Correct term: MU_SLIP (used as MU_SLIP_ANCHOR in the refactored code)
Correct term and value Correct term: MU_SLIP (used as MU_SLIP_ANCHOR in the refactored code) Correct value used in the Model B prototype correction: 0.45 You saw "MU_CLUTCH": 0.5 in a printout — that is the old/legacy name and a different value. The corrected, canonical name after the Model B “valve” fix is MU_SLIP (anchor constant MU_SLIP_ANCHOR = 0.45) and the runtime key in adaptive_params is 'MU_SLIP'. What to change (exact, copy‑paste) 1) Replace legacy constant python # OLD MU_CLUTCH = 0.5 # NEW (canonical) MU_SLIP_ANCHOR = 0.45 2) Ensure adaptive params use the canonical key python adaptive_params = { ... 'MU_SLIP': adaptive_params.get('MU_SLIP', MU_SLIP_ANCHOR), ... } 3) Replace any runtime references Search for MU_CLUTCH and replace with MU_SLIP (or MU_SLIP_ANCHOR where a global constant is intended). Example grep/replace commands you can run in the repo root: bash # show occurrences grep -R "MU_CLUTCH" -n . # repl...