{
  "study_id": "g0c_bilateral_calibration_v2_network",
  "split": "calibration",
  "root_seed": 2026072722,
  "replicates": 1,
  "methods": [
    "proposed_energy",
    "direct_energy",
    "matched_wrench_energy"
  ],
  "trajectories": [
    {
      "id": "free_space_network_screen",
      "family": "free_space",
      "duration_s": 1.2,
      "contact_probe_fraction": 0.0
    },
    {
      "id": "contact_network_screen",
      "family": "contact_roundtrip",
      "duration_s": 1.2,
      "contact_probe_fraction": 0.03
    }
  ],
  "factors": {
    "map_policy": [
      "source_stamped"
    ],
    "network_profile": [
      {
        "profile_id": "nominal",
        "forward_delay_s": 0.0,
        "return_delay_s": 0.0,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0
      },
      {
        "profile_id": "return_delay_80ms",
        "forward_delay_s": 0.0,
        "return_delay_s": 0.08,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0
      },
      {
        "profile_id": "forward_delay_40ms",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.0,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0
      },
      {
        "profile_id": "asymmetric_delay",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.08,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0
      },
      {
        "profile_id": "asymmetric_delay_plus_jitter",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.08,
        "forward_jitter_s": 0.004,
        "return_jitter_s": 0.004,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0
      },
      {
        "profile_id": "asymmetric_delay_plus_loss",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.08,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.02,
        "return_packet_loss": 0.02
      }
    ],
    "wall_damping": [
      30.0
    ],
    "wall_stiffness": [
      800.0
    ],
    "feedback_strength": [
      0.35
    ],
    "energy_min": [
      0.05
    ],
    "energy_max": [
      0.1
    ],
    "energy_initial": [
      0.07
    ]
  },
  "requires_stage_a_selection": true,
  "status": "Stage B template only: feedback_strength and all three energy values are placeholders from the middle Stage A cell and must be replaced by the selected Stage A profile before execution"
}
