hub_archive: flex_to_biotek_v2/raw +54 files (2026-10-29)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +1 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/episode_000014_20261026_165733.hdf5 +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.json +501 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.json +488 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.json +493 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.json +516 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.json +500 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.json +496 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.json +682 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.json +679 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.json +677 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.json +681 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.json +675 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.json +670 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.json +679 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.json +689 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.json +677 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.json +674 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.json +668 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.json +676 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.json +674 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json +679 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.json +682 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.json +681 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.json +678 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz +3 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.json +674 -0
- flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz +3 -0
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_160701.json
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_161245.json
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162652.json
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| 1 |
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| 2 |
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| 3 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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|
| 1 |
+
{
|
| 2 |
+
"attempt": 1,
|
| 3 |
+
"controller_state_codes": {
|
| 4 |
+
"running": 1,
|
| 5 |
+
"stopped": 0,
|
| 6 |
+
"unknown": -1
|
| 7 |
+
},
|
| 8 |
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"created_at": "2026-10-26T16:28:20",
|
| 9 |
+
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|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "operator_stop",
|
| 18 |
+
"summary": {
|
| 19 |
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"action_frame_count": 643,
|
| 20 |
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"actual_playback_duration_s": 21.732905629032757,
|
| 21 |
+
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|
| 22 |
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|
| 23 |
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|
| 24 |
+
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|
| 25 |
+
"aligned_worst_joint": -1,
|
| 26 |
+
"aligned_worst_time_s": null,
|
| 27 |
+
"attempt": 1,
|
| 28 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 29 |
+
"completed": false,
|
| 30 |
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|
| 31 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.json",
|
| 32 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz",
|
| 33 |
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"debug_sidecar_saved": true,
|
| 34 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 35 |
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|
| 36 |
+
"diagnostic_replay_samples": 643,
|
| 37 |
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"diagnostic_return_to_start_samples": 0,
|
| 38 |
+
"diagnostic_samples": 643,
|
| 39 |
+
"diagnostic_settle_samples": 0,
|
| 40 |
+
"diagnostics_skip_reason": "operator_stop",
|
| 41 |
+
"diagnostics_skipped": true,
|
| 42 |
+
"dropped_arm_samples": 0,
|
| 43 |
+
"dropped_camera_samples": 0,
|
| 44 |
+
"duration_ratio": 0.7844681500517166,
|
| 45 |
+
"image_frame_counts": {
|
| 46 |
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"cam_scene": 643,
|
| 47 |
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"cam_wrist": 643
|
| 48 |
+
},
|
| 49 |
+
"incomplete_reason": "operator_stop",
|
| 50 |
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"leadthrough_capture_controller_tm_dt_max_s": 0.005000000121071935,
|
| 51 |
+
"leadthrough_capture_controller_tm_dt_median_s": 0.003999999957159162,
|
| 52 |
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"leadthrough_capture_controller_tm_dt_p95_s": 0.004999999888241291,
|
| 53 |
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"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
|
| 54 |
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"leadthrough_capture_controller_tm_gap_warn": false,
|
| 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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"leadthrough_capture_egm_client_seqno_gap_count_initial": 0,
|
| 60 |
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"leadthrough_capture_egm_drained_packet_events": 1,
|
| 61 |
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"leadthrough_capture_egm_drained_packet_max": 20,
|
| 62 |
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"leadthrough_capture_egm_drained_packet_p95": 1.0,
|
| 63 |
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"leadthrough_capture_egm_poll_duration_max_s": 0.005977725028060377,
|
| 64 |
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"leadthrough_capture_egm_poll_duration_median_s": 0.003967810014728457,
|
| 65 |
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"leadthrough_capture_egm_poll_duration_p95_s": 0.004394324662280269,
|
| 66 |
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"leadthrough_capture_egm_poll_duration_p99_s": 0.004647561774472705,
|
| 67 |
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|
| 68 |
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|
| 69 |
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"leadthrough_capture_egm_recorded_seqno_step_max": 1,
|
| 70 |
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|
| 71 |
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"leadthrough_capture_expected_dt_s": 0.004,
|
| 72 |
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|
| 73 |
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"leadthrough_capture_host_loop_dt_median_s": 0.003989983000792563,
|
| 74 |
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|
| 75 |
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"leadthrough_capture_host_loop_dt_p99_s": 0.00467901133815758,
|
| 76 |
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"leadthrough_capture_host_loop_gap_warn": false,
|
| 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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"leadthrough_capture_host_receive_gap_warn": false,
|
| 83 |
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"leadthrough_capture_host_receive_gap_warn_count": 0,
|
| 84 |
+
"leadthrough_capture_leadthrough_start_arm_mode": "",
|
| 85 |
+
"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",
|
| 88 |
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"leadthrough_capture_leadthrough_start_joints_deg": [
|
| 89 |
+
16.926,
|
| 90 |
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-0.49,
|
| 91 |
+
52.285,
|
| 92 |
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4.341,
|
| 93 |
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41.395,
|
| 94 |
+
7.983
|
| 95 |
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],
|
| 96 |
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"leadthrough_capture_leadthrough_start_joints_rad": [
|
| 97 |
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0.295419,
|
| 98 |
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-0.008551,
|
| 99 |
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0.912542,
|
| 100 |
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0.075773,
|
| 101 |
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0.722472,
|
| 102 |
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0.139336
|
| 103 |
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],
|
| 104 |
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"leadthrough_capture_leadthrough_start_pose_enabled": true,
|
| 105 |
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"leadthrough_capture_leadthrough_start_pose_locked": true,
|
| 106 |
+
"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 |
+
"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",
|
| 123 |
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"leadthrough_capture_loop_late_max_s": 0.012757709017023444,
|
| 124 |
