imp_lag_bounded — cocarry_partners@v2

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

Identity. partner_id a1d7304eb9f423a6 · parameter digest fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f · weights_uri member://cocarry_impedance/fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f

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	[0.035, 0.045]	0.0353
ki	[0.5, 0.7]	0.6211
kp	[2.3, 2.7]	2.5576
lag_steps	[3, 6] (int)	5
step_max	[0.028, 0.032]	0.0294

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_lag_bounded/, 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	0.2697
action_abs_p90	1
action_std	0.4174
n_episodes	20
stress_max	77.31
stress_mean	67.11
stress_p50	66.69
stress_p90	70.72
success_rate	1

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