{
  "enabled": [
    "h3",
    "h4"
  ],
  "h3": {
    "force_scale": 1.0,
    "epsilon_energy_J": 1e-12
  },
  "h4": {
    "include_methods": [
      "proposed_energy",
      "direct_energy",
      "matched_wrench_energy"
    ],
    "energy_min_J": 0.05,
    "energy_max_J": 0.055,
    "epsilon_torque_impulse_Nms": 1e-12,
    "audit_tolerance_J": 1e-10
  },
  "status": "H3 includes all bilateral methods; H4 includes tank-supervised methods only"
}