Extend simulation runtime coverage and kinematics support

docs/task-history.md

@@ -38,6 +38,17 @@
 | `K4-DELTA-01` | Linear/rotary Delta 统一 forward/inverse/mapping；四个真实配置候选、默认/alternate root、工作空间无解、关节限位、rotary z=0 奇异、固定零迭代和 native/WASM state hash 对照通过；缺失 HAL 资源与官方 oracle 均显式 blocked | `coverage/delta-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_delta_kinematics_report.py` |
 | `K4-TRIPOD-01` | Point-vertex tripod 统一 forward/inverse/mapping；真实 `tripod.ini`/`tripodsim.hal`、XYZ/AD-BD-CD 映射、above/below 根分支、无解/基面奇异/限位/退化几何边界、固定零迭代和 native/WASM state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/tripod-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_tripod_kinematics_report.py` |
 | `K4-HEX-01` | Genhex 六腿 Stewart 平台统一 forward/inverse/mapping；真实 `hexapod.ini`/`kinematics.hal`、六腿闭式逆解、Newton 6x6 正解、alternate seed、非正 strut、迭代上限、最大误差、奇异 Jacobian、限位、HAL GUI/迭代 pin 和 native/WASM state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/genhex-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_genhex_kinematics_report.py` |
+| `K4-PENTA-01` | Pentakins 五腿并联统一 forward/inverse/mapping；真实 `pentapod.ini`/`kinematics.hal` 与派生非零姿态 seed、XYZAB 映射、roll/pitch 约束、tool-offset 双端几何、Newton 5x5 收敛/迭代上限/最大误差/奇异/非正杆长/限位、native/WASM JSON 和 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/pentapod-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_pentapod_kinematics_report.py` |
+| `K5-SWITCH-01` | switchkins 三槽位动态切换；真实 `xyzac-trt.ini`/`identityfirst` 配置、identity/xyzac-trt/userk 注册、pose 连续、状态保持、非法模式/缺模块/切换中断/abort 边界、native/WASM runner 与 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked | `coverage/switchkins-kinematics.report.json`, `wasm-core/src/sim_switchkins.c`, `wasm-core/tests/sim_switchkins_test.c` |
+| `K5-USER-01` | userk identity 模板与 ugenser/genser 构建期静态描述符；ABI v1、forward/inverse/static capability、switchkins type 2 绑定、FK/IK 调用状态、路径/`.so` 禁止、版本/能力/缺模块边界和 native/WASM state hash 对照通过；旧 ugenser CLI 明确排除，官方 oracle 继续 blocked | `coverage/userkins-kinematics.report.json`, `wasm-core/src/sim_userkins.c`, `wasm-core/tests/sim_userkins_test.c` |
+| `K5-CFG-01` | 18 个内建运动学类型的 ABI v1 构建期注册表；稳定名称/type、必需坐标、关节范围、7 类能力位、8 类参数掩码、18/18 实际 init、能力/参数/type/坐标/关节/未知/路径错误和 native/WASM registry hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-registry.report.json`, `wasm-core/src/sim_kinematics_registry.c`, `wasm-core/tests/sim_kinematics_registry_test.c` |
+| `K6-MOTION-01` | 固定 tick TP→IK→motion adapter；复用 `sim_tp` 和 `sim_kinematics_inverse_ex`，64 槽关节样本队列、pause/resume、IK 奇异、非有限、容量满、planner/kinematics 事务回滚、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-motion.report.json`, `wasm-core/src/sim_kinematics_motion.c`, `wasm-core/tests/sim_kinematics_motion_test.c` |
+| `K6-MOTION-02` | actual-joint→FK feedback adapter；pose/joint/flags/tick/valid/error 状态、stale/nonfinite/joint-count/unsupported-forward 边界、错误时不覆盖有效 pose、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-feedback.report.json`, `wasm-core/src/sim_kinematics_feedback.c`, `wasm-core/tests/sim_kinematics_feedback_test.c` |
+| `K6-HOME-01` | fixed home sequence、`sim_kinematics_home`、joint limit/FK check；未 home、非法 sequence、越界、非有限、joint-count、失败保持有效 pose/joints、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-home-limit.report.json`, `wasm-core/src/sim_kinematics_home_limit.c`, `wasm-core/tests/sim_kinematics_home_limit_test.c` |
+| `K6-IO-01` | 固定 tick spindle/tool/probe IO；motion/iocontrol pins、主轴限速/到速/定向、prepare/change/abort/fault、probe pose latch、停主轴互锁、非法 pin/超限/未 ready/急停/恢复边界和 native/WASM JSON/hash 对照通过；官方 IO/kinematics oracle 继续 blocked | `coverage/io-runtime.report.json`, `wasm-core/include/sim_io.h`, `wasm-core/src/sim_io.c`, `wasm-core/tests/sim_io_test.c` |
+
+| `K7-RECOVERY-01` | 固定 tick checkpoint/replay 与 workspace recovery 已接入；checkpoint 携带 context、cursor、snapshot/state hash 和 operation ledger；损坏 checkpoint、未知 schema、缺号/重复事件、未确认操作、abort 和恢复边界均 fail-closed；恢复终点与连续运行状态 hash 一致；native `sim_event_import` 与 Worker 对照通过，官方 recovery oracle 继续显式 blocked | `coverage/workspace-recovery.report.json`, `web/worker/replay.mjs`, `web/worker/sim-session.mjs`, `web/workspace/recovery.mjs`, `wasm-core/src/sim_event.c` |
+| `K8-REG-01` | 统一配置图确定性枚举 264 个运动学入口和 233 个 sim INI 入口；逐项资源/INI/注册表启动预检、缺失与未解析引用保留；图谱孤儿和未拥有模板为零；native/WASM kinematics/motion/feedback/home/IO 与 Worker replay/recovery 重复摘要稳定；官方 kinematics/recovery oracle 继续显式 blocked | `coverage/configuration-regression.report.json`, `scripts/generate_configuration_regression.py`, `scripts/test_configuration_regression.py`, `coverage/manifest.jsonl`, `context-lock.json` |
 
 ## 追溯规则