imp_blend_c — cocarry_partners@v2

Set. cocarry_partners@v2 (task cocarry@v1) · Stratum. scripted · Split. public · Role. partner_arm

Identity. partner_id 1d575685149b7174 · parameter digest cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0 · weights_uri member://cocarry_impedance/cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0

What this partner does

A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. kp/ki set the Cartesian PI gains, step_max the per-step command clip (response speed), damping the pseudo-inverse regularisation, and lag_steps a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).

Construction provenance

Built from registry class cocarry_impedance (PartnerSpec(seed=0, checkpoint_step=None)). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.

parameter	committed box	value
damping	[0.02, 0.08]	0.0281
ki	[0.4, 0.8]	0.7293
kp	[1.3, 3.8]	1.4134
lag_steps	[0, 3] (int)	2
step_max	[0.02, 0.04]	0.0391

Behavioural fingerprint

Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: spikes/results/partner-fingerprints/cocarry_partners-v2/imp_blend_c/, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).

statistic	value
action_abs_mean	0.3616
action_abs_p90	1
action_std	0.4797
n_episodes	20
stress_max	100.7
stress_mean	80.84
stress_p50	81.86
stress_p90	96.13
success_rate	1

Competence floor. floor probe fingerprint — success 1 vs committed floor 0.75 → PASS