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"leadthrough_capture_loop_late_median_s": 0.006679839687421918,
|
| 125 |
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"leadthrough_capture_loop_late_p95_s": 0.0070650441222824155,
|
| 126 |
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"leadthrough_capture_loop_late_p99_s": 0.0075098429835634304,
|
| 127 |
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"leadthrough_capture_loop_late_warn_count": 7564,
|
| 128 |
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"leadthrough_capture_none_reads": 0,
|
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|
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| 504 |
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| 506 |
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| 516 |
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|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162819.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 68296
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.json
ADDED
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@@ -0,0 +1,500 @@
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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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|
| 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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|
| 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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| 56 |
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| 60 |
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| 62 |
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|
| 63 |
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| 69 |
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|
| 70 |
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|
| 71 |
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|
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| 500 |
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|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_162942.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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size 62472
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.json
ADDED
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@@ -0,0 +1,496 @@
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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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},
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| 8 |
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"created_at": "2026-10-26T16:36:36",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz",
|
| 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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|
| 30 |
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|
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_operator_stop_20261026_163635.npz
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.json
ADDED
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@@ -0,0 +1,682 @@
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| 566 |
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| 598 |
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|
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| 682 |
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|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160438.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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| 3 |
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size 119630
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.json
ADDED
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@@ -0,0 +1,679 @@
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| 571 |
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| 679 |
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|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_160843.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 sha256:7f1efb6fe3ce7714a38f12d6a979cdd86c5178d5c95b0de215d399c00ac915ae
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size 119492
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.json
ADDED
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@@ -0,0 +1,677 @@
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| 573 |
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| 574 |
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| 575 |
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| 577 |
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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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| 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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|
| 593 |
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|
| 594 |
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| 595 |
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| 596 |
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| 597 |
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| 598 |
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| 599 |
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| 607 |
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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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| 617 |
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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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| 653 |
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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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| 670 |
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| 673 |
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| 674 |
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| 675 |
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| 676 |
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|
| 677 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161026.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 sha256:70bb4be55e03e60fcb7db19539c1d04150071b290fe103311cb1e77af9ab0572
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| 3 |
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size 115902
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.json
ADDED
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@@ -0,0 +1,681 @@
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"replay_smoothing_within_tolerance": true,
|
| 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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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 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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|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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"saved_data_source": "measured_rapid_planner_playback",
|
| 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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"sent_wall_jerk_peak_joint": -1,
|
| 616 |
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|
| 617 |
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|
| 618 |
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"sent_wall_smoothness_samples": 0,
|
| 619 |
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|
| 620 |
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"sent_wall_velocity_peak_joint": -1,
|
| 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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|
| 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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"target_wall_accel_p95_abs_rad_s2": 0.8001180291175842,
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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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| 644 |
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| 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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|
| 650 |
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"tcp_pose_count": 1165,
|
| 651 |
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"timestamp_count": 1165,
|
| 652 |
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"tool_failures": 0,
|
| 653 |
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"tracking_geometry_pass": false,
|
| 654 |
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"tracking_geometry_reason": "max_error_rad=0.6737",
|
| 655 |
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"tracking_pass": true,
|
| 656 |
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"tracking_reason": "ok",
|
| 657 |
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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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"window_lag_count": 30,
|
| 668 |
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|
