{
  "submission_version": "1.0",
  "submission_timestamp": "",
  "protocol_version": "1.0.0",
  "team": "",

  "ethics": {
    "local_ethics_approval_obtained": true,
    "ethics_approval_reference": "",
    "informed_consent_obtained": true,
    "video_recording_consent": true,
    "video_sharing_consent": true,
    "video_publication_consent": false,
    "demographics_provided": true,
    "notes": "All participants were informed about the purpose of the study and their rights."
  },

  "participants": {
    "num_human_subjects": 4,
    "subject_ids": ["S1", "S2", "S3", "S4"],
    "demographics": {
      "S1": { "age_group": "", "gender": "", "dominant_hand": "", "experience_level": "" },
      "S2": { "age_group": "", "gender": "", "dominant_hand": "", "experience_level": "" },
      "S3": { "age_group": "", "gender": "", "dominant_hand": "", "experience_level": "" },
      "S4": { "age_group": "", "gender": "", "dominant_hand": "", "experience_level": "" }
    },
    "instructions_given": "Subjects instructed to handover the cup naturally, standing opposite the robot across the table.",
    "notes": "Demographic fields are optional and should not include personally identifiable information."
  },

  "hardware": {
    "arm_model": "",
    "dof": null,
    "gripper_model": "",
    "controller": "",
    "mounting": "",
    "sensors": {
      "force_torque": false,
      "gripper_pressure": false,
      "tactile_sensors": false,
      "vision_sensors": true
    }
  },

  "environment": {
    "sensing_setup_description": "",
    "table_dimensions_mm": [1200, 800, 750],
    "illumination": {
      "artificial_lights_used": false,
      "light_positions": []
    },
    "camera_setup": {
      "side_cameras": [],
      "overhead_camera": {}
    },
    "calibration_notes": "",
    "notes": ""
  },

  "software_and_models": {
    "vision_geometry_model": { "name": "", "version": "" },
    "vision_mass_model": { "name": "", "version": "" },
    "vision_fill_level_model": { "name": "", "version": "" },
    "robot_mass_estimation_method": ""
  },

  "annotation_protocol": {
    "timing_annotation_method": "manual_video_annotation",
    "annotator_training": "",
    "video_fps": 30,
    "video_annotation_used": false,
    "video_annotation_description": ""
  },

  "configuration_file": {
    "filename": "benchmark_configs.csv",
    "num_configurations": 288,
    "subject_id_semantics": "Subject IDs refer to the team's own volunteers performing the handovers."
  },

  "physical_assumptions": {
    "density_rice_g_per_ml": 0.81,
    "placement_reference_frame": "cup_initial_position_center_of_base"
  },

  "learning_policy": {
    "online_learning": false,
    "cross_configuration_adaptation": false,
    "model_updated_during_benchmark": false,
    "note": "We do not allow learning across configurations."
  },

  "execution_policy": {
    "num_configurations": 288,
    "runs_per_configuration": 1,
    "video_recording_required": true,
    "delivery_location_policy": "same_as_initial_location",
    "target_delivery_location" : [500.0, 300.0, 0.0],
    "end_effector_reachability": [800.0, 600.0]
  }
}