52 lines
1.1 KiB
JSON
52 lines
1.1 KiB
JSON
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{
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"study_id": "g0c_bilateral_calibration_example",
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"split": "calibration",
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"root_seed": 20260727,
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"replicates": 2,
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"methods": [
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"proposed_energy",
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"direct_energy",
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"proposed_no_energy",
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"matched_wrench_energy",
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"popc"
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],
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"trajectories": [
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{
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"trajectory_id": "free_space_001",
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"family": "free_space_workspace_sweep"
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},
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{
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"trajectory_id": "contact_001",
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"family": "approach_contact_return"
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},
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{
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"trajectory_id": "multi_axis_001",
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"family": "multi_axis_contact_probe"
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},
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{
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"trajectory_id": "boundary_001",
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"family": "limit_singularity_degeneracy"
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}
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],
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"factors": {
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"delay_ms": [0, 40, 80, 120],
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"environment": [
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{
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"stiffness_N_per_m": 200,
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"damping_Ns_per_m": 15
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},
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{
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"stiffness_N_per_m": 500,
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"damping_Ns_per_m": 30
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},
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{
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"stiffness_N_per_m": 800,
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"damping_Ns_per_m": 45
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}
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]
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},
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"metadata": {
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"status": "example only; do not treat as a locked protocol"
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}
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}
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