{
  "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"
    ],
    "epsilon_torque_impulse_Nms": 1e-12,
    "audit_tolerance_J": 1e-10
  },
  "bilateral": {
    "include_methods": [
      "proposed_energy"
    ],
    "projection_tolerance": 1e-12,
    "contact_force_threshold_N": 0.000001,
    "required_audit_fields": [
      "wall_force_raw_N",
      "wall_force_applied_N",
      "wall_force_saturation_active",
      "configured_wall_force_limit_N",
      "master_joint_limit_active",
      "slave_joint_limit_active",
      "master_velocity_limit_active",
      "slave_velocity_limit_active",
      "master_acceleration_limit_active",
      "slave_acceleration_limit_active",
      "master_torque_saturation_active",
      "slave_torque_saturation_active",
      "haptic_rate_limit_active",
      "haptic_torque_saturation_active",
      "energy_probe_raw_work_J",
      "h3_eligible"
    ],
    "gates": {
      "minimum_contact_fraction": 0.01,
      "minimum_contact_rms_N": 0.1,
      "maximum_force_limit_hit_fraction": 0.0,
      "minimum_force_headroom_N": 1.0,
      "maximum_master_tracking_rmse_rad": 0.08,
      "maximum_slave_tracking_rmse_rad": 0.08,
      "minimum_projection_intervention_fraction": 0.0,
      "maximum_projection_intervention_fraction": 0.0,
      "maximum_limit_active_fraction": 0.0,
      "minimum_energy_probe_raw_work_J": 0.0
    }
  },
  "status": "Calibration gates use contact-active RMS, require observable contact, and reject any wall force-limit hit; thresholds are provisional and must be frozen only after the complete calibration grid"
}