{
  "study_id": "g0c_bilateral_calibration_v1",
  "split": "calibration",
  "root_seed": 2026072703,
  "replicates": 2,
  "methods": [
    "proposed_energy",
    "proposed_no_energy",
    "direct_energy",
    "matched_wrench_energy",
    "proposed_popc"
  ],
  "trajectories": [
    {
      "id": "free_space_roundtrip",
      "family": "free_space",
      "duration_s": 1.2,
      "contact_probe_fraction": 0.0
    },
    {
      "id": "contact_roundtrip",
      "family": "contact_roundtrip",
      "duration_s": 1.2,
      "contact_probe_fraction": 0.02
    }
  ],
  "factors": {
    "map_policy": [
      "current",
      "source_stamped"
    ],
    "return_delay_s": [
      0.0,
      0.08
    ],
    "return_jitter_s": [
      0.0
    ],
    "return_packet_loss": [
      0.0
    ],
    "wall_damping": [
      30.0
    ],
    "wall_stiffness": [
      400.0,
      800.0
    ]
  }
}
