag_p95_error_rad": 0.0018018068512901664,
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| 664 |
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"zero_lag_rms_error_rad": 0.011696775155057978,
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| 665 |
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"zero_lag_samples": 1063,
|
| 666 |
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"zero_lag_worst_joint": 4,
|
| 667 |
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"zero_lag_worst_time_s": 0.0
|
| 668 |
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}
|
| 669 |
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}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153149.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f372bbbcf2986960c52a27788984dfe0a66809a075f98320b3318c056b01c483
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| 3 |
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size 111782
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153509.json
ADDED
|
@@ -0,0 +1,658 @@
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|
| 604 |
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|
| 605 |
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| 606 |
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| 607 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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|
| 612 |
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| 613 |
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| 614 |
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| 615 |
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| 616 |
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| 617 |
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| 618 |
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| 619 |
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| 620 |
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| 625 |
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| 626 |
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| 627 |
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| 628 |
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| 629 |
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|
| 630 |
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|
| 631 |
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"tracking_geometry_reason": "max_error_rad=0.4494",
|
| 632 |
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"tracking_pass": true,
|
| 633 |
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| 634 |
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| 635 |
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| 636 |
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| 637 |
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| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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"window_lag_best_lag_p95_abs_s": 1.152999999999999,
|
| 644 |
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"window_lag_count": 23,
|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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| 649 |
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"window_lag_worst_rms_error_rad": 0.028391524046727585,
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| 650 |
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|
| 651 |
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"zero_lag_max_error_rad": 0.4494255781173706,
|
| 652 |
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"zero_lag_p95_error_rad": 0.001959623070433736,
|
| 653 |
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"zero_lag_rms_error_rad": 0.007641241312798024,
|
| 654 |
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"zero_lag_samples": 1051,
|
| 655 |
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"zero_lag_worst_joint": 4,
|
| 656 |
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"zero_lag_worst_time_s": 22.338
|
| 657 |
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}
|
| 658 |
+
}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153509.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d758fd04fd8981adfa9ebf720899fd62600fc36da726d5b3cf0844e8fa3aafcd
|
| 3 |
+
size 108268
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153648.json
ADDED
|
@@ -0,0 +1,657 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-09-03T15:36:49",
|
| 9 |
+
"event_log": [],
|
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|
| 626 |
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|
| 627 |
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|
| 628 |
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"tool_failures": 0,
|
| 629 |
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"tracking_geometry_pass": false,
|
| 630 |
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"tracking_geometry_reason": "max_error_rad=0.2325",
|
| 631 |
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"tracking_pass": true,
|
| 632 |
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"tracking_reason": "ok",
|
| 633 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 634 |
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"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 635 |
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|
| 636 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 637 |
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"tracking_timing_pass": true,
|
| 638 |
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"tracking_timing_reason": "ok",
|
| 639 |
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"window_lag_best_lag_max_s": 1.9000000000000035,
|
| 640 |
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|
| 641 |
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"window_lag_best_lag_min_s": -1.4799999999999995,
|
| 642 |
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"window_lag_best_lag_p95_abs_s": 1.7775000000000023,
|
| 643 |
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"window_lag_count": 24,
|
| 644 |
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|
| 645 |
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"window_lag_worst_best_lag_s": 1.9000000000000035,
|
| 646 |
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"window_lag_worst_end_s": 19.0,
|
| 647 |
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"window_lag_worst_max_error_rad": 0.005524598062038422,
|
| 648 |
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"window_lag_worst_rms_error_rad": 0.0018334340613570014,
|
| 649 |
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"window_lag_worst_start_s": 18.0,
|
| 650 |
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"zero_lag_max_error_rad": 0.23250874876976013,
|
| 651 |
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"zero_lag_p95_error_rad": 0.0018285049591213465,
|
| 652 |
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"zero_lag_rms_error_rad": 0.005200268943603872,
|
| 653 |
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"zero_lag_samples": 1050,
|
| 654 |
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"zero_lag_worst_joint": 4,
|
| 655 |
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"zero_lag_worst_time_s": 20.774
|
| 656 |
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}
|
| 657 |
+
}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153648.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4293f12f6757b5b42c813dc1140c2a135748677a70627ad1a3913e4bc0bec3a8
|
| 3 |
+
size 110808
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.json
ADDED
|
@@ -0,0 +1,663 @@
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
+
"created_at": "2026-09-03T15:38:33",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1050,
|
| 20 |
+
"actual_playback_duration_s": 35.01655935298186,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.006938934326171875,
|
| 23 |
+
"aligned_p95_error_rad": 0.0018240987556055188,
|
| 24 |
+
"aligned_rms_error_rad": 0.0008252629878845737,
|
| 25 |
+
"aligned_samples": 1050,
|
| 26 |
+
"aligned_worst_joint": 4,
|
| 27 |
+
"aligned_worst_time_s": 22.701,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.json",
|
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|
| 653 |
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|
| 654 |
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|
| 655 |
