# 📐  L2 Spec — Inverse Dynamics — Nominal + Mismatch Specs

**ID:** `L2-449-001` · **Status:** ⊙ Testnet (genesis catalog)
**Parents:** ⬆ Principle [`L1-449`](/artifact/l1/L1-449)

> **🎯 Tolerance (ε):** expression
> **⚖ Difficulty score:** 0.22 · **Delta tier:** 5
> **⛓ On-chain block:** 41555280

---

## 1. Domain Ω

**Type:** `range`

| Parameter | Unit | Range |
|---|---|---|
| N joints | — | 2 – 10 |
| N trajectory samples | — | 100 – 10000 |
| Acceleration noise db | dB | -40 – -10 |
| Excitation bandwidth hz | Hz | 0.5 – 10.0 |

## 2. Tolerance (ε)

**Type:** `fn`

```
1.0 + 1.0 * (2.0 / excitation_bandwidth_Hz) ** 0.3
```

## 3. Difficulty

| Property | Value |
|---|---|
| Difficulty score | 0.22 |
| Delta tier | 5 |

## 4. Fingerprint

`866883c5bfc91949b0344f87ead31191d3a40a71813dc2c9ff73a2f8416d80ba`

## 5. On-chain Registration

- **Chain hash:** `0xaa51f4ff25bf7311c955abed16e0bcd1ed1e6664e58f9f2b6b5aa446ba6f66b2`
- **Chain tx hash:** `0x97f7a0cadd5302b5fe4ad3ab6af00fb4763b5693960313c12b0f4c94bb206f8e`
- **Chain block:** `41555280`

---

## File Mapping

This bundle consists of: `L2-449-001.md`, `L2-449-001.json`.

| File | Role | How to regenerate |
|------|------|-------------------|
| `L2-449-001.md` | Source of truth — edit this | Human or LLM |
| `L2-449-001.json` | Structured metadata for the registry | LLM regenerates from the sections above |

**Prompt for your LLM after editing this Markdown:**

> Read the attached Markdown. Regenerate the sibling `.json` so every field matches.
> Preserve the schema documented in the rows above.
> Output each file in its own fenced code block tagged with the filename.
> Output only the JSON object.

_This Markdown was auto-synthesized from the catalog row for `L2-449-001`._
_Edit it, regenerate the JSON, and submit at [/submit](/submit) to claim the artifact._