| 669 |
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|
| 670 |
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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_p95_error_rad": 0.00191668258048594,
|
| 676 |
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"zero_lag_rms_error_rad": 0.011311558398246395,
|
| 677 |
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"zero_lag_samples": 1165,
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| 678 |
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"zero_lag_worst_joint": 4,
|
| 679 |
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"zero_lag_worst_time_s": 0.07599999999999962
|
| 680 |
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}
|
| 681 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161551.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 sha256:147e66cc2ff3be4af0d6c2ca470d07e86ee55ebec1418859833d4ab1c846b2df
|
| 3 |
+
size 122329
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.json
ADDED
|
@@ -0,0 +1,675 @@
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| 591 |
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|
| 592 |
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|
| 593 |
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"return_measured_wall_smoothness_samples": 0,
|
| 594 |
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|
| 595 |
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"return_measured_wall_velocity_peak_joint": -1,
|
| 596 |
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|
| 597 |
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"return_measured_wall_velocity_rms_rad_s": null,
|
| 598 |
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"safety_abort": false,
|
| 599 |
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"safety_path_error_rad": 0.6565899848937988,
|
| 600 |
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|
| 601 |
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"send_failures": 0,
|
| 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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"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 609 |
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"sent_wall_jerk_peak_joint": -1,
|
| 610 |
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"sent_wall_jerk_peak_time_s": null,
|
| 611 |
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"sent_wall_jerk_rms_rad_s3": null,
|
| 612 |
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"sent_wall_smoothness_samples": 0,
|
| 613 |
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|
| 614 |
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"sent_wall_velocity_peak_joint": -1,
|
| 615 |
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|
| 616 |
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|
| 617 |
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"stage_planned_to_measured_max_error_rad": 0.6725791096687317,
|
| 618 |
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|
| 619 |
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"stage_sent_to_measured_max_error_rad": null,
|
| 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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|
| 628 |
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|
| 629 |
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"target_wall_accel_p95_abs_rad_s2": 0.753492534160614,
|
| 630 |
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"target_wall_accel_peak_abs_rad_s2": 88.7631607055664,
|
| 631 |
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| 632 |
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"target_wall_accel_peak_time_s": 6.172980647534132e-06,
|
| 633 |
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"target_wall_accel_rms_rad_s2": 2.538272012487396,
|
| 634 |
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"target_wall_jerk_p95_abs_rad_s3": 17.490703582763672,
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| 635 |
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"target_wall_jerk_peak_abs_rad_s3": 1329.2459716796875,
|
| 636 |
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"target_wall_jerk_peak_joint": 2,
|
| 637 |
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"target_wall_jerk_peak_time_s": 0.06673463695915416,
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| 638 |
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"target_wall_jerk_rms_rad_s3": 31.778823519500026,
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| 639 |
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|
| 640 |
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| 641 |
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"target_wall_velocity_peak_joint": 2,
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| 642 |
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|
| 643 |
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"target_wall_velocity_rms_rad_s": 0.16322343223684577,
|
| 644 |
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"tcp_pose_count": 1158,
|
| 645 |
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"timestamp_count": 1158,
|
| 646 |
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"tool_failures": 0,
|
| 647 |
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"tracking_geometry_pass": false,
|
| 648 |
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"tracking_geometry_reason": "max_error_rad=0.6566",
|
| 649 |
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"tracking_pass": true,
|
| 650 |
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"tracking_reason": "ok",
|
| 651 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 652 |
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"tracking_threshold_max_error_rad": 0.08726646259971647,
|
| 653 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 654 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 655 |
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"tracking_timing_pass": true,
|
| 656 |
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"tracking_timing_reason": "ok",
|
| 657 |
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"window_lag_best_lag_max_s": 1.9000000000000035,
|
| 658 |
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"window_lag_best_lag_median_s": 0.0,
|
| 659 |
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"window_lag_best_lag_min_s": -1.3799999999999994,
|
| 660 |
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"window_lag_best_lag_p95_abs_s": 1.6920000000000008,
|
| 661 |
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"window_lag_count": 29,
|
| 662 |
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"window_lag_window_s": 1.0,
|
| 663 |
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"window_lag_worst_best_lag_s": -1.3799999999999994,
|
| 664 |
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"window_lag_worst_end_s": 11.0,
|
| 665 |
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"window_lag_worst_max_error_rad": 0.007658481597900391,
|
| 666 |
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"window_lag_worst_rms_error_rad": 0.0020940785429164896,
|
| 667 |
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|
| 668 |
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"zero_lag_max_error_rad": 0.6565899848937988,
|
| 669 |
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"zero_lag_p95_error_rad": 0.0020994117949157953,
|
| 670 |
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"zero_lag_rms_error_rad": 0.009893972258451213,
|
| 671 |
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"zero_lag_samples": 1158,
|
| 672 |
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"zero_lag_worst_joint": 4,
|
| 673 |
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"zero_lag_worst_time_s": 22.205
|
| 674 |
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}
|
| 675 |
+
}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161739.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 sha256:934472486d36634e4fa517db9c7454404027cdabc97edb8198e3d896e4c32d68
|
| 3 |
+
size 123043
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.json
ADDED
|
@@ -0,0 +1,670 @@
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"sent_wall_accel_rms_rad_s2": null,
|
| 602 |
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|
| 603 |
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"sent_wall_jerk_peak_abs_rad_s3": null,
|
| 604 |
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"sent_wall_jerk_peak_joint": -1,
|
| 605 |
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"sent_wall_jerk_peak_time_s": null,
|
| 606 |
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"sent_wall_jerk_rms_rad_s3": null,
|
| 607 |
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"sent_wall_smoothness_samples": 0,
|
| 608 |
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"sent_wall_velocity_peak_abs_rad_s": null,
|
| 609 |
