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Extend simulation runtime coverage and kinematics support

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This commit is contained in:
wangdequan
2026-08-21 10:57:10 +08:00
parent 554b72dae8
commit 2ef2d82db3
71 changed files with 24232 additions and 1867 deletions
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144
coverage/pentapod-kinematics.report.json
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@@ -45,11 +45,44 @@
"joints": 5,
"kinematics": "pentakins",
"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
"provenance": "shipped LinuxCNC simulation",
"scan": true
},
"configuration_candidates": [
{
"coordinates": "XYZAB",
"id": "shipped-pentapod",
"joints": 5,
"kind": "real",
"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini"
},
{
"coordinates": "XYZAB",
"id": "offset-seed-regression",
"initial_pose": [
0.0,
500.0,
300.0,
0.0,
0.0
],
"joints": 5,
"kind": "derived",
"path": "wasm-core/tests/sim_kinematics_test.c",
"purpose": "non-zero roll/pitch Newton convergence and native/WASM comparison",
"target_pose": [
0.0,
500.0,
300.0,
0.01,
-0.01
]
}
],
"geometry": {
"orientation": "roll/pitch only; yaw fixed at zero",
"orientation": "roll/pitch only; yaw is constrained to zero in the forward result",
"struts": 5,
"tool_offset": "applied to both base and effector HAL z coordinates",
"units": "configuration units; XYZ linear and AB degrees"
},
"implementation_status": "verified",
@@ -83,12 +116,13 @@
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
"status": "blocked"
},
"report_sha256": "b1d1cdc8fbd64b64ffa88023c77c7ce097952966353567b023c0667a8dc1be75",
"report_sha256": "d8863549ead6486889c8473134f9e2ce1c2835024c9ea67494c4c7e0a13a6b75",
"samples": {
"byte_identical_json": true,
"native": {
"boundaries": {
"alternate_branch": 0,
"alternate_branch": 1,
"alternate_iterations": 1,
"alternate_pose": [
0.0,
0.0,
@@ -97,37 +131,42 @@
"alternate_status": -702,
"branch": 0,
"iteration_limit": -702,
"iterations": 1,
"iteration_limit_iterations": 1,
"iterations": 12,
"limit_error": -702,
"max_error": -702,
"max_error_iterations": 1,
"nonpositive": -702,
"residual": 0.0,
"singular": -704
"nonpositive_iterations": 0,
"residual": 1e-09,
"singular": -704,
"singular_iterations": 0
},
"pentapod": {
"inverse": [
619.814203778,
655.78680467,
750.465994974,
351.035577947,
327.336726304
625.895566556,
649.261562588,
754.767615986,
338.490149644,
341.118326622
],
"iterations": 1,
"iterations": 12,
"pose": [
0.0,
500.0,
300.0,
2.0,
-3.0
0.01,
-0.01
],
"residual": 0.0,
"state_hash": 10088895819155863850
"residual": 1e-09,
"state_hash": 13978136356142463125
}
},
"state_hash_identical": true,
"wasm": {
"boundaries": {
"alternate_branch": 0,
"alternate_branch": 1,
"alternate_iterations": 1,
"alternate_pose": [
0.0,
0.0,
@@ -136,31 +175,35 @@
"alternate_status": -702,
"branch": 0,
"iteration_limit": -702,
"iterations": 1,
"iteration_limit_iterations": 1,
"iterations": 12,
"limit_error": -702,
"max_error": -702,
"max_error_iterations": 1,
"nonpositive": -702,
"residual": 0.0,
"singular": -704
"nonpositive_iterations": 0,
"residual": 1e-09,
"singular": -704,
"singular_iterations": 0
},
"pentapod": {
"inverse": [
619.814203778,
655.78680467,
750.465994974,
351.035577947,
327.336726304
625.895566556,
649.261562588,
754.767615986,
338.490149644,
341.118326622
],
"iterations": 1,
"iterations": 12,
"pose": [
0.0,
500.0,
300.0,
2.0,
-3.0
0.01,
-0.01
],
"residual": 0.0,
"state_hash": 10088895819155863850
"residual": 1e-09,
"state_hash": 13978136356142463125
}
}
},
@@ -178,7 +221,8 @@
300.0,
0.0,
0.0
]
],
"seed_units": "XYZ in configuration units; A/B in radians internally"
},
"source_records": {
"config": {
@@ -195,11 +239,11 @@
},
"implementation": {
"path": "wasm-core/src/sim_kinematics.c",
"sha256": "424873c8e5d3d5b45daf616d95a58157c6dbcbbee9f4cc512b58bfb2672c6145"
"sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600"
},
"kinematics_header": {
"path": "wasm-core/include/sim_kinematics.h",
"sha256": "0c6d955717982e9d1a24d1240a1c657fc37dfe166c5738d3ee23878e46b2a98d"
"sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec"
},
"source": {
"path": "linuxcnc/src/emc/kinematics/pentakins.c",
@@ -207,7 +251,7 @@
},
"test": {
"path": "wasm-core/tests/sim_kinematics_test.c",
"sha256": "3bda403d3af592dcc69ee9b1f3c96dda97b952f827a1c9ce5393e01cd357c403"
"sha256": "715882c28ec242be652357d330a4b56d60f8e93f2e821193133911576e400aac"
}
},
"status": "partial",
@@ -218,31 +262,37 @@
0.0
],
"alternate_seed_error": -702,
"alternate_seed_iterations": 1,
"iteration_limit_error": -702,
"iterations": 1,
"iteration_limit_iterations": 1,
"iterations": 12,
"joint_limit_error": -702,
"max_error_boundary": -702,
"max_error_iterations": 1,
"nominal": {
"inverse": [
619.814203778,
655.78680467,
750.465994974,
351.035577947,
327.336726304
625.895566556,
649.261562588,
754.767615986,
338.490149644,
341.118326622
],
"iterations": 1,
"iterations": 12,
"pose": [
0.0,
500.0,
300.0,
2.0,
-3.0
0.01,
-0.01
],
"residual": 0.0,
"state_hash": 10088895819155863850
"residual": 1e-09,
"state_hash": 13978136356142463125
},
"nonpositive_joint_error": -702,
"residual": 0.0,
"singular_jacobian_error": -704
"nonpositive_joint_iterations": 0,
"posture_constraint": "C/yaw is not a configured joint and forward output is exactly zero",
"residual": 1e-09,
"singular_jacobian_error": -704,
"singular_jacobian_iterations": 0
}
}