{"artifact_id":"L1-448","layer":"L1","title":"Forward Dynamics","domain":"Robotics","sub_domain":"Robot dynamics","physics_fingerprint":{"L_DAG":3.0,"title":"Forward Dynamics","domain":"Robotics","carrier":"N/A","primitives":["D.time","S.articulated_body.aba","O.ode.integration"],"sub_domain":"Robot dynamics","noise_model":"gaussian","problem_class":"parameter_estimation","solution_space":"joint_acceleration_vector","difficulty_delta":3,"integration_axis":"time","sensing_mechanism":"torque_to_acceleration"},"observable_profile":{"metric":"joint_trajectory_RMSE_deg","regime":"Existence of the recovered joint_acceleration_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 ~= 80); inertia_parameter_uncertainty dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Gaussian sets the irreducible data-fidelity floor.","secondary":"energy_conservation_error"},"size_tiers":{"center_spec":{"omega":{"N_joints":6,"total_mass_kg":10,"simulation_time_s":1.0,"friction_coefficient":0.1},"input_format":"measurement_only","problem_class":"parameter_estimation","forward_operator":"torque_to_acceleration","epsilon_fn_center":"1.0 joint_trajectory_RMSE_deg"},"omega_bounds":{"N_joints":[2,10],"total_mass_kg":[0.5,1000],"simulation_time_s":[0.1,100],"friction_coefficient":[0.0,1.0]},"epsilon_bounds":{"joint_trajectory_RMSE_deg":[0.01,10.0]},"allowed_problem_classes":["parameter_estimation"],"allowed_omega_dimensions":["N_joints","total_mass_kg","friction_coefficient","simulation_time_s"],"allowed_forward_operators":["torque_to_acceleration"]},"hardness_fn":{"type":"epsilon_fn","delta":3,"kappa":2000,"metric":"joint_trajectory_RMSE_deg"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0x007249d71bb962a4a0d435aba3e4dd4602bc1650028ead53d67963ff9ca20761","chain_tx_hash":"0x9a348e02c700c44ccf825997b0c15b2df5361ddd20f4150f53d8c72d555a5fa8","chain_block":41555260}