Upload flex_to_biotek dataset (part 2)
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- .gitattributes +73 -0
- flex_to_biotek/raw/2026-06-27_15-08-52/session_summary.json +1359 -0
- flex_to_biotek/raw/2026-06-29_10-16-04/session_manifest.json +102 -0
- flex_to_biotek/raw/2026-06-29_10-24-37/session_manifest.json +102 -0
- flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.json +591 -0
- flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.npz +3 -0
- flex_to_biotek/raw/2026-06-29_10-26-51/session_manifest.json +176 -0
- flex_to_biotek/raw/2026-06-29_10-26-51/session_summary.json +31 -0
- flex_to_biotek/raw/2026-06-29_10-42-14/session_manifest.json +176 -0
- flex_to_biotek/raw/2026-06-29_10-42-14/session_summary.json +31 -0
- flex_to_biotek/raw/2026-06-29_10-46-27/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_104809.json +675 -0
- flex_to_biotek/raw/2026-06-29_10-46-27/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_104809.npz +3 -0
- flex_to_biotek/raw/2026-06-29_10-46-27/session_manifest.json +176 -0
- flex_to_biotek/raw/2026-06-29_10-46-27/session_summary.json +31 -0
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- flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_105436.json +497 -0
- flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_105436.npz +3 -0
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- flex_to_biotek/raw/2026-06-29_10-49-50/session_manifest.json +286 -0
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- flex_to_biotek/raw/2026-06-29_11-10-32/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_112619.npz +3 -0
- flex_to_biotek/raw/2026-06-29_11-10-32/session_manifest.json +308 -0
- flex_to_biotek/raw/2026-06-29_11-10-32/session_summary.json +193 -0
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flex_to_biotek/raw/2026-06-29_11-30-41/episode_000069_20260629_153702.hdf5 filter=lfs diff=lfs merge=lfs -text
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flex_to_biotek/raw/2026-06-27_15-08-52/session_summary.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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| 13 |
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| 15 |
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| 16 |
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| 22 |
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| 23 |
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| 30 |
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| 32 |
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| 33 |
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flex_to_biotek/raw/2026-06-29_10-16-04/session_manifest.json
ADDED
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flex_to_biotek/raw/2026-06-29_10-24-37/session_manifest.json
ADDED
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@@ -0,0 +1,102 @@
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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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| 74 |
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| 75 |
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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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| 93 |
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| 94 |
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| 96 |
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|
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| 98 |
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"state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
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| 99 |
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|
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|
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"updated_at": "2026-06-29T10:24:58"
|
| 102 |
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|
flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.json
ADDED
|
@@ -0,0 +1,591 @@
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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": "2026-06-29T10:28:42",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/media/hardware/T9/abb_data/flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.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": 395,
|
| 20 |
+
"actual_playback_duration_s": 13.17599330842495,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.004551678895950317,
|
| 23 |
+
"aligned_p95_error_rad": 0.0006788910832256079,
|
| 24 |
+
"aligned_rms_error_rad": 0.00044465482177118257,
|
| 25 |
+
"aligned_samples": 395,
|
| 26 |
+
"aligned_worst_joint": 0,
|
| 27 |
+
"aligned_worst_time_s": 0.18300000000000072,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
| 32 |
+
"debug_sidecar_json": "/media/hardware/T9/abb_data/flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.json",
|
| 33 |
+
"debug_sidecar_npz": "/media/hardware/T9/abb_data/flex_to_biotek/raw/2026-06-29_10-26-51/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_102841.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 395,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 395,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 0.9706787467529798,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 395,
|
| 46 |
+
"cam_wrist": 395
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.010000000000001563,
|
| 53 |
+
0.0,
|
| 54 |
+
1.9600000000000035
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.004551678895950317,
|
| 58 |
+
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|
| 59 |
+
0.002473890781402588,
|
| 60 |
+
0.0004217401146888733,
|
| 61 |
+
0.004098653793334961,
|
| 62 |
+
9.387731552124023e-07
|
| 63 |
+
],
|
| 64 |
+
"joint_lag_p95_error_rad": [
|
| 65 |
+
0.00040025098132900894,
|
| 66 |
+
0.0017797845648601651,
|
