{
  "study_id": "g0c_bilateral_calibration_v2_energy",
  "split": "calibration",
  "root_seed": 2026072721,
  "replicates": 2,
  "methods": [
    "proposed_energy"
  ],
  "trajectories": [
    {
      "id": "contact_energy_tradeoff",
      "family": "contact_roundtrip",
      "duration_s": 1.5,
      "contact_probe_fraction": 0.03
    }
  ],
  "factors": {
    "map_policy": [
      "source_stamped"
    ],
    "return_delay_s": [
      0.08
    ],
    "forward_delay_s": [
      0.0
    ],
    "wall_damping": [
      30.0
    ],
    "wall_stiffness": [
      400.0,
      800.0
    ],
    "feedback_strength": [
      0.2,
      0.35,
      0.5
    ],
    "energy_min": [
      0.05
    ],
    "energy_max": [
      0.1
    ],
    "energy_initial": [
      0.055,
      0.07,
      0.09
    ]
  },
  "status": "Stage A energy-challenging calibration: 0.005, 0.020, and 0.040 J initial headroom bracket the approximately 0.017 J v1 contact shadow deficit"
}