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"sent_wall_velocity_peak_joint": -1,
|
| 610 |
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|
| 611 |
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|
| 612 |
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"stage_planned_to_measured_max_error_rad": 0.03877592086791992,
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| 613 |
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"stage_planned_to_measured_rms_error_rad": 0.005882552167211526,
|
| 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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|
| 623 |
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"strict_tracking_reason": "ok",
|
| 624 |
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"target_wall_accel_p95_abs_rad_s2": 0.7603658437728882,
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| 625 |
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"target_wall_accel_peak_abs_rad_s2": 3.494828224182129,
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| 626 |
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"target_wall_accel_peak_joint": 4,
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| 627 |
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| 628 |
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| 629 |
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| 630 |
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"target_wall_jerk_peak_abs_rad_s3": 78.21199035644531,
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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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| 638 |
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"target_wall_velocity_rms_rad_s": 0.10008260300686313,
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| 639 |
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"tcp_pose_count": 1141,
|
| 640 |
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"timestamp_count": 1141,
|
| 641 |
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"tool_failures": 0,
|
| 642 |
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"tracking_geometry_pass": true,
|
| 643 |
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"tracking_geometry_reason": "ok",
|
| 644 |
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"tracking_pass": true,
|
| 645 |
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"tracking_reason": "ok",
|
| 646 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 647 |
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|
| 648 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 649 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 650 |
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"tracking_timing_pass": true,
|
| 651 |
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"tracking_timing_reason": "ok",
|
| 652 |
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"window_lag_best_lag_max_s": 1.6400000000000032,
|
| 653 |
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"window_lag_best_lag_median_s": 0.0,
|
| 654 |
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"window_lag_best_lag_min_s": -0.7899999999999989,
|
| 655 |
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"window_lag_best_lag_p95_abs_s": 1.4780000000000026,
|
| 656 |
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"window_lag_count": 33,
|
| 657 |
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"window_lag_window_s": 1.0,
|
| 658 |
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"window_lag_worst_best_lag_s": -0.7899999999999989,
|
| 659 |
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"window_lag_worst_end_s": 22.5,
|
| 660 |
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"window_lag_worst_max_error_rad": 0.004855722188949585,
|
| 661 |
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"window_lag_worst_rms_error_rad": 0.002873050610573149,
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| 662 |
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"window_lag_worst_start_s": 21.5,
|
| 663 |
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"zero_lag_max_error_rad": 0.007179595530033112,
|
| 664 |
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"zero_lag_p95_error_rad": 0.0020897984504699707,
|
| 665 |
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"zero_lag_rms_error_rad": 0.0009236119254756224,
|
| 666 |
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"zero_lag_samples": 1141,
|
| 667 |
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"zero_lag_worst_joint": 5,
|
| 668 |
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"zero_lag_worst_time_s": 24.669
|
| 669 |
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}
|
| 670 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_161923.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:c6323d55559f3dec3c8c696581b6410107ebc61c595124c32a287edbcb8b72a7
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| 3 |
+
size 120531
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.json
ADDED
|
@@ -0,0 +1,679 @@
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|
| 621 |
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| 622 |
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"stage_planned_to_measured_rms_error_rad": 0.005991864523988599,
|
| 623 |
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"stage_sent_to_measured_max_error_rad": null,
|
| 624 |
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"stage_sent_to_measured_rms_error_rad": null,
|
| 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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"strict_tracking_pass": true,
|
| 632 |
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"strict_tracking_reason": "ok",
|
| 633 |
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"target_wall_accel_p95_abs_rad_s2": 0.7135542035102844,
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| 634 |
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"target_wall_accel_peak_abs_rad_s2": 3.5707695484161377,
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| 635 |
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|
| 636 |
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| 637 |
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"target_wall_accel_rms_rad_s2": 0.3459282540724534,
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| 638 |
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"target_wall_jerk_p95_abs_rad_s3": 16.08679962158203,
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| 639 |
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"target_wall_jerk_peak_abs_rad_s3": 83.55792236328125,
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| 640 |
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|
| 641 |
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| 642 |
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| 643 |
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| 644 |
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| 645 |
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"target_wall_velocity_peak_joint": 5,
|
| 646 |
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"target_wall_velocity_peak_time_s": 3.1000535620260052,
|
| 647 |
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"target_wall_velocity_rms_rad_s": 0.10185953974046769,
|
| 648 |
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"tcp_pose_count": 1161,
|
| 649 |
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"timestamp_count": 1161,
|
| 650 |
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"tool_failures": 0,
|
| 651 |
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"tracking_geometry_pass": true,
|
| 652 |
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"tracking_geometry_reason": "ok",
|
| 653 |
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"tracking_pass": true,
|
| 654 |
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"tracking_reason": "ok",
|
| 655 |
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"tracking_threshold_abort_path_error_rad": 0.17453292519943295,
|
| 656 |
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|
| 657 |
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"tracking_threshold_max_lag_s": 0.1,
|
| 658 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 659 |
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"tracking_timing_pass": true,
|
| 660 |
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"tracking_timing_reason": "ok",
|
| 661 |
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"window_lag_best_lag_max_s": 1.5800000000000032,
|
| 662 |
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"window_lag_best_lag_median_s": 0.0,
|
| 663 |
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"window_lag_best_lag_min_s": 0.0,
|
| 664 |
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"window_lag_best_lag_p95_abs_s": 1.1795000000000022,
|
| 665 |
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"window_lag_count": 32,
