{
  "study_id": "g0c_bilateral_locked_template_v1",
  "split": "locked",
  "root_seed": 2026072713,
  "replicates": 20,
  "methods": [
    "proposed_energy",
    "proposed_no_energy",
    "direct_energy",
    "matched_wrench_energy",
    "proposed_popc"
  ],
  "trajectories": [
    {
      "id": "free_space_roundtrip_locked",
      "family": "free_space",
      "duration_s": 4.0,
      "contact_probe_fraction": 0.0
    },
    {
      "id": "contact_roundtrip_locked",
      "family": "contact_roundtrip",
      "duration_s": 4.0,
      "contact_probe_fraction": 0.03
    }
  ],
  "factors": {
    "map_policy": [
      "current",
      "source_stamped"
    ],
    "return_delay_s": [
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      0.04,
      0.08,
      0.12
    ],
    "return_jitter_s": [
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      0.004
    ],
    "return_packet_loss": [
      0.0,
      0.02
    ],
    "wall_damping": [
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    ],
    "wall_stiffness": [
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      600.0,
      900.0
    ]
  }
}