{
  "study_id": "g0c_bilateral_smoke_v1",
  "split": "pilot",
  "root_seed": 2026072799,
  "replicates": 1,
  "methods": [
    "proposed_energy",
    "direct_energy",
    "matched_wrench_energy",
    "proposed_popc"
  ],
  "trajectories": [
    {
      "id": "short_contact",
      "family": "contact_roundtrip",
      "duration_s": 0.6,
      "contact_probe_fraction": 0.0
    }
  ],
  "factors": {
    "map_policy": [
      "source_stamped"
    ],
    "return_delay_s": [
      0.02
    ],
    "wall_damping": [
      45.0
    ],
    "wall_stiffness": [
      800.0
    ]
  }
}