56 lines
967 B
JSON
56 lines
967 B
JSON
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{
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"study_id": "g0c_bilateral_locked_template_v1",
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"split": "locked",
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"root_seed": 2026072713,
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"replicates": 20,
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"methods": [
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"proposed_energy",
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"proposed_no_energy",
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"direct_energy",
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"matched_wrench_energy",
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"proposed_popc"
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],
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"trajectories": [
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{
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"id": "free_space_roundtrip_locked",
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"family": "free_space",
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"duration_s": 4.0,
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"contact_probe_fraction": 0.0
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},
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{
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"id": "contact_roundtrip_locked",
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"family": "contact_roundtrip",
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"duration_s": 4.0,
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"contact_probe_fraction": 0.03
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}
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],
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"factors": {
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"map_policy": [
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"current",
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"source_stamped"
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],
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"return_delay_s": [
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0.0,
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0.04,
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0.08,
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0.12
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],
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"return_jitter_s": [
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0.0,
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0.004
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],
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"return_packet_loss": [
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0.0,
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0.02
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],
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"wall_damping": [
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30.0
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],
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"wall_stiffness": [
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300.0,
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600.0,
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900.0
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]
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}
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}
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