| 67 |
+
0.000542318623047322,
|
| 68 |
+
9.379908442497253e-05,
|
| 69 |
+
0.0011880695819854736,
|
| 70 |
+
7.003545761108398e-07
|
| 71 |
+
],
|
| 72 |
+
"joint_lag_rms_error_rad": [
|
| 73 |
+
0.0004427509952834635,
|
| 74 |
+
0.0007369109799352955,
|
| 75 |
+
0.0003117964780544865,
|
| 76 |
+
5.438753363365466e-05,
|
| 77 |
+
0.0005890301763179768,
|
| 78 |
+
3.7361206462994745e-07
|
| 79 |
+
],
|
| 80 |
+
"joint_lag_samples": [
|
| 81 |
+
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|
| 82 |
+
395,
|
| 83 |
+
395,
|
| 84 |
+
391,
|
| 85 |
+
395,
|
| 86 |
+
366
|
| 87 |
+
],
|
| 88 |
+
"joint_lag_worst_time_s": [
|
| 89 |
+
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|
| 90 |
+
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|
| 91 |
+
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|
| 92 |
+
8.766000000000002,
|
| 93 |
+
11.294,
|
| 94 |
+
11.794
|
| 95 |
+
],
|
| 96 |
+
"leadthrough_capture_controller_tm_dt_max_s": 0.007999999972525984,
|
| 97 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.0040000000153668225,
|
| 98 |
+
"leadthrough_capture_controller_tm_dt_p95_s": 0.005000000004656613,
|
| 99 |
+
"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000004656613,
|
| 100 |
+
"leadthrough_capture_controller_tm_gap_warn": false,
|
| 101 |
+
"leadthrough_capture_controller_tm_gap_warn_count": 0,
|
| 102 |
+
"leadthrough_capture_dropped_ticks": 0,
|
| 103 |
+
"leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
|
| 104 |
+
"leadthrough_capture_egm_client_seqno_gap_count_final": 0,
|
| 105 |
+
"leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
|
| 106 |
+
"leadthrough_capture_egm_drained_packet_events": 2,
|
| 107 |
+
"leadthrough_capture_egm_drained_packet_max": 16,
|
| 108 |
+
"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 109 |
+
"leadthrough_capture_egm_poll_duration_max_s": 0.008319000713527203,
|
| 110 |
+
"leadthrough_capture_egm_poll_duration_median_s": 0.00392657145857811,
|
| 111 |
+
"leadthrough_capture_egm_poll_duration_p95_s": 0.004237085394561291,
|
| 112 |
+
"leadthrough_capture_egm_poll_duration_p99_s": 0.005048363655805587,
|
| 113 |
+
"leadthrough_capture_egm_poll_duration_warn_count": 2056,
|
| 114 |
+
"leadthrough_capture_egm_recorded_seqno_jump_count": 1,
|
| 115 |
+
"leadthrough_capture_egm_recorded_seqno_step_max": 2,
|
| 116 |
+
"leadthrough_capture_egm_recorded_seqno_step_median": 1.0,
|
| 117 |
+
"leadthrough_capture_expected_dt_s": 0.004,
|
| 118 |
+
"leadthrough_capture_host_loop_dt_max_s": 0.008418352343142033,
|
| 119 |
+
"leadthrough_capture_host_loop_dt_median_s": 0.004004986025393009,
|
| 120 |
+
"leadthrough_capture_host_loop_dt_p95_s": 0.004325025947764516,
|
| 121 |
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"leadthrough_capture_host_loop_dt_p99_s": 0.005109475925564766,
|
| 122 |
+
"leadthrough_capture_host_loop_gap_warn": false,
|
| 123 |
+
"leadthrough_capture_host_loop_gap_warn_count": 0,
|
| 124 |
+
"leadthrough_capture_host_receive_dt_max_s": 0.008434426039457321,
|
| 125 |
+
"leadthrough_capture_host_receive_dt_median_s": 0.004004940390586853,
|
| 126 |
+
"leadthrough_capture_host_receive_dt_p95_s": 0.004299952881410718,
|
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| 147 |
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| 148 |
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| 153 |
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| 155 |
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| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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ADDED
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| 1 |
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{
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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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| 9 |
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{
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| 19 |
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| 20 |
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| 31 |
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flex_to_biotek/raw/2026-06-29_10-42-14/session_manifest.json
ADDED
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| 42 |
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| 124 |
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| 129 |
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"leadthrough_start_pose_saved_task_local": true,
|
| 130 |
+
"leadthrough_start_pose_source": "saved_pose",
|
| 131 |
+
"leadthrough_start_pose_uploaded": true,
|
| 132 |
+
"leadthrough_start_ready_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStartReady",
|
| 133 |
+
"leadthrough_start_symbol": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughStart",
|
| 134 |
+
"leadthrough_start_tcp_pos_m": [
|
| 135 |
+
0.428059,
|
| 136 |
+
0.130805,
|
| 137 |
+
0.302407
|
| 138 |
+
],
|
| 139 |
+
"leadthrough_start_tcp_quat": [
|
| 140 |
+
0.032384,
|
| 141 |
+
0.048864,
|
| 142 |
+
-0.998124,
|
| 143 |
+
-0.017677
|
| 144 |
+
],
|
| 145 |
+
"leadthrough_start_tool_command_supported": false,
|
| 146 |
+
"leadthrough_start_tool_commanded": false,
|
| 147 |
+
"leadthrough_start_tool_io_backend": "rws_rapid_feedback",
|
| 148 |
+
"leadthrough_start_tool_state": 0.0,
|
| 149 |
+
"leadthrough_start_tool_state_valid": true,
|
| 150 |
+
"start_pose_hash": "679353d43e86f8589b65230c088ce294573dff3f38b3940ae559040eaddeaefb",
|
| 151 |
+
"start_pose_id": "start_pose_v013",
|
| 152 |
+
"start_pose_path": "/media/hardware/T9/abb_data/flex_to_biotek/poses/start_pose_v013.json"
|
| 153 |
+
},
|
| 154 |
+
"task_id": "flex_to_biotek",
|
| 155 |
+
"task_prompt": "flex_to_biotek",
|
| 156 |
+
"tool_signal": "read-only configured",
|
| 157 |
+
"tool_status": {
|
| 158 |
+
