Implement WebAssembly runtime and kinematics coverage
This commit is contained in:
134
coverage/corexy-hal.report.json
Normal file
134
coverage/corexy-hal.report.json
Normal file
@@ -0,0 +1,134 @@
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{
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"component": {
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"name": "corexy_by_hal",
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"period": "fixed HAL tick",
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"pins": [
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"j0-motor-pos-cmd",
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"j1-motor-pos-cmd",
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"alpha-cmd",
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"beta-cmd",
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"alpha-fb",
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"beta-fb",
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"j0-motor-pos-fb",
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"j1-motor-pos-fb"
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],
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"thread": "servo-thread"
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},
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"config_scan": {
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"alpha_command_to_stepgen": true,
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"beta_command_to_stepgen": true,
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"component_command_formula": true,
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"component_feedback_formula": true,
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"hal_and_kins_entries_distinct": true,
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"home_j0_before_transform": true,
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"home_j1_before_transform": true,
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"loadrt_component": true,
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"servo_registration": true
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},
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"home_semantics": {
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"home_inputs": [
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"j0-motor-pos-cmd",
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"j1-motor-pos-cmd"
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],
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"kins_difference": "corexykins homes motor joints directly",
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"reason": "corexy_by_hal.hal routes Cartesian trivkins joint commands to j0home/j1home before alpha/beta stepgens",
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"status": "verified"
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},
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"implementation_status": "verified",
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"native_wasm": {
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"byte_identical_json": true,
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"native": {
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"command": {
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"alpha": 4.0,
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"beta": 2.0,
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"j0": 6.0,
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"j1": 2.0
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},
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"feedback": {
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"alpha": 4.0,
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"beta": 1.0,
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"j0": 5.0,
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"j1": 3.0
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},
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"function_calls": 1,
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"schema": "hal-corexy-sample.v1",
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"tick": 1
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},
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"status": "passed",
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"wasm": {
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"command": {
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"alpha": 4.0,
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"beta": 2.0,
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"j0": 6.0,
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"j1": 2.0
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},
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"feedback": {
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"alpha": 4.0,
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"beta": 1.0,
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"j0": 5.0,
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"j1": 3.0
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},
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"function_calls": 1,
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"schema": "hal-corexy-sample.v1",
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"tick": 1
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}
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},
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"oracle": {
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"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
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"status": "blocked"
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},
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"report_sha256": "765c8318c48d7570773d22394c625c0d6c479fdf2e98c62fa48296b61e99c238",
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"schema": "corexy-hal-report.v1",
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"source_records": {
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"component": {
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"path": "linuxcnc/src/hal/components/corexy_by_hal.comp",
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"sha256": "7cb585058976198779600ee1d27f6b4e225a89c1c6ebcc7ba699291c9463e5a8"
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},
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"hal": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal",
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"sha256": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1"
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},
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"hal_header": {
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"path": "wasm-core/include/sim_hal.h",
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"sha256": "f0b25fda1c267ed8078469c9966fa3b09721eba77c575affea77d489437a3e49"
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},
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"hal_source": {
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"path": "wasm-core/src/sim_hal.c",
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"sha256": "76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621"
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},
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"hal_test": {
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"path": "wasm-core/tests/sim_hal_test.c",
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"sha256": "5044ed422b37499291ff85fd7c601acc6665621cf33e9ff4d26f0e8fd5b7d533"
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},
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"ini": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"sha256": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f"
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},
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"kins_ini": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini",
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"sha256": "b6682cc5186944a44c2aa78501c4f350e56b4da1151348fa9fc3ece5f0eeea3a"
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}
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},
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"status": "partial",
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"transform": {
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"command": {
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"alpha": "0.5*(j0+j1)",
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"beta": "0.5*(j0-j1)"
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},
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"direction": "verified against LinuxCNC corexy_by_hal.comp",
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"feedback": {
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"j0": "alpha+beta",
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"j1": "alpha-beta"
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},
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"sample": {
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"alpha": 4.0,
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"alpha_fb": 4.0,
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"beta": 2.0,
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"beta_fb": 1.0,
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"j0": 6.0,
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"j0_fb": 5.0,
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"j1": 2.0,
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"j1_fb": 3.0
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}
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}
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}
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436
coverage/coupled-kinematics.report.json
Normal file
436
coverage/coupled-kinematics.report.json
Normal file
@@ -0,0 +1,436 @@
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{
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"closure": {
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"blocking_reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
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"cartesian_candidate_ids": [
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"config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins",
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"config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins"
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],
