{"artifact_id":"L2-446-001","layer":"L2","parent_l1":"L1-446","title":"Forward Kinematics — Nominal + Mismatch Specs","omega":{"dims":{"load_kg":[0,100],"N_joints":[2,10],"encoder_noise_deg":[0.001,0.1],"calibration_error_mm":[0.0,5.0]},"type":"range"},"epsilon":{"type":"fn","expression":"0.5 + 0.5 * calibration_error_mm"},"difficulty_score":0.2,"delta_tier":5,"fingerprint":"c6690f541992baa79919f4d796d086983239c30901c461b43954c2cafb309236","status":"testnet","submitted_by":"mainnet_mirror","chain_hash":"0x31dbf080e4e973117a595620e9ca1346d3afb5aa5c239ea814f1439018e92ebb","chain_tx_hash":"0xf73617ff33d77d6c4e21d879d61e04383934e00a49e5949d8527fc105201f392","chain_block":41555263}