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"window_lag_worst_start_s": 2.5,
|
| 656 |
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|
| 657 |
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|
| 658 |
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"zero_lag_rms_error_rad": 0.0008252629878845737,
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| 659 |
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"zero_lag_samples": 1050,
|
| 660 |
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"zero_lag_worst_joint": 4,
|
| 661 |
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"zero_lag_worst_time_s": 22.701
|
| 662 |
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}
|
| 663 |
+
}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_153832.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:624dbc3810f12364d29a6171f2c2249405785ab29a16089a1f2846132cb964de
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| 3 |
+
size 109319
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.json
ADDED
|
@@ -0,0 +1,663 @@
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|
| 1 |
+
{
|
| 2 |
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"attempt": 1,
|
| 3 |
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"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
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},
|
| 8 |
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"created_at": "2026-09-03T15:40:13",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.npz",
|
| 11 |
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"phase_labels": {
|
| 12 |
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"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
+
},
|
| 17 |
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"reason": "rapid_planner_completed_candidate",
|
| 18 |
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"summary": {
|
| 19 |
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"action_frame_count": 1066,
|
| 20 |
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"actual_playback_duration_s": 35.543705655960366,
|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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"aligned_rms_error_rad": 0.0008256737411138083,
|
| 25 |
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"aligned_samples": 1066,
|
| 26 |
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"aligned_worst_joint": 3,
|
| 27 |
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"aligned_worst_time_s": 1.755,
|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
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"debug_sidecar_event_count": 0,
|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154012.npz",
|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 1066,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1066,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.615255880752573,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1066,
|
| 46 |
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"cam_wrist": 1066
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
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0.0,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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],
|
| 56 |
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"joint_lag_max_error_rad": [
|
| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
+
},
|
| 8 |
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"created_at": "2026-09-03T15:41:56",
|
| 9 |
+
"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154155.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1055,
|
| 20 |
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"actual_playback_duration_s": 35.188420537044294,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.4309932291507721,
|
| 23 |
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"aligned_p95_error_rad": 0.002068221801891923,
|
| 24 |
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"aligned_rms_error_rad": 0.007387498006199166,
|
| 25 |
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"aligned_samples": 1055,
|
| 26 |
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"aligned_worst_joint": 4,
|
| 27 |
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"aligned_worst_time_s": 21.776999999999997,
|
| 28 |
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"attempt": 1,
|
| 29 |
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"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
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"completed": true,
|
| 31 |
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"debug_sidecar_event_count": 0,
|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154155.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154155.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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"diagnostic_ramp_samples": 0,
|
| 37 |
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"diagnostic_replay_samples": 1055,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1055,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.597078043709177,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1055,
|
| 46 |
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"cam_wrist": 1055
|
| 47 |
+
},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
+
0.0,
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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0.0
|
| 55 |
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],
|
| 56 |
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"joint_lag_max_error_rad": [
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"joint_lag_p95_error_rad": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0014488695887848735,
|
| 68 |
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0.001256996183656156,
|
| 69 |
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0.0022143423557281494,
|
| 70 |
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|
| 71 |
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],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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0.002646832444832722,
|
| 76 |
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0.007700345346627884,
|
| 77 |
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0.013307982034171823,
|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"joint_lag_samples": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"joint_lag_worst_time_s": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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21.776999999999997,
|
| 94 |
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1.2599999999999998
|
| 95 |
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],
|
| 96 |
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"leadthrough_capture_controller_tm_dt_max_s": 0.06799999997019768,
|
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|
| 1 |
+
{
|
| 2 |
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"attempt": 1,
|
| 3 |
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"controller_state_codes": {
|
| 4 |
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"running": 1,
|
| 5 |
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"stopped": 0,
|
| 6 |
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"unknown": -1
|
| 7 |
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},
|
| 8 |
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"created_at": "2026-09-03T15:43:39",
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
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"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
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},
|
| 17 |
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"reason": "rapid_planner_completed_candidate",
|
| 18 |
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"summary": {
|
| 19 |
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"action_frame_count": 1053,
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"attempt": 1,
|
| 29 |
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|
| 30 |
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"completed": true,
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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"debug_sidecar_saved": true,
|
| 35 |
