51 lines
891 B
JSON
51 lines
891 B
JSON
|
{
|
||
|
|
"study_id": "g0c_bilateral_calibration_v1",
|
||
|
|
"split": "calibration",
|
||
|
|
"root_seed": 2026072703,
|
||
|
|
"replicates": 2,
|
||
|
|
"methods": [
|
||
|
|
"proposed_energy",
|
||
|
|
"proposed_no_energy",
|
||
|
|
"direct_energy",
|
||
|
|
"matched_wrench_energy",
|
||
|
|
"proposed_popc"
|
||
|
|
],
|
||
|
|
"trajectories": [
|
||
|
|
{
|
||
|
|
"id": "free_space_roundtrip",
|
||
|
|
"family": "free_space",
|
||
|
|
"duration_s": 1.2,
|
||
|
|
"contact_probe_fraction": 0.0
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"id": "contact_roundtrip",
|
||
|
|
"family": "contact_roundtrip",
|
||
|
|
"duration_s": 1.2,
|
||
|
|
"contact_probe_fraction": 0.02
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"factors": {
|
||
|
|
"map_policy": [
|
||
|
|
"current",
|
||
|
|
"source_stamped"
|
||
|
|
],
|
||
|
|
"return_delay_s": [
|
||
|
|
0.0,
|
||
|
|
0.08
|
||
|
|
],
|
||
|
|
"return_jitter_s": [
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"return_packet_loss": [
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"wall_damping": [
|
||
|
|
30.0
|
||
|
|
],
|
||
|
|
"wall_stiffness": [
|
||
|
|
400.0,
|
||
|
|
800.0
|
||
|
|
]
|
||
|
|
}
|
||
|
|
}
|