Anka He Chen

Arm	Completed runs	Retained through hold	Mean J* mm	Mean V* m/s	Mean overlap mm	Mean substep ms
One-sided (closing only; previous default)	7/7	5/7	25.44	0.495	0.780	23.74
Bidirectional (new default)	7/7	5/7	26.64	0.497	1.093	18.78

Means use the 7 cases completed in both arms.

Case	Robot	Rows	Arm	Hold	Release	J* mm	V* m/s	Windows	Overlap mm	Substep ms	Finite
`m2_franka_pouch`	Franka	512	One-sided (closing only; previous default)	separated at 4.5 s	hand clear at end (from 4.5 s)	16.96	0.695	120	0.998	57.66	yes
`m2_franka_pouch`	Franka	512	Bidirectional (new default)	separated at 42.0 s	hand clear at end (from 42.0 s)	28.34	0.532	120	0.998	23.29	yes
`m3_franka_tote_empty`	Franka	128	One-sided (closing only; previous default)	separated at 7.3 s	hand clear at end (from 7.3 s)	50.08	1.072	120	1.838	10.47	yes
`m3_franka_tote_empty`	Franka	128	Bidirectional (new default)	separated at 17.9 s	hand clear at end (from 17.9 s)	53.65	1.233	120	1.006	9.97	yes
`r5_allegro_towel`	Allegro	512	One-sided (closing only; previous default)	retained through hold	hand clear at end (from 68.6 s)	22.88	0.371	120	0.901	11.11	yes
`r5_allegro_towel`	Allegro	512	Bidirectional (new default)	retained through hold	hand clear at end (from 68.7 s)	21.61	0.372	120	2.938	11.20	yes
`r5_franka_dress`	Franka	512	One-sided (closing only; previous default)	retained through hold	hand clear at end (from 68.6 s)	24.55	0.344	120	0.209	27.20	yes
`r5_franka_dress`	Franka	512	Bidirectional (new default)	retained through hold	hand clear at end (from 69.4 s)	23.34	0.348	120	0.000	30.73	yes
`r5_franka_patch_contact_v2`	Franka	512	One-sided (closing only; previous default)	retained through hold	hand clear at end (from 68.4 s)	20.67	0.324	120	0.712	15.44	yes
`r5_franka_patch_contact_v2`	Franka	512	Bidirectional (new default)	retained through hold	hand clear at end (from 68.4 s)	21.16	0.334	120	2.710	20.44	yes
`r5_franka_towel_contact_v2`	Franka	512	One-sided (closing only; previous default)	retained through hold	hand clear at end (from 68.3 s)	24.45	0.359	120	0.799	16.31	yes
`r5_franka_towel_contact_v2`	Franka	512	Bidirectional (new default)	retained through hold	hand clear at end (from 69.0 s)	20.50	0.355	120	0.000	12.46	yes
`r5_franka_trousers`	Franka	64	One-sided (closing only; previous default)	retained through hold	hand clear at end (from 68.7 s)	18.52	0.301	120	0.000	27.98	yes
`r5_franka_trousers`	Franka	64	Bidirectional (new default)	retained through hold	hand clear at end (from 69.4 s)	17.85	0.301	120	0.000	23.38	yes

All attempts

Case	Arm	Storage	Status	Stopped at s	Hold	J* mm	V* m/s	Windows
`m2_franka_pouch`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	separated at 4.5 s	16.96	0.695	120
`m2_franka_pouch`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	separated at 42.0 s	28.34	0.532	120
`m3_franka_tote_empty`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	separated at 7.3 s	50.08	1.072	120
`m3_franka_tote_empty`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	separated at 17.9 s	53.65	1.233	120
`r5_allegro_towel`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	retained through hold	22.91	0.374	120
`r5_allegro_towel`	One-sided (closing only; previous default)	512-row repeat	completed	completed	retained through hold	22.88	0.371	120
`r5_allegro_towel`	Bidirectional (new default)	as selected by the synced-main campaign	error	67.90	run error	23.60	0.375	120
`r5_allegro_towel`	Bidirectional (new default)	512-row repeat	completed	completed	retained through hold	21.61	0.372	120
`r5_franka_dress`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	retained through hold	24.55	0.344	120
`r5_franka_dress`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	retained through hold	23.34	0.348	120
`r5_franka_patch_contact_v2`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	retained through hold	20.67	0.324	120
`r5_franka_patch_contact_v2`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	retained through hold	21.16	0.334	120
`r5_franka_towel_contact_v2`	One-sided (closing only; previous default)	as selected by the synced-main campaign	error	68.67	run error	24.11	0.358	120
`r5_franka_towel_contact_v2`	One-sided (closing only; previous default)	512-row repeat	completed	completed	retained through hold	24.45	0.359	120
`r5_franka_towel_contact_v2`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	retained through hold	22.77	0.351	120
`r5_franka_towel_contact_v2`	Bidirectional (new default)	512-row repeat	completed	completed	retained through hold	20.50	0.355	120
`r5_franka_trousers`	One-sided (closing only; previous default)	as selected by the synced-main campaign	completed	completed	retained through hold	18.52	0.301	120
`r5_franka_trousers`	Bidirectional (new default)	as selected by the synced-main campaign	completed	completed	retained through hold	17.85	0.301	120

Context: synced main 351b9d9f, one-sided damping (2026-11-02 campaign)

Case	Hold (synced main)	J* mm	V* m/s	Overlap mm	Substep ms
`m2_franka_pouch`	separated at 49.5 s	27.72	0.458	0.998	14.18
`m3_franka_tote_empty`	separated at 13.0 s	53.47	1.330	2.683	11.68
`r5_allegro_towel`	retained through hold	23.05	0.369	0.892	11.00
`r5_franka_dress`	retained through hold	25.84	0.383	0.098	22.34
`r5_franka_patch_contact_v2`	retained through hold	20.47	0.328	0.822	12.30
`r5_franka_towel_contact_v2`	retained through hold	24.67	0.356	0.592	11.64
`r5_franka_trousers`	retained through hold	18.21	0.301	0.277	19.17

Poker cards (added 2026-11-04 afternoon)

Demo example_cloth_poker_cards, ball disabled, issue-3494 harness (settle score = mean over frames 40 to 79 of the largest card-vertex speed):

Mode	Run	Settle score m/s	Mean kinetic energy J	Verdict
One-sided (closing only; previous default)	1	0.615	2.33e-3	bouncy
One-sided (closing only; previous default)	2	0.630	2.38e-3	bouncy
Bidirectional (new default)	1	0.0705	5.12e-5	settled
Bidirectional (new default)	2	0.0704	4.84e-5	settled

Benchmark passive scene s4_poker_cards_no_ball (65 s, no hold or release criteria):

Arm	J* mm	V* m/s	Windows	Overlap mm	Substep ms	Finite
One-sided (closing only; previous default)	16.36	0.421	120	0.782	4.53	yes
Bidirectional (new default)	15.61	0.422	120	0.864	6.19	yes
Synced-main campaign 2026-11-04 (one-sided, other source revision)	19.33	0.402	n/a	0.800	n/a	n/a

Arm labels: the one-sided runs used contact_damping_bidirectional=False, the bidirectional runs True; the constructor default became True on the branch on 2026-11-04 afternoon, after the runs.