{
  "enabled": ["h3", "h4"],
  "h3": {
    "force_scale": 1.0,
    "epsilon_energy_J": 1e-12,
    "fields": {
      "tau_master_raw": "tau_master_raw",
      "qd_master": "qd_master",
      "tau_slave_source": "tau_slave_source",
      "qd_slave_source": "qd_slave_source",
      "dt": "dt",
      "return_valid": "return_valid"
    }
  },
  "h4": {
    "energy_min_J": 0.05,
    "energy_max_J": 0.055,
    "audit_tolerance_J": 1e-10,
    "epsilon_torque_impulse_Nms": 1e-12,
    "fields": {
      "energy_before_J": "energy_before_J",
      "energy_after_J": "energy_after_J",
      "software_preclip_J": "energy_preclip_J",
      "tau_candidate": "tau_master_candidate",
      "tau_applied": "tau_master_applied",
      "qd_master": "qd_master",
      "dt": "dt"
    }
  }
}