{
  "enabled": [
    "h3",
    "h4",
    "bilateral",
    "network"
  ],
  "h3": {
    "include_methods": [
      "proposed_energy"
    ],
    "force_scale": 1.0,
    "epsilon_energy_J": 1e-12,
    "minimum_power_activity_J": 0.001
  },
  "h4": {
    "include_methods": [
      "proposed_energy"
    ],
    "epsilon_torque_impulse_Nms": 1e-12,
    "audit_tolerance_J": 1e-10
  },
  "bilateral": {
    "include_methods": [
      "proposed_energy"
    ],
    "projection_tolerance": 1e-12,
    "contact_force_threshold_N": 0.000001,
    "required_audit_fields": [
      "wall_force_raw_N",
      "wall_force_applied_N",
      "wall_force_saturation_active",
      "configured_wall_force_limit_N",
      "master_joint_limit_active",
      "slave_joint_limit_active",
      "master_velocity_limit_active",
      "slave_velocity_limit_active",
      "master_acceleration_limit_active",
      "slave_acceleration_limit_active",
      "master_torque_saturation_active",
      "slave_torque_saturation_active",
      "haptic_rate_limit_active",
      "haptic_torque_saturation_active",
      "energy_probe_raw_work_J",
      "h3_eligible"
    ],
    "gates": {
      "minimum_contact_fraction": 0.0,
      "minimum_contact_rms_N": 0.0,
      "maximum_force_limit_hit_fraction": 0.0,
      "minimum_force_headroom_N": 1.0,
      "maximum_master_tracking_rmse_rad": 0.08,
      "maximum_slave_tracking_rmse_rad": 0.08,
      "minimum_projection_intervention_fraction": 0.0,
      "maximum_projection_intervention_fraction": 0.05,
      "maximum_limit_active_fraction": 0.0,
      "minimum_energy_probe_raw_work_J": 0.0
    }
  },
  "network": {
    "include_methods": [
      "proposed_energy"
    ],
    "gates": {
      "maximum_slave_zero_delay_tracking_rmse_rad": 0.06,
      "minimum_forward_active_fraction": 0.98,
      "minimum_return_active_fraction": 0.98,
      "minimum_forward_fresh_fraction": 0.09,
      "minimum_return_fresh_fraction": 0.5,
      "maximum_forward_internal_missing_fraction": 0.05,
      "maximum_return_internal_missing_fraction": 0.5,
      "maximum_forward_timeout_fraction": 0.0,
      "maximum_return_timeout_fraction": 0.0,
      "maximum_forward_packet_age_s": 0.1,
      "maximum_return_packet_age_s": 0.08,
      "minimum_contact_fraction": 0.3,
      "minimum_contact_rms_N": 0.1,
      "maximum_free_space_contact_force_N": 0.000001
    },
    "paired_gates": {
      "nominal_profile_id": "nominal",
      "maximum_tracking_rmse_delta_vs_nominal_rad": 0.005,
      "maximum_abs_contact_rms_relative_change_vs_nominal": 0.1
    }
  },
  "status": "Complete-grid Stage-B calibration thresholds; H3 is descriptive, freshness is distinct from active hold, and the frozen values require a disjoint-seed locked confirmation"
}