"backend": "rws_rapid_feedback",
|
| 159 |
+
"can_command": false,
|
| 160 |
+
"can_read": true,
|
| 161 |
+
"command_failures": 0,
|
| 162 |
+
"command_hysteresis": 0.05,
|
| 163 |
+
"command_mode": "binary",
|
| 164 |
+
"command_signal": "read-only configured",
|
| 165 |
+
"command_threshold": 0.5,
|
| 166 |
+
"configured": true,
|
| 167 |
+
"last_state": null,
|
| 168 |
+
"last_state_age_s": null,
|
| 169 |
+
"message": "read RAPID gripper feedback array configured",
|
| 170 |
+
"ok": true,
|
| 171 |
+
"read_failures": 0,
|
| 172 |
+
"state_signal": "RAPID/T_ROB1/EgmLeadthroughService/leadthroughGripFeedback",
|
| 173 |
+
"state_valid": false
|
| 174 |
+
},
|
| 175 |
+
"updated_at": "2026-06-29T10:46:22"
|
| 176 |
+
}
|
flex_to_biotek/raw/2026-06-29_10-42-14/session_summary.json
ADDED
|
@@ -0,0 +1,31 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_id": "flex_to_biotek",
|
| 3 |
+
"task_prompt": "flex_to_biotek",
|
| 4 |
+
"operator": "Jessie",
|
| 5 |
+
"robot_type": "abb_gofa",
|
| 6 |
+
"collection_mode": "leadthrough_record",
|
| 7 |
+
"action_type": "state_copy",
|
| 8 |
+
"session_started": "2026-06-29T10:42:15",
|
| 9 |
+
"session_ended": "",
|
| 10 |
+
"counts": {
|
| 11 |
+
"attempted": 1,
|
| 12 |
+
"success": 0,
|
| 13 |
+
"failure": 0,
|
| 14 |
+
"discard": 1
|
| 15 |
+
},
|
| 16 |
+
"episodes": [
|
| 17 |
+
{
|
| 18 |
+
"episode_idx": -1,
|
| 19 |
+
"outcome": "discard",
|
| 20 |
+
"file": null,
|
| 21 |
+
"num_frames": 5706,
|
| 22 |
+
"duration_s": 22.817,
|
| 23 |
+
"measured_fps": 250.03,
|
| 24 |
+
"slow_ticks": 11,
|
| 25 |
+
"dropped_ticks": 0,
|
| 26 |
+
"save_time_s": 0.0,
|
| 27 |
+
"file_size_mb": 0.0,
|
| 28 |
+
"save_metrics": {}
|
| 29 |
+
}
|
| 30 |
+
]
|
| 31 |
+
}
|
flex_to_biotek/raw/2026-06-29_10-46-27/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_104809.json
ADDED
|
@@ -0,0 +1,675 @@
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flex_to_biotek/raw/2026-06-29_10-46-27/session_manifest.json
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flex_to_biotek/raw/2026-06-29_10-46-27/session_summary.json
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{
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|
| 15 |
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|
| 16 |
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"episodes": [
|
| 17 |
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{
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
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flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_105436.json
ADDED
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|
| 1 |
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{
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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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| 26 |
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| 27 |
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|
| 28 |
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| 29 |
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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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| 38 |
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| 40 |
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| 49 |
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| 90 |
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],
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|
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|
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"leadthrough_capture_leadthrough_start_pose_notes": "",
|
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|
flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_105436.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 59096
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flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_110930.json
ADDED
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|
| 1 |
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{
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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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"created_at": "2026-06-29T11:09:31",
|
| 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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|
| 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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|
| 28 |
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| 29 |
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|
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|
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|
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| 400 |
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| 409 |
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| 410 |
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| 411 |
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| 413 |
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| 414 |
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|
| 415 |
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|
| 416 |
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|
| 418 |
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| 419 |
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}
|
flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_operator_stop_20260629_110930.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 61100
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flex_to_biotek/raw/2026-06-29_10-49-50/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_105225.json
ADDED
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@@ -0,0 +1,688 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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flex_to_biotek/raw/2026-06-29_10-49-50/session_summary.json
