{"artifact_id":"L1-447","layer":"L1","title":"Inverse Kinematics","domain":"Robotics","sub_domain":"Robot kinematics","physics_fingerprint":{"L_DAG":3.0,"title":"Inverse Kinematics","domain":"Robotics","carrier":"N/A","primitives":["S.ik.jacobian_pseudo_inverse","O.regularize","O.gradient.task_space"],"sub_domain":"Robot kinematics","noise_model":"deterministic","problem_class":"nonlinear_inverse","solution_space":"joint_angle_vector","difficulty_delta":3,"integration_axis":"configuration_space","sensing_mechanism":"cartesian_to_joint_space_inversion"},"observable_profile":{"metric":"position_error_mm","regime":"Existence of the recovered joint_angle_vector is guaranteed within the declared Omega bounds. Uniqueness holds on the measurement-supported subspace; out-of-support modes are controlled by declared priors. Stability is conditionally stable (kappa_eff ~= 200); singularity_proximity dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Deterministic sets the irreducible data-fidelity floor.","secondary":"orientation_error_deg"},"size_tiers":{"center_spec":{"omega":{"N_joints":6,"damping_factor_lambda":0.01,"target_reach_fraction":0.8,"singularity_distance_cm":10},"input_format":"measurement_only","problem_class":"nonlinear_inverse","forward_operator":"cartesian_to_joint_space_inversion","epsilon_fn_center":"1.0 position_error_mm"},"omega_bounds":{"N_joints":[2,10],"damping_factor_lambda":[0.001,0.1],"target_reach_fraction":[0.5,1.0],"singularity_distance_cm":[0.0,50.0]},"epsilon_bounds":{"position_error_mm":[0.01,20.0]},"allowed_problem_classes":["nonlinear_inverse"],"allowed_omega_dimensions":["N_joints","singularity_distance_cm","damping_factor_lambda","target_reach_fraction"],"allowed_forward_operators":["cartesian_to_joint_space_inversion"]},"hardness_fn":{"type":"epsilon_fn","delta":3,"kappa":5000,"metric":"position_error_mm"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0x1a59a8c53db8a97ac4f9a33d9c12b13e459a3f060cddb2abcce832500fab4055","chain_tx_hash":"0xf092647d286e3c43a07cdb0de8242a8153306a79f64a5c82ac8d8be1f9a43395","chain_block":41555260}