{
  "enabled": [
    "h3",
    "h4",
    "bilateral"
  ],
  "h3": {
    "force_scale": 1.0,
    "epsilon_energy_J": 1e-12,
    "minimum_power_activity_J": 0.001
  },
  "h4": {
    "include_methods": [
      "proposed_energy",
      "direct_energy",
      "matched_wrench_energy"
    ],
    "epsilon_torque_impulse_Nms": 1e-12,
    "audit_tolerance_J": 1e-10
  },
  "bilateral": {
    "include_methods": [
      "proposed_energy",
      "direct_energy",
      "matched_wrench_energy"
    ],
    "projection_tolerance": 1e-12,
    "contact_force_threshold_N": 1e-6
  },
  "status": "H3 reports an absolute mismatch for every trial and gates normalized epsilon below 1 mJ port activity; H4 reads effective energy bounds from each stored trial; bilateral diagnostics prevent selecting a trivially weak gain from Dproj alone"
}