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@@ -0,0 +1,138 @@
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| 1 |
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{
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| 433 |
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| 434 |
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|
| 435 |
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| 436 |
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"replay_smoothing_raw_accel_peak_abs_rad_s2": 8.566535949707031,
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| 437 |
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| 438 |
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| 439 |
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| 440 |
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| 443 |
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| 444 |
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| 453 |
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| 469 |
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| 481 |
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|
| 483 |
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|
| 484 |
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"strict_tracking_reason": "diagnostics_skipped_operator_stop",
|
| 485 |
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|
| 486 |
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|
| 487 |
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|
| 488 |
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| 489 |
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| 490 |
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| 491 |
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| 498 |
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|
| 499 |
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}
|
| 500 |
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}
|
flex_to_biotek/raw/2026-06-29_11-10-32/playback_debug/playback_attempt_001_operator_stop_20260629_112242.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:b3f1572e2fc593c3cd5e02e131f2addbed639d44c1d12c833860be8c83ac172c
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| 3 |
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size 61293
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flex_to_biotek/raw/2026-06-29_11-10-32/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_111416.json
ADDED
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@@ -0,0 +1,679 @@
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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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| 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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| 629 |
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| 631 |
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| 632 |
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| 633 |
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| 648 |
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| 649 |
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| 650 |
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| 651 |
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| 652 |
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"tracking_geometry_reason": "ok",
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| 653 |
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"tracking_pass": true,
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| 654 |
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|
| 655 |
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| 656 |
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| 658 |
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| 659 |
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| 660 |
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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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|
| 666 |
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|
| 667 |
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|
| 668 |
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| 669 |
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| 671 |
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| 672 |
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| 673 |
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| 674 |
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| 675 |
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"zero_lag_samples": 1084,
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| 676 |
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| 677 |
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| 678 |
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}
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| 679 |
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}
|
flex_to_biotek/raw/2026-06-29_11-10-32/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_111416.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:585417787635b89c8ab7768d42de912b99c8c0493f294d5cae522549e50a47c9
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| 3 |
+
size 111018
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flex_to_biotek/raw/2026-06-29_11-10-32/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20260629_112619.json
ADDED
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@@ -0,0 +1,666 @@
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flex_to_biotek/raw/2026-06-29_11-10-32/session_summary.json
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@@ -0,0 +1,193 @@
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