{
  "study_id": "g0c_estimator_sensitivity_calibration_v1",
  "split": "calibration",
  "root_seed": 2026072702,
  "replicates": 2,
  "methods": [
    "scaled_dls",
    "undamped_svd",
    "no_bias",
    "no_friction"
  ],
  "trajectories": [
    {
      "id": "dynamic_wrench_sweep",
      "family": "synthetic_dynamic",
      "sample_count": 256
    }
  ],
  "factors": {
    "characteristic_length_m": [
      0.3
    ],
    "damping": [
      0.01,
      0.03
    ],
    "min_scaled_singular": [
      0.02,
      0.1
    ],
    "model_error_std": [
      0.0,
      0.02
    ],
    "torque_noise_std_Nm": [
      0.002,
      0.02
    ]
  }
}