100 lines
2.4 KiB
JSON
100 lines
2.4 KiB
JSON
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{
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"study_id": "g0c_bilateral_calibration_v3_stable_contact",
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"split": "calibration",
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"root_seed": 2026072731,
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"replicates": 3,
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"methods": [
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"proposed_energy"
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],
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"trajectories": [
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{
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"id": "slow_contact_approach",
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"family": "contact_roundtrip",
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"duration_s": 6.0,
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"contact_probe_fraction": 0.0
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}
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],
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"factors": {
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"bilateral_data_root_seed": [
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2026072733
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],
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"map_policy": [
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"source_stamped"
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],
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"environment_profile": [
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{
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"profile_id": "stable_candidate_k3200",
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"duration": 6.0,
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"mapping_hz": 50.0,
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"wall_fraction": 0.5,
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"stiffness": 3200.0,
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"damping": 25.0,
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"force_limit": 20.0,
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"transition_depth": 0.001,
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"probe_fraction": 0.0,
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"contact_probe_cycles": 0.0
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},
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{
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"profile_id": "stiff_candidate_k6400",
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"duration": 6.0,
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"mapping_hz": 50.0,
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"wall_fraction": 0.5,
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"stiffness": 6400.0,
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"damping": 25.0,
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"force_limit": 20.0,
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"transition_depth": 0.001,
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"probe_fraction": 0.0,
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"contact_probe_cycles": 0.0
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}
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],
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"haptic_profile": [
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{
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"profile_id": "gain_020_wide_tank",
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"feedback_strength": 0.2,
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"energy_min": 0.0,
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"energy_max": 2.0,
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"energy_initial": 1.0,
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"energy_probe_mode": "none",
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"energy_probe_torque_Nm": 0.0
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},
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{
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"profile_id": "gain_035_wide_tank",
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"feedback_strength": 0.35,
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"energy_min": 0.0,
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"energy_max": 2.0,
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"energy_initial": 1.0,
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"energy_probe_mode": "none",
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"energy_probe_torque_Nm": 0.0
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},
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{
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"profile_id": "gain_050_wide_tank",
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"feedback_strength": 0.5,
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"energy_min": 0.0,
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"energy_max": 2.0,
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"energy_initial": 1.0,
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"energy_probe_mode": "none",
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"energy_probe_torque_Nm": 0.0
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}
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],
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"forward_delay_s": [
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0.0
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],
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"return_delay_s": [
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0.0
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],
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"forward_jitter_s": [
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0.0
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],
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"return_jitter_s": [
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0.0
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],
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"forward_packet_loss": [
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0.0
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],
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"return_packet_loss": [
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0.0
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]
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},
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"status": "Three-seed calibration grid only, not frozen evidence: slow 6 s contact, no trajectory probe or network impairment; haptic gains share exogenous streams within each replicate and stiffness profile"
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}
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