{
  "study_id": "g0c_bilateral_calibration_v3_stable_contact",
  "split": "calibration",
  "root_seed": 2026072731,
  "replicates": 3,
  "methods": [
    "proposed_energy"
  ],
  "trajectories": [
    {
      "id": "slow_contact_approach",
      "family": "contact_roundtrip",
      "duration_s": 6.0,
      "contact_probe_fraction": 0.0
    }
  ],
  "factors": {
    "bilateral_data_root_seed": [
      2026072733
    ],
    "map_policy": [
      "source_stamped"
    ],
    "environment_profile": [
      {
        "profile_id": "stable_candidate_k3200",
        "duration": 6.0,
        "mapping_hz": 50.0,
        "wall_fraction": 0.5,
        "stiffness": 3200.0,
        "damping": 25.0,
        "force_limit": 20.0,
        "transition_depth": 0.001,
        "probe_fraction": 0.0,
        "contact_probe_cycles": 0.0
      },
      {
        "profile_id": "stiff_candidate_k6400",
        "duration": 6.0,
        "mapping_hz": 50.0,
        "wall_fraction": 0.5,
        "stiffness": 6400.0,
        "damping": 25.0,
        "force_limit": 20.0,
        "transition_depth": 0.001,
        "probe_fraction": 0.0,
        "contact_probe_cycles": 0.0
      }
    ],
    "haptic_profile": [
      {
        "profile_id": "gain_020_wide_tank",
        "feedback_strength": 0.2,
        "energy_min": 0.0,
        "energy_max": 2.0,
        "energy_initial": 1.0,
        "energy_probe_mode": "none",
        "energy_probe_torque_Nm": 0.0
      },
      {
        "profile_id": "gain_035_wide_tank",
        "feedback_strength": 0.35,
        "energy_min": 0.0,
        "energy_max": 2.0,
        "energy_initial": 1.0,
        "energy_probe_mode": "none",
        "energy_probe_torque_Nm": 0.0
      },
      {
        "profile_id": "gain_050_wide_tank",
        "feedback_strength": 0.5,
        "energy_min": 0.0,
        "energy_max": 2.0,
        "energy_initial": 1.0,
        "energy_probe_mode": "none",
        "energy_probe_torque_Nm": 0.0
      }
    ],
    "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
    ]
  },
  "status": "Three-seed calibration grid only, not frozen evidence: slow 6 s contact, no trajectory probe or network impairment; haptic gains share exogenous streams within each replicate and stiffness profile"
}