82 lines
2.0 KiB
JSON
82 lines
2.0 KiB
JSON
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{
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"study_id": "g0c_bilateral_locked_v3_energy_challenge",
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"split": "locked",
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"root_seed": 2026072742,
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"replicates": 20,
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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_supervisor_stress_locked",
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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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2026072743
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],
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"stable_contact_selection": [
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{
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"source_study_id": "g0c_bilateral_locked_v3_stable_contact",
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"environment_profile_id": "locked_k3200",
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"haptic_profile_id": "locked_gain_035_wide_tank",
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"required_gate": "bilateral_stable_contact_gate_pass",
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"selection_status": "locked_protocol"
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}
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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": "locked_mechanics_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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"haptic_profile": [
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{
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"profile_id": "locked_velocity_aligned_generalized_stress",
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"feedback_strength": 0.35,
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"energy_min": 0.0,
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"energy_max": 0.002,
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"energy_initial": 0.002,
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"energy_probe_mode": "velocity_aligned_generalized",
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"energy_probe_torque_Nm": 0.0395,
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"energy_probe_start_fraction": 0.2,
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"energy_probe_end_fraction": 0.4
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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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"h3_eligible": false,
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"status": "Locked 20-replicate synthetic H4 stress with a disjoint data root; the upstream generalized probe remains ineligible for H3 and is not a physical environment input"
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}
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