|
| 666 |
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"window_lag_window_s": 1.0,
|
| 667 |
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"window_lag_worst_best_lag_s": 0.0,
|
| 668 |
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"window_lag_worst_end_s": 22.5,
|
| 669 |
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|
| 670 |
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"window_lag_worst_rms_error_rad": 0.0018595508901260317,
|
| 671 |
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|
| 672 |
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"zero_lag_max_error_rad": 0.005887627601623535,
|
| 673 |
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"zero_lag_p95_error_rad": 0.0018364973366260529,
|
| 674 |
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"zero_lag_rms_error_rad": 0.0008440437435380194,
|
| 675 |
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"zero_lag_samples": 1161,
|
| 676 |
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"zero_lag_worst_joint": 0,
|
| 677 |
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"zero_lag_worst_time_s": 15.527
|
| 678 |
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}
|
| 679 |
+
}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162114.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa4bc6f3753ae0d114c7d952f7745d3383cd07acf31bf8f7d1246976775ca139
|
| 3 |
+
size 122393
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.json
ADDED
|
@@ -0,0 +1,689 @@
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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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| 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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"target_wall_accel_p95_abs_rad_s2": 0.8355827331542969,
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| 644 |
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| 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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| 650 |
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| 651 |
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| 657 |
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| 658 |
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| 659 |
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|
| 660 |
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"tool_failures": 0,
|
| 661 |
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"tracking_geometry_pass": true,
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| 662 |
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"tracking_geometry_reason": "ok",
|
| 663 |
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"tracking_pass": true,
|
| 664 |
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"tracking_reason": "ok",
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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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| 670 |
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|
| 671 |
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|
| 672 |
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| 673 |
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|
| 674 |
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"window_lag_best_lag_p95_abs_s": 0.5530000000000015,
|
| 675 |
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"window_lag_count": 34,
|
| 676 |
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|
| 677 |
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| 678 |
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|
| 679 |
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| 680 |
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| 681 |
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| 682 |
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| 683 |
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"zero_lag_p95_error_rad": 0.0022043799981474876,
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| 684 |
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| 685 |
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"zero_lag_samples": 1193,
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| 686 |
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"zero_lag_worst_joint": 0,
|
| 687 |
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"zero_lag_worst_time_s": 25.064
|
| 688 |
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}
|
| 689 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162303.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 sha256:2f47026167aaaed92a6af20a2416c7e4646597a11a4209e08734ce68ca644bb8
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| 3 |
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size 128051
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.json
ADDED
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@@ -0,0 +1,677 @@
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"strict_tracking_reason": "ok",
|
| 631 |
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| 632 |
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| 633 |
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| 635 |
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| 644 |
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|
| 645 |
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| 646 |
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|
| 647 |
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"timestamp_count": 1174,
|
| 648 |
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|
| 649 |
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|
| 650 |
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"tracking_geometry_reason": "ok",
|
| 651 |
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"tracking_pass": true,
|
| 652 |
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"tracking_reason": "ok",
|
| 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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"tracking_timing_pass": true,
|
| 658 |
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"tracking_timing_reason": "ok",
|
| 659 |
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"window_lag_best_lag_max_s": 1.0900000000000025,
|
| 660 |
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|
| 661 |
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"window_lag_best_lag_min_s": -1.1599999999999993,
|
| 662 |
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"window_lag_best_lag_p95_abs_s": 1.1320000000000003,
|
| 663 |
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"window_lag_count": 29,
|
| 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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"window_lag_worst_rms_error_rad": 0.002289707800274716,
|
| 669 |
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|
| 670 |
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"zero_lag_max_error_rad": 0.007416784763336182,
|
| 671 |
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"zero_lag_p95_error_rad": 0.0020429554861038923,
|
| 672 |
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"zero_lag_rms_error_rad": 0.0009344108149771079,
|
| 673 |
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"zero_lag_samples": 1174,
|
| 674 |
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"zero_lag_worst_joint": 0,
|
| 675 |
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"zero_lag_worst_time_s": 24.377000000000002
|
| 676 |
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}
|
| 677 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_162509.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f78d85f6da8156df31a337bade5223ee168211ea1bfbe1059ded0eeba7581341
|
| 3 |
+
size 124417
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.json
ADDED
|
@@ -0,0 +1,674 @@
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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": "2026-10-26T16:31:26",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
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| 640 |
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|
| 641 |
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|
| 642 |
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| 643 |
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|
| 644 |
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|
| 645 |
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"tool_failures": 0,
|
| 646 |
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"tracking_geometry_pass": true,
|
| 647 |
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"tracking_geometry_reason": "ok",
|
| 648 |
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"tracking_pass": true,
|
| 649 |
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"tracking_reason": "ok",
|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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"tracking_threshold_rms_error_rad": 0.03490658503988659,
