130 lines
3.6 KiB
JSON
130 lines
3.6 KiB
JSON
|
{
|
||
|
|
"study_id": "g0c_bilateral_network_v3_screening",
|
||
|
|
"split": "calibration",
|
||
|
|
"root_seed": 2026072751,
|
||
|
|
"replicates": 3,
|
||
|
|
"methods": [
|
||
|
|
"proposed_energy"
|
||
|
|
],
|
||
|
|
"trajectories": [
|
||
|
|
{
|
||
|
|
"id": "free_space_network_roundtrip",
|
||
|
|
"family": "free_space",
|
||
|
|
"duration_s": 6.0,
|
||
|
|
"contact_probe_fraction": 0.0
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"id": "slow_contact_network_roundtrip",
|
||
|
|
"family": "contact_roundtrip",
|
||
|
|
"duration_s": 6.0,
|
||
|
|
"contact_probe_fraction": 0.0
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"factors": {
|
||
|
|
"bilateral_data_root_seed": [
|
||
|
|
2026072753
|
||
|
|
],
|
||
|
|
"bilateral_pair_network_profiles": [
|
||
|
|
true
|
||
|
|
],
|
||
|
|
"network_common_random_numbers": [
|
||
|
|
true
|
||
|
|
],
|
||
|
|
"stable_contact_selection": [
|
||
|
|
{
|
||
|
|
"source_study_id": "g0c_bilateral_calibration_v3_stable_contact",
|
||
|
|
"environment_profile_id": "stable_candidate_k3200",
|
||
|
|
"haptic_profile_id": "gain_035_wide_tank",
|
||
|
|
"required_gate": "bilateral_stable_contact_gate_pass",
|
||
|
|
"selection_status": "expanded_20_seed_calibration_pass"
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"map_policy": [
|
||
|
|
"source_stamped"
|
||
|
|
],
|
||
|
|
"environment_profile": [
|
||
|
|
{
|
||
|
|
"profile_id": "network_screen_k3200",
|
||
|
|
"duration": 6.0,
|
||
|
|
"mapping_hz": 50.0,
|
||
|
|
"wall_fraction": 0.5,
|
||
|
|
"stiffness": 3200.0,
|
||
|
|
"damping": 25.0,
|
||
|
|
"force_limit": 20.0,
|
||
|
|
"transition_depth": 0.001,
|
||
|
|
"probe_fraction": 0.0,
|
||
|
|
"contact_probe_cycles": 0.0
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"haptic_profile": [
|
||
|
|
{
|
||
|
|
"profile_id": "network_screen_gain_035_wide_tank",
|
||
|
|
"feedback_strength": 0.35,
|
||
|
|
"energy_min": 0.0,
|
||
|
|
"energy_max": 2.0,
|
||
|
|
"energy_initial": 1.0,
|
||
|
|
"energy_probe_mode": "none",
|
||
|
|
"energy_probe_torque_Nm": 0.0
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"network_profile": [
|
||
|
|
{
|
||
|
|
"profile_id": "nominal",
|
||
|
|
"forward_delay_s": 0.0,
|
||
|
|
"return_delay_s": 0.0,
|
||
|
|
"forward_jitter_s": 0.0,
|
||
|
|
"return_jitter_s": 0.0,
|
||
|
|
"forward_packet_loss": 0.0,
|
||
|
|
"return_packet_loss": 0.0,
|
||
|
|
"forward_timeout_s": 0.2,
|
||
|
|
"return_timeout_s": 0.2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"profile_id": "symmetric_delay_40ms",
|
||
|
|
"forward_delay_s": 0.04,
|
||
|
|
"return_delay_s": 0.04,
|
||
|
|
"forward_jitter_s": 0.0,
|
||
|
|
"return_jitter_s": 0.0,
|
||
|
|
"forward_packet_loss": 0.0,
|
||
|
|
"return_packet_loss": 0.0,
|
||
|
|
"forward_timeout_s": 0.2,
|
||
|
|
"return_timeout_s": 0.2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"profile_id": "asymmetric_delay_20_60ms",
|
||
|
|
"forward_delay_s": 0.02,
|
||
|
|
"return_delay_s": 0.06,
|
||
|
|
"forward_jitter_s": 0.0,
|
||
|
|
"return_jitter_s": 0.0,
|
||
|
|
"forward_packet_loss": 0.0,
|
||
|
|
"return_packet_loss": 0.0,
|
||
|
|
"forward_timeout_s": 0.2,
|
||
|
|
"return_timeout_s": 0.2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"profile_id": "symmetric_40ms_jitter_4ms",
|
||
|
|
"forward_delay_s": 0.04,
|
||
|
|
"return_delay_s": 0.04,
|
||
|
|
"forward_jitter_s": 0.004,
|
||
|
|
"return_jitter_s": 0.004,
|
||
|
|
"forward_packet_loss": 0.0,
|
||
|
|
"return_packet_loss": 0.0,
|
||
|
|
"forward_timeout_s": 0.2,
|
||
|
|
"return_timeout_s": 0.2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"profile_id": "symmetric_40ms_loss_2pct",
|
||
|
|
"forward_delay_s": 0.04,
|
||
|
|
"return_delay_s": 0.04,
|
||
|
|
"forward_jitter_s": 0.0,
|
||
|
|
"return_jitter_s": 0.0,
|
||
|
|
"forward_packet_loss": 0.02,
|
||
|
|
"return_packet_loss": 0.02,
|
||
|
|
"forward_timeout_s": 0.2,
|
||
|
|
"return_timeout_s": 0.2
|
||
|
|
}
|
||
|
|
]
|
||
|
|
},
|
||
|
|
"status": "Three-seed paired Stage-B calibration only: deterministic IID delay/jitter/loss emulation with common random numbers; not a real-network or locked statistical claim"
|
||
|
|
}
|