{
  "enabled": [
    "h1"
  ],
  "h1": {
    "thresholds": {
      "position_threshold_m": 0.005,
      "orientation_threshold_rad": 0.05,
      "joint_step_threshold_rad": 0.25,
      "swivel_step_threshold_rad": 0.25,
      "input_step_threshold_rad": 0.05
    },
    "audit_fields": [
      "map_validity_reason_code",
      "map_reach_clip_code",
      "map_joint_limit_active",
      "map_geometry_degenerate",
      "map_slave_min_singular_value",
      "map_slave_manipulability",
      "map_low_manipulability"
    ],
    "validity_reason_labels": [
      "none",
      "reach_clipped_lower",
      "reach_clipped_upper",
      "joint_limit_active",
      "geometry_degenerate",
      "invalid_input",
      "master_limit_violation",
      "joint_limit_violation",
      "task_tolerance_exceeded",
      "solver_not_converged",
      "numerical_failure",
      "low_manipulability",
      "unspecified_nonsmooth"
    ]
  },
  "status": "calibration-v2 only; validity reasons and seeded instances must be audited before threshold freeze"
}