|
| 654 |
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"tracking_timing_pass": true,
|
| 655 |
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"tracking_timing_reason": "ok",
|
| 656 |
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|
| 657 |
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|
| 658 |
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"window_lag_best_lag_min_s": -1.0299999999999991,
|
| 659 |
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|
| 660 |
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"window_lag_count": 26,
|
| 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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"window_lag_worst_rms_error_rad": 0.002258981551452212,
|
| 666 |
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|
| 667 |
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"zero_lag_max_error_rad": 0.00555062061175704,
|
| 668 |
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"zero_lag_p95_error_rad": 0.0019224733114242554,
|
| 669 |
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"zero_lag_rms_error_rad": 0.0008142311039036845,
|
| 670 |
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"zero_lag_samples": 1136,
|
| 671 |
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"zero_lag_worst_joint": 3,
|
| 672 |
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"zero_lag_worst_time_s": 11.859
|
| 673 |
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}
|
| 674 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163125.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:46a8229340376aedf136aef2f2a4dc29c0593fde4c30a953f3a72ad86d799486
|
| 3 |
+
size 117543
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.json
ADDED
|
@@ -0,0 +1,668 @@
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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": "2026-10-26T16:33:11",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.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": 1133,
|
| 20 |
+
"actual_playback_duration_s": 37.78117878898047,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.006348729133605957,
|
| 23 |
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"aligned_p95_error_rad": 0.0018401551060378551,
|
| 24 |
+
"aligned_rms_error_rad": 0.0008197157613512556,
|
| 25 |
+
"aligned_samples": 1133,
|
| 26 |
+
"aligned_worst_joint": 5,
|
| 27 |
+
"aligned_worst_time_s": 16.307000000000002,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"capture_pipeline": "leadthrough_replay_measured_state_v1",
|
| 30 |
+
"completed": true,
|
| 31 |
+
"debug_sidecar_event_count": 0,
|
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|
| 652 |
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|
| 653 |
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|
| 654 |
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"window_lag_count": 29,
|
| 655 |
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"window_lag_window_s": 1.0,
|
| 656 |
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"window_lag_worst_best_lag_s": 0.010000000000001563,
|
| 657 |
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|
| 658 |
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|
| 659 |
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"window_lag_worst_rms_error_rad": 0.0020320668654707297,
|
| 660 |
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"window_lag_worst_start_s": 19.0,
|
| 661 |
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"zero_lag_max_error_rad": 0.006348729133605957,
|
| 662 |
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"zero_lag_p95_error_rad": 0.0018401551060378551,
|
| 663 |
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"zero_lag_rms_error_rad": 0.0008197157613512556,
|
| 664 |
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"zero_lag_samples": 1133,
|
| 665 |
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"zero_lag_worst_joint": 5,
|
| 666 |
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"zero_lag_worst_time_s": 16.307000000000002
|
| 667 |
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}
|
| 668 |
+
}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163310.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6faf8d50840b4100a27b4629a4dc7831c067e94f4590189000c76eed1223570d
|
| 3 |
+
size 117547
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.json
ADDED
|
@@ -0,0 +1,676 @@
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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": "2026-10-26T16:34:57",
|
| 9 |
+
"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
+
"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
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"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1143,
|
| 20 |
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"actual_playback_duration_s": 38.11044249602128,
|
| 21 |
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"aligned_best_lag_s": 0.010000000000001563,
|
| 22 |
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"aligned_max_error_rad": 0.01846921443939209,
|
| 23 |
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"aligned_p95_error_rad": 0.007274944800883532,
|
| 24 |
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"aligned_rms_error_rad": 0.0032924106522977566,
|
| 25 |
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"aligned_samples": 1138,
|
| 26 |
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"aligned_worst_joint": 5,
|
| 27 |
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"aligned_worst_time_s": 0.903,
|
| 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 |
+
"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.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": 1143,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1143,
|
| 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": 1.598324211374823,
|
| 44 |
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"image_frame_counts": {
|
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"zero_lag_max_error_rad": 0.7467712163925171,
|
| 670 |
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"zero_lag_p95_error_rad": 0.0018810826586559415,
|
| 671 |
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"zero_lag_rms_error_rad": 0.012285417562330056,
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| 672 |
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"zero_lag_samples": 1143,
|
| 673 |
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"zero_lag_worst_joint": 4,
|
| 674 |
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"zero_lag_worst_time_s": 0.0
|
| 675 |
+
}
|
| 676 |
+
}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163456.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:a25ab914ec8b97921450b148c7ffac0a0990c2864ffeccaed6f3cb1e629965c2
|
| 3 |
+
size 119925
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.json
ADDED
|
@@ -0,0 +1,674 @@
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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": "2026-10-26T16:38:20",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.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": {
|
| 19 |
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"action_frame_count": 1193,
|
| 20 |
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"actual_playback_duration_s": 39.78019545797724,
|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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"aligned_rms_error_rad": 0.010719857595657708,
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| 25 |
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"aligned_samples": 1193,
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| 26 |
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"aligned_worst_joint": 4,
|
| 27 |
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"aligned_worst_time_s": 0.34799999999999986,
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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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"debug_sidecar_event_count": 0,
|
| 32 |
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"debug_sidecar_json": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.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": 1193,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1193,
|
| 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": 1.6604831764401737,
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| 44 |
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"image_frame_counts": {
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| 45 |
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"cam_scene": 1193,
|
| 46 |
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"cam_wrist": 1193
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| 47 |
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},
|
| 48 |
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"joint_lag_best_lag_s": [
