{
  "study_id": "g0c_sew_calibration_v2",
  "split": "calibration",
  "root_seed": 2026072721,
  "replicates": 3,
  "methods": [
    "sew",
    "scaled_joint_space",
    "bounded_dls_ik",
    "task_priority_ik"
  ],
  "trajectories": [
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      "id": "nominal_seeded_excursion",
      "family": "nominal",
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      "instance_variation": {
        "center_std_rad": 0.006,
        "delta_scale_range": [0.90, 1.10],
        "harmonic_weight_range": [-0.10, 0.10]
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    {
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      "family": "reach_boundary",
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      "instance_variation": {
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        "delta_scale_range": [0.92, 1.08],
        "harmonic_weight_range": [-0.08, 0.08]
      }
    },
    {
      "id": "valid_near_singularity",
      "family": "low_manipulability_valid",
      "sample_count": 81,
      "low_manipulability_min_singular_threshold": 0.05,
      "instance_variation": {
        "center_std_rad": 0.004,
        "center_jitter_mask": [1, 1, 1, 0, 1, 1, 1],
        "delta_scale_range": [0.94, 1.06],
        "harmonic_weight_range": [-0.06, 0.06]
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    },
    {
      "id": "isolated_upper_reach_clip",
      "family": "reach_clip_upper",
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      "instance_variation": {
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        "delta_scale_range": [0.94, 1.06],
        "harmonic_weight_range": [-0.06, 0.06]
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    {
      "id": "master_joint_limit_neighborhood",
      "family": "joint_limit",
      "sample_count": 81,
      "instance_variation": {
        "center_std_rad": 0.004,
        "center_jitter_mask": [0, 1, 1, 1, 1, 1, 1],
        "delta_scale_range": [0.94, 1.06],
        "harmonic_weight_range": [-0.06, 0.06]
      }
    }
  ]
}