{"artifact_id":"L3-448-001-001-T1","layer":"L3","parent_l2":"L2-448-001","parent_l1":"L1-448","title":"T1_nominal","benchmark_type":"fixed","tier":"T1","manifest":{"rho":1,"tier":"T1_nominal","epsilon":1.0,"spec_id":"L2-448-001","d_ibench":0.15,"baselines":[{"Q":0.8,"name":"ABA_Featherstone","score":1.0,"metric":"joint_trajectory_RMSE_deg"},{"Q":0.96,"name":"RNEA_recursive","score":1.2,"metric":"joint_trajectory_RMSE_deg"}],"omega_tier":{"N_joints":6,"total_mass_kg":10,"simulation_time_s":1.0,"flexibility_neglect":0.0,"friction_coefficient":0.1,"friction_model_error":0.0,"inertia_parameter_uncertainty":0.0},"principle_id":"L1-448","dataset_description":"Standard Robotics conditions, clean data, calibrated model."},"ipfs_cid":null,"benchmark_hash":"a1b9823a5796c82ab53fde1925318a5a76b2ed5af34f80507132ad560d161f20","quality_tier":"standard","builder":"mainnet_mirror","royalty_bps":1500,"chain_hash":"0x74452ccc3cc12cd19a70fe4d6dde67cf705814dff829b7249ffd00cd722dd057","chain_tx_hash":"0xe03b3967dc0430e295afc46332ac20955dcbf9ed61464bb25548248455c870fa","chain_block":41555267}