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| 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,
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| 53 |
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| 54 |
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| 55 |
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],
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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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| 62 |
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| 674 |
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}
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_163819.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7678e79a09a186062a492358070a1c7847d1ee6390ce7196a9b269fa87aa8cef
|
| 3 |
+
size 126121
|
flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json
ADDED
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@@ -0,0 +1,679 @@
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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": "2026-10-26T16:40:12",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.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": 1162,
|
| 20 |
+
"actual_playback_duration_s": 38.74728059704648,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.006707746535539627,
|
| 23 |
+
"aligned_p95_error_rad": 0.0020787124522030354,
|
| 24 |
+
"aligned_rms_error_rad": 0.000904715469423941,
|
| 25 |
+
"aligned_samples": 1162,
|
| 26 |
+
"aligned_worst_joint": 3,
|
| 27 |
+
"aligned_worst_time_s": 23.714,
|
| 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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.json",
|
| 33 |
+
"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1162,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1162,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.6060383236776292,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
+
"cam_scene": 1162,
|
| 46 |
+
"cam_wrist": 1162
|
| 47 |
+
},
|
| 48 |
+
"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
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0.0,
|
| 54 |
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0.0
|
| 55 |
+
],
|
| 56 |
+
"joint_lag_max_error_rad": [
|
| 57 |
+
0.003303706645965576,
|
| 58 |
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0.006408762186765671,
|
| 59 |
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0.00479048490524292,
|
| 60 |
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0.006707746535539627,
|
| 61 |
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0.00477069616317749,
|
| 62 |
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0.004953727126121521
|
| 63 |
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],
|
| 64 |
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"joint_lag_p95_error_rad": [
|
| 65 |
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0.001824562787078321,
|
| 66 |
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0.0020538843236863613,
|
| 67 |
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0.002065371721982956,
|
| 68 |
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0.0016709825722500682,
|
| 69 |
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0.002301441505551338,
|
| 70 |
+
0.0024799590464681387
|
| 71 |
+
],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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0.0008124298044712764,
|
| 74 |
+
0.000932672632021558,
|
| 75 |
+
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_164011.npz
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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": "2026-10-26T16:51:42",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.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": 1157,
|
| 20 |
+
"actual_playback_duration_s": 38.5772824199521,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.005073904991149902,
|
| 23 |
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"aligned_p95_error_rad": 0.0017767443787306547,
|
| 24 |
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"aligned_rms_error_rad": 0.0007592528424942929,
|
| 25 |
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"aligned_samples": 1157,
|
| 26 |
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"aligned_worst_joint": 4,
|
| 27 |
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"aligned_worst_time_s": 2.7079999999999997,
|
| 28 |
+
"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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165141.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1157,
|
| 38 |
+
"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1157,
|
| 40 |
+
"diagnostic_settle_samples": 0,
|
| 41 |
+
"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.4777736992894885,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
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"cam_scene": 1157,
|
| 46 |
+
"cam_wrist": 1157
|
| 47 |
+
},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
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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0.0014608734054490924,
|
| 68 |
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0.0012405611341819167,
|
| 69 |
+
0.002158260205760598,
|
| 70 |
+
0.002001630375161767
|
| 71 |
+
],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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|
| 74 |
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0.0007448610441201797,
|
| 75 |
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0.0006747494525531815,
|
| 76 |
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0.0005310158122608963,
|
| 77 |
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0.0008879991177776127,
|
| 78 |
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0.0008311430514594066
|
| 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": [
|
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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": "2026-10-26T16:53:34",
|
| 9 |
+
"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz",
|
| 11 |
+
"phase_labels": {
|
| 12 |
+
"0": "connect_to_path",
|
| 13 |
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"1": "return_to_start",
|
| 14 |
+
"2": "settle",
|
| 15 |
+
"3": "replay"
|
| 16 |
+
},
|
| 17 |
+
"reason": "rapid_planner_completed_candidate",
|
| 18 |
+
"summary": {
|
| 19 |
+
"action_frame_count": 1176,
|
| 20 |
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"actual_playback_duration_s": 39.21752356400248,
|
| 21 |
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"aligned_best_lag_s": 0.0,
|
| 22 |
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"aligned_max_error_rad": 0.006753876805305481,
|
| 23 |
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"aligned_p95_error_rad": 0.002048356458544731,
|
| 24 |
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"aligned_rms_error_rad": 0.0009454482556071248,
|
| 25 |
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"aligned_samples": 1176,
|
| 26 |
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"aligned_worst_joint": 1,
|
| 27 |
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"aligned_worst_time_s": 17.126,
|
| 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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.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": 1176,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1176,
|
| 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": 1.673888068803725,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1176,
|
| 46 |
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"cam_wrist": 1176
|
| 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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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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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0017164051532745361,
|
| 68 |
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0.0011443763505667448,
|
| 69 |
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0.002545788884162903,
|
| 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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0.0008100756087896315,
|
| 76 |
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0.0005290060870956016,
|
| 77 |
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0.0011439982532187433,
|
| 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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13.466,
|
| 93 |
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21.769000000000002,
|
| 94 |
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17.126
|
| 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,
|
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165333.npz
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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": "2026-10-26T16:55:22",
|
| 9 |
+
"event_log": [],
