{"artifact_id":"L1-452","layer":"L1","title":"Multibody Dynamics with Constraints","domain":"Robotics","sub_domain":"Constrained dynamics","physics_fingerprint":{"L_DAG":3.5,"title":"Multibody Dynamics with Constraints","domain":"Robotics","carrier":"N/A","primitives":["D.time","S.baumgarte.stabilization","O.constraint.violation_check"],"sub_domain":"Constrained dynamics","noise_model":"deterministic","problem_class":"parameter_estimation","solution_space":"generalized_acceleration_vector","difficulty_delta":5,"integration_axis":"generalized_coordinates","sensing_mechanism":"lagrange_multiplier_constraint"},"observable_profile":{"metric":"constraint_violation_norm","regime":"Existence of the recovered generalized_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 ~= 500); constraint_drift_accumulation dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Deterministic sets the irreducible data-fidelity floor.","secondary":"energy_drift_percent"},"size_tiers":{"center_spec":{"omega":{"N_bodies":5,"N_constraints":3,"Baumgarte_alpha":20,"simulation_steps":1000},"input_format":"measurement_only","problem_class":"parameter_estimation","forward_operator":"lagrange_multiplier_constraint","epsilon_fn_center":"1e-4 constraint_violation_norm"},"omega_bounds":{"N_bodies":[2,50],"N_constraints":[1,30],"Baumgarte_alpha":[5,100],"simulation_steps":[100,100000]},"epsilon_bounds":{"constraint_violation_norm":[1e-08,0.01]},"allowed_problem_classes":["parameter_estimation"],"allowed_omega_dimensions":["N_bodies","N_constraints","simulation_steps","Baumgarte_alpha"],"allowed_forward_operators":["lagrange_multiplier_constraint"]},"hardness_fn":{"type":"epsilon_fn","delta":5,"kappa":10000.0,"metric":"constraint_violation_norm"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0xda33d3f322b8c000227ec3a9d142165a3124b306c8523f2a11d2aecbba27cf5f","chain_tx_hash":"0x2d0802d3e4b35b08dcfc915b817ed38bdd5b9d30497ba350eb4c2f9598b24157","chain_block":41555278}