{
  "study_id": "g0c_bilateral_network_v3_locked",
  "split": "locked",
  "root_seed": 2026072761,
  "replicates": 20,
  "methods": [
    "proposed_energy"
  ],
  "trajectories": [
    {
      "id": "free_space_network_roundtrip_locked",
      "family": "free_space",
      "duration_s": 6.0,
      "contact_probe_fraction": 0.0
    },
    {
      "id": "slow_contact_network_roundtrip_locked",
      "family": "contact_roundtrip",
      "duration_s": 6.0,
      "contact_probe_fraction": 0.0
    }
  ],
  "factors": {
    "bilateral_data_root_seed": [
      2026072763
    ],
    "bilateral_pair_network_profiles": [
      true
    ],
    "network_common_random_numbers": [
      true
    ],
    "stable_contact_selection": [
      {
        "source_study_id": "g0c_bilateral_locked_v3_stable_contact",
        "environment_profile_id": "locked_k3200",
        "haptic_profile_id": "locked_gain_035_wide_tank",
        "required_gate": "bilateral_stable_contact_gate_pass",
        "selection_status": "requires_locked_stage_a_pass"
      }
    ],
    "map_policy": [
      "source_stamped"
    ],
    "environment_profile": [
      {
        "profile_id": "network_locked_k3200",
        "duration": 6.0,
        "mapping_hz": 50.0,
        "wall_fraction": 0.5,
        "stiffness": 3200.0,
        "damping": 25.0,
        "force_limit": 20.0,
        "transition_depth": 0.001,
        "probe_fraction": 0.0,
        "contact_probe_cycles": 0.0
      }
    ],
    "haptic_profile": [
      {
        "profile_id": "network_locked_gain_035_wide_tank",
        "feedback_strength": 0.35,
        "energy_min": 0.0,
        "energy_max": 2.0,
        "energy_initial": 1.0,
        "energy_probe_mode": "none",
        "energy_probe_torque_Nm": 0.0
      }
    ],
    "network_profile": [
      {
        "profile_id": "nominal",
        "forward_delay_s": 0.0,
        "return_delay_s": 0.0,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0,
        "forward_timeout_s": 0.2,
        "return_timeout_s": 0.2
      },
      {
        "profile_id": "symmetric_delay_40ms",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.04,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0,
        "forward_timeout_s": 0.2,
        "return_timeout_s": 0.2
      },
      {
        "profile_id": "asymmetric_delay_20_60ms",
        "forward_delay_s": 0.02,
        "return_delay_s": 0.06,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0,
        "forward_timeout_s": 0.2,
        "return_timeout_s": 0.2
      },
      {
        "profile_id": "symmetric_40ms_jitter_4ms",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.04,
        "forward_jitter_s": 0.004,
        "return_jitter_s": 0.004,
        "forward_packet_loss": 0.0,
        "return_packet_loss": 0.0,
        "forward_timeout_s": 0.2,
        "return_timeout_s": 0.2
      },
      {
        "profile_id": "symmetric_40ms_loss_2pct",
        "forward_delay_s": 0.04,
        "return_delay_s": 0.04,
        "forward_jitter_s": 0.0,
        "return_jitter_s": 0.0,
        "forward_packet_loss": 0.02,
        "return_packet_loss": 0.02,
        "forward_timeout_s": 0.2,
        "return_timeout_s": 0.2
      }
    ]
  },
  "status": "Locked proposed-method Stage-B simulation confirmation with disjoint seeds; it supports no comparative superiority claim and emulates only IID delay, uniform jitter, and IID loss"
}