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"diagnostic_connect_to_path_samples": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"diagnostic_samples": 1053,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"duration_ratio": 1.5797039723387605,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1053,
|
| 46 |
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"cam_wrist": 1053
|
| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
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0.0,
|
| 50 |
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|
| 51 |
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0.0,
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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],
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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"leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
|
| 106 |
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"leadthrough_capture_egm_drained_packet_events": 1,
|
| 107 |
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"leadthrough_capture_egm_drained_packet_max": 2,
|
| 108 |
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"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
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"leadthrough_capture_egm_poll_duration_max_s": 0.010177274001762271,
|
| 110 |
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"leadthrough_capture_egm_poll_duration_median_s": 0.003955406020395458,
|
| 111 |
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"leadthrough_capture_egm_poll_duration_p95_s": 0.004380128253251314,
|
| 112 |
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"leadthrough_capture_egm_poll_duration_p99_s": 0.005646557230502368,
|
| 113 |
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"leadthrough_capture_egm_poll_duration_warn_count": 2408,
|
| 114 |
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|
| 115 |
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|
| 116 |
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"leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
|
| 117 |
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"leadthrough_capture_expected_dt_s": 0.004,
|
| 118 |
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"leadthrough_capture_host_loop_dt_max_s": 0.05006627389229834,
|
| 119 |
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|
| 1 |
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{
|
| 2 |
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"attempt": 1,
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| 3 |
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| 4 |
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"running": 1,
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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},
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 71 |
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| 79 |
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| 95 |
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| 102 |
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| 114 |
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| 115 |
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| 117 |
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| 118 |
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| 122 |
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| 123 |
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| 124 |
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| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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"leadthrough_capture_leadthrough_start_arm_source": "task_manifest",
|
| 132 |
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"leadthrough_capture_leadthrough_start_captured_at": "2026-06-26T16:17:49",
|
| 133 |
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"leadthrough_capture_leadthrough_start_enabled_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartEnabled",
|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154520.npz
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154705.json
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 20 |
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| 21 |
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| 27 |
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| 28 |
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| 30 |
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| 52 |
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| 155 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154705.npz
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154850.json
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| 1 |
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| 2 |
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| 3 |
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| 664 |
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|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_154850.npz
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version https://git-lfs.github.com/spec/v1
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size 111486
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155031.json
ADDED
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@@ -0,0 +1,665 @@
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| 550 |
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| 553 |
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| 557 |
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| 558 |
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| 561 |
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| 562 |
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| 563 |
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| 568 |
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| 569 |
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| 570 |
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| 571 |
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| 575 |
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|
| 576 |
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| 578 |
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| 580 |
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| 581 |
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| 582 |
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| 583 |
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| 584 |
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| 585 |
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| 586 |
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| 595 |
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| 597 |
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| 598 |
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|
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|
| 600 |
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|
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|
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| 637 |
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| 639 |
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| 640 |
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| 651 |
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| 655 |
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| 662 |
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| 664 |
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|
| 665 |
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}
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155031.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:7190582536e217a900478cef705233bcbe5dac943d5d5b9d8ba5fe92e426866b
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| 3 |
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size 108217
|
flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155456.json
ADDED
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@@ -0,0 +1,657 @@
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| 657 |
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flex_to_biotek_v2/raw/2026-09-03_15-13-41/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260903_155456.npz
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size 110000
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