{"artifact_id":"L2-449-001","layer":"L2","parent_l1":"L1-449","title":"Inverse Dynamics — Nominal + Mismatch Specs","omega":{"dims":{"N_joints":[2,10],"N_trajectory_samples":[100,10000],"acceleration_noise_dB":[-40,-10],"excitation_bandwidth_Hz":[0.5,10.0]},"type":"range"},"epsilon":{"type":"fn","expression":"1.0 + 1.0 * (2.0 / excitation_bandwidth_Hz) ** 0.3"},"difficulty_score":0.22,"delta_tier":5,"fingerprint":"866883c5bfc91949b0344f87ead31191d3a40a71813dc2c9ff73a2f8416d80ba","status":"testnet","submitted_by":"mainnet_mirror","chain_hash":"0xaa51f4ff25bf7311c955abed16e0bcd1ed1e6664e58f9f2b6b5aa446ba6f66b2","chain_tx_hash":"0x97f7a0cadd5302b5fe4ad3ab6af00fb4763b5693960313c12b0f4c94bb206f8e","chain_block":41555280}