imp_slow — cocarry_partners@v2
Set. cocarry_partners@v2 (task cocarry@v1) · Stratum. scripted · Split. private · Role. partner_arm
Identity. partner_id e4a8042f3c362fde · parameter digest f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd · weights_uri member://cocarry_impedance/f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd
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)). Private member: the exact values are withheld (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
| parameter | committed box | value |
|---|---|---|
damping |
[0.035, 0.045] | withheld |
ki |
[0.5, 0.7] | withheld |
kp |
[2.3, 2.7] | withheld |
lag_steps |
[0, 0] (int) | withheld |
step_max |
[0.016, 0.021] | withheld |
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_slow/, 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 |
0.2418 |
action_abs_p90 |
1 |
action_std |
0.3752 |
n_episodes |
20 |
stress_max |
85.07 |
stress_mean |
60.45 |
stress_p50 |
62.41 |
stress_p90 |
69.27 |
success_rate |
1 |
Competence floor. floor probe fingerprint — success 1 vs committed floor 0.75 → PASS