|
| 10 |
+
"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.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": 1189,
|
| 20 |
+
"actual_playback_duration_s": 39.644784718053415,
|
| 21 |
+
"aligned_best_lag_s": 0.0,
|
| 22 |
+
"aligned_max_error_rad": 0.006619679741561413,
|
| 23 |
+
"aligned_p95_error_rad": 0.0018525097984820604,
|
| 24 |
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"aligned_rms_error_rad": 0.0008406633410782045,
|
| 25 |
+
"aligned_samples": 1189,
|
| 26 |
+
"aligned_worst_joint": 3,
|
| 27 |
+
"aligned_worst_time_s": 16.43,
|
| 28 |
+
"attempt": 1,
|
| 29 |
+
"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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.json",
|
| 33 |
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"debug_sidecar_npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz",
|
| 34 |
+
"debug_sidecar_saved": true,
|
| 35 |
+
"diagnostic_connect_to_path_samples": 0,
|
| 36 |
+
"diagnostic_ramp_samples": 0,
|
| 37 |
+
"diagnostic_replay_samples": 1189,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
+
"diagnostic_samples": 1189,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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"dropped_arm_samples": 0,
|
| 42 |
+
"dropped_camera_samples": 0,
|
| 43 |
+
"duration_ratio": 1.6141356100343396,
|
| 44 |
+
"image_frame_counts": {
|
| 45 |
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"cam_scene": 1189,
|
| 46 |
+
"cam_wrist": 1189
|
| 47 |
+
},
|
| 48 |
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"joint_lag_best_lag_s": [
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 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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0.0017832397716119885,
|
| 66 |
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0.001694965292699635,
|
| 67 |
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0.0017573474906384945,
|
| 68 |
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0.0010908587137237191,
|
| 69 |
+
0.002275418257340789,
|
| 70 |
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0.002516879001632333
|
| 71 |
+
],
|
| 72 |
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"joint_lag_rms_error_rad": [
|
| 73 |
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|
| 74 |
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0.0008005153748491278,
|
| 75 |
+
0.0008110724743628312,
|
| 76 |
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0.0006495540149310117,
|
| 77 |
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0.0009355140618506919,
|
| 78 |
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0.0010370575548066233
|
| 79 |
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],
|
| 80 |
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"joint_lag_samples": [
|
| 81 |
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|
| 82 |
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1189,
|
| 83 |
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1189,
|
| 84 |
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|
| 85 |
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1189,
|
| 86 |
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1189
|
| 87 |
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],
|
| 88 |
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"joint_lag_worst_time_s": [
|
| 89 |
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22.608999999999998,
|
| 90 |
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|
| 91 |
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18.761,
|
| 92 |
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16.43,
|
| 93 |
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16.454,
|
| 94 |
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22.409
|
| 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,
|
| 100 |
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"leadthrough_capture_controller_tm_gap_warn": false,
|
| 101 |
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"leadthrough_capture_controller_tm_gap_warn_count": 0,
|
| 102 |
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"leadthrough_capture_dropped_ticks": 0,
|
| 103 |
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"leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
|
| 104 |
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"leadthrough_capture_egm_client_seqno_gap_count_final": 0,
|
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165521.npz
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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 |
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},
|
| 8 |
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"created_at": "2026-10-26T16:57:22",
|
| 9 |
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"event_log": [],
|
| 10 |
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"npz": "/home/hardware/abb_staging/abb_data/flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz",
|
| 11 |
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"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": 1171,
|
| 20 |
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"actual_playback_duration_s": 39.05145573604386,
|
| 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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"aligned_samples": 1171,
|
| 26 |
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|
| 27 |
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"aligned_worst_time_s": 21.73,
|
| 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/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.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": 1171,
|
| 38 |
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"diagnostic_return_to_start_samples": 0,
|
| 39 |
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"diagnostic_samples": 1171,
|
| 40 |
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"diagnostic_settle_samples": 0,
|
| 41 |
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|
| 42 |
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"dropped_camera_samples": 0,
|
| 43 |
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"duration_ratio": 1.6684378251749064,
|
| 44 |
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"image_frame_counts": {
|
| 45 |
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"cam_scene": 1171,
|
| 46 |
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"cam_wrist": 1171
|
| 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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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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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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0.0006419727578759193,
|
| 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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0.00037137455254890566,
|
| 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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4.388,
|
| 93 |
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21.714000000000002,
|
| 94 |
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21.73
|
| 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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|
| 99 |
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"leadthrough_capture_controller_tm_dt_p99_s": 0.005000000121071935,
|
| 100 |
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"leadthrough_capture_controller_tm_gap_warn": false,
|
| 101 |
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"leadthrough_capture_controller_tm_gap_warn_count": 0,
|
| 102 |
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|
| 103 |
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"leadthrough_capture_egm_client_seqno_gap_count_delta": 0,
|
| 104 |
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"leadthrough_capture_egm_client_seqno_gap_count_final": 0,
|
| 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": 24,
|
| 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": 0.005988122953567654,
|
| 110 |
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"leadthrough_capture_egm_poll_duration_median_s": 0.003951544989831746,
|
| 111 |
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"leadthrough_capture_egm_poll_duration_p95_s": 0.004452706052688882,
|
| 112 |
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"leadthrough_capture_egm_poll_duration_p99_s": 0.004595389231108128,
|
| 113 |
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"leadthrough_capture_egm_poll_duration_warn_count": 2608,
|
| 114 |
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"leadthrough_capture_egm_recorded_seqno_jump_count": 0,
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flex_to_biotek_v2/raw/2026-10-26_15-52-29/playback_debug/playback_attempt_001_rapid_planner_completed_candidate_20261026_165721.npz
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