58 lines
1.7 KiB
JSON
58 lines
1.7 KiB
JSON
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{
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"enabled": [
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"h3",
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"h4",
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"bilateral"
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],
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"h3": {
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"force_scale": 1.0,
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"epsilon_energy_J": 1e-12,
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"minimum_power_activity_J": 0.001
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},
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"h4": {
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"include_methods": [
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"proposed_energy"
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],
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"epsilon_torque_impulse_Nms": 1e-12,
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"audit_tolerance_J": 1e-10
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},
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"bilateral": {
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"include_methods": [
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"proposed_energy"
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],
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"projection_tolerance": 1e-12,
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"contact_force_threshold_N": 0.000001,
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"required_audit_fields": [
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"wall_force_raw_N",
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"wall_force_applied_N",
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"wall_force_saturation_active",
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"configured_wall_force_limit_N",
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"master_joint_limit_active",
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"slave_joint_limit_active",
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"master_velocity_limit_active",
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"slave_velocity_limit_active",
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"master_acceleration_limit_active",
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"slave_acceleration_limit_active",
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"master_torque_saturation_active",
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"slave_torque_saturation_active",
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"haptic_rate_limit_active",
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"haptic_torque_saturation_active",
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"energy_probe_raw_work_J",
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"h3_eligible"
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],
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"gates": {
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"minimum_contact_fraction": 0.01,
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"minimum_contact_rms_N": 0.1,
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"maximum_force_limit_hit_fraction": 0.0,
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"minimum_force_headroom_N": 1.0,
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"maximum_master_tracking_rmse_rad": 0.08,
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"maximum_slave_tracking_rmse_rad": 0.08,
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"minimum_projection_intervention_fraction": 0.0,
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"maximum_projection_intervention_fraction": 0.0,
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"maximum_limit_active_fraction": 0.0,
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"minimum_energy_probe_raw_work_J": 0.0
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}
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},
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"status": "Calibration gates use contact-active RMS, require observable contact, and reject any wall force-limit hit; thresholds are provisional and must be frozen only after the complete calibration grid"
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}
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