88 lines
2.7 KiB
JSON
88 lines
2.7 KiB
JSON
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{
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"enabled": [
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"h3",
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"h4",
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"bilateral",
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"network"
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],
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"h3": {
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"include_methods": [
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"proposed_energy"
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],
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"force_scale": 1.0,
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"epsilon_energy_J": 1e-12,
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"minimum_power_activity_J": 0.001
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},
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"h4": {
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"include_methods": [
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"proposed_energy"
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],
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"epsilon_torque_impulse_Nms": 1e-12,
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"audit_tolerance_J": 1e-10
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},
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"bilateral": {
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"include_methods": [
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"proposed_energy"
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],
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"projection_tolerance": 1e-12,
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"contact_force_threshold_N": 0.000001,
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"required_audit_fields": [
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"wall_force_raw_N",
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"wall_force_applied_N",
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"wall_force_saturation_active",
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"configured_wall_force_limit_N",
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"master_joint_limit_active",
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"slave_joint_limit_active",
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"master_velocity_limit_active",
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"slave_velocity_limit_active",
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"master_acceleration_limit_active",
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"slave_acceleration_limit_active",
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"master_torque_saturation_active",
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"slave_torque_saturation_active",
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"haptic_rate_limit_active",
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"haptic_torque_saturation_active",
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"energy_probe_raw_work_J",
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"h3_eligible"
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],
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"gates": {
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"minimum_contact_fraction": 0.0,
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"minimum_contact_rms_N": 0.0,
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"maximum_force_limit_hit_fraction": 0.0,
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"minimum_force_headroom_N": 1.0,
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"maximum_master_tracking_rmse_rad": 0.08,
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"maximum_slave_tracking_rmse_rad": 0.08,
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"minimum_projection_intervention_fraction": 0.0,
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"maximum_projection_intervention_fraction": 0.05,
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"maximum_limit_active_fraction": 0.0,
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"minimum_energy_probe_raw_work_J": 0.0
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}
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},
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"network": {
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"include_methods": [
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"proposed_energy"
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],
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"gates": {
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"maximum_slave_zero_delay_tracking_rmse_rad": 0.06,
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"minimum_forward_active_fraction": 0.98,
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"minimum_return_active_fraction": 0.98,
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"minimum_forward_fresh_fraction": 0.09,
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"minimum_return_fresh_fraction": 0.5,
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"maximum_forward_internal_missing_fraction": 0.05,
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"maximum_return_internal_missing_fraction": 0.5,
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"maximum_forward_timeout_fraction": 0.0,
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"maximum_return_timeout_fraction": 0.0,
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"maximum_forward_packet_age_s": 0.1,
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"maximum_return_packet_age_s": 0.08,
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"minimum_contact_fraction": 0.3,
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"minimum_contact_rms_N": 0.1,
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"maximum_free_space_contact_force_N": 0.000001
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},
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"paired_gates": {
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"nominal_profile_id": "nominal",
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"maximum_tracking_rmse_delta_vs_nominal_rad": 0.005,
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"maximum_abs_contact_rms_relative_change_vs_nominal": 0.1
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}
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},
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"status": "Complete-grid Stage-B calibration thresholds; H3 is descriptive, freshness is distinct from active hold, and the frozen values require a disjoint-seed locked confirmation"
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}
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