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"029bb4e3eb39afe2f1933a7935842dacf2f27f2e204ecf985a7ba3e988576366", "definition": "Positive exposure means applied_jaw_target_m - normal_rate_limited_jaw_target_m > 1e-9 metres at a logged 1 ms native tick, including a rate-limited closing tail.", "limitations": [ "This is effective actuator-target exposure, not a measured physical displacement, force impulse or proven grip loss.", "The logged normal target is contemporaneous with the perturbed trajectory; it is not a rerun of the no-pulse counterfactual.", "A scheduled pulse can have zero positive target effect when the policy already requests an equally open jaw.", "Counts concern only the 60 scheduled interrupted confirmation attempts; nominal attempts are excluded by design." ], "loaded_definition": "Both finger contact counts > 0 and both pad normal forces > 0.01 N; support means table-object contact count > 0.", "native_dt_s": 0.001, "native_physics_run": false, "physical_robot_ready": false, "positive_delta_threshold_m": 1e-09, "protocol_sha256": "c35622d4ddc7e6868fd609a5665e931d45788345cd9ed2238fbb9ebac5b24fc9", "report_sha256": "b2417ba4733afeb8239eb768a3daac827f4faf271a8b4df5384b7454e827e6ec", "schema": "dvidia.piper-jaw-pulse-exposure/v1", "status": "completed", "timing_definition": "Rows are post-physics. First effect step start is the first positive row timestamp minus 1 ms. The preceding completed native row supplies the pre-effect contact state." }