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"coupled_linear_source_ids": [
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"source:linuxcnc/src/emc/kinematics/corexykins.c",
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"source:linuxcnc/src/emc/kinematics/rosekins.c"
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],
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"max_rotate_source_ids": [
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"linuxcnc/src/emc/kinematics/maxkins.c",
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"linuxcnc/src/emc/kinematics/rotatekins.c"
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],
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"official_oracle": "blocked"
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},
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"configuration_candidate_origin": {
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"rotatekins": "workspace_derived_fixture; LinuxCNC locked source has no shipped rotatekins config"
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},
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"configuration_candidates": {
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"corexy_hal": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"sha256": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f"
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},
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"corexy_kins": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini",
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"sha256": "b6682cc5186944a44c2aa78501c4f350e56b4da1151348fa9fc3ece5f0eeea3a"
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},
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"maxkins": {
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
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"sha256": "ea7d453127122b7831e74de2204b446c514f3c999961a4be412b36880bacb8b6"
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},
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"rose": {
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"path": "linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini",
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"sha256": "0685e9ca8c05c903b715e9fed6ecd23cbac13911ed335b6d14e24eb235de25d3"
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},
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"rotatekins": {
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"path": "linuxcnc/configs/sim/axis/rotate/rotatekins.ini",
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"sha256": "324af9a73d21b5f0c9adaf3c97e698422790d403586901f9e161b6020b1fb4fa"
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}
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},
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"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
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"corexy_entry_distinction": {
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"distinct": true,
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"hal_component": "linuxcnc/src/hal/components/corexy_by_hal.comp",
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"hal_configuration": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"kins_configuration": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini"
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},
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"families": {
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"corexy": {
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"boundary": "configuration coordinate requirements verified",
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"forward": "X=0.5*(J0+J1), Y=0.5*(J0-J1), Z=J2",
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"round_trip": "verified"
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},
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"maxkins": {
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"boundary": "pivot_length=0 and pivot_length=0.666 verified",
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"forward": "LinuxCNC maxkins pivot/B/C/U/V/W correction formula",
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"round_trip": "verified"
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},
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"rose": {
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"branch_state": "previous quadrant plus revolution count",
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"forward": "X=R*cos(theta), Y=R*sin(theta), Z=J1; theta=J2 degrees",
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"quadrant_continuity": "verified",
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"round_trip": "verified"
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},
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"rotatekins": {
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"boundary": "90 degree rotation verified",
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"forward": "XY rotation by -C degrees; Z and optional axes direct",
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"round_trip": "verified"
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}
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},
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"implementation_status": "verified",
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"native_wasm": {
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"native_command": "build-native/sim_kinematics_test",
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"status": "passed",
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"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
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||||
},
|
||||
"report_sha256": "3bcd97e6a87058f42f1653ae896a95b6dad2ca9f149236b75a2d5d699f2e6988",
|
||||
"samples": {
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||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"corexy": {
|
||||
"inverse": [
|
||||
6.0,
|
||||
2.0,
|
||||
3.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
3.0
|
||||
],
|
||||
"state_hash": 15406663564927631605
|
||||
},
|
||||
"fiveaxiskins": {
|
||||
"inverse": [
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
"pose": [
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||||
"state_hash": 5053227094931014129
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||||
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||||
"maxkins": {
|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
"pose": [
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||||
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||||
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|
||||
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||||
"state_hash": 2549915653649577904
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||||
"puma": {
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||||
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||||
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||||
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||||
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"state_hash": 3161234248163340028
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"rose": {
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||||
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||||
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||||
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||||
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"state_hash": 15304911204640563299
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||||
"rotatekins": {
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"pose": [
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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"pose": [
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||||
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||||
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||||
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||||
"state_hash": 4515826253922604237
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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"scorbot": {
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|
||||
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||||
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||||
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||||
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-5.0
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||||
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||||
"pose": [
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|
||||
"state_hash": 16037922903473574131
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||||
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|
||||
"xyzac_trt": {
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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100.0,
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||||
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||||
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|
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||||
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|
||||
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|
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|
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||||
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|
||||
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|
||||
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|
||||
"schema": "coupled-kinematics-report.v1",
|
||||
"source_records": {
|
||||
"corexy": {
|
||||
"path": "linuxcnc/src/emc/kinematics/corexykins.c",
|
||||
"sha256": "507963e0ed464440fa530db11b1b15c6a663182eb016855d105554ae8125ae5b"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
"rose": {
|
||||
"path": "linuxcnc/src/emc/kinematics/rosekins.c",
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||||
"sha256": "1de39affa6b99f21c5e902fc67c8b1d8876d44fc8eff920afd816d7f956cfd78"
|
||||
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|
||||
"rotatekins": {
|
||||
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|
||||
"sha256": "b104c7e0eb726f48b83daa4d596db5ca8021d803ab17dd123db9b9410ce5f47c"
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
"status": "partial"
|
||||
}
|
||||
361
coverage/delta-kinematics.report.json
Normal file
361
coverage/delta-kinematics.report.json
Normal file
@@ -0,0 +1,361 @@
|
||||
{
|
||||
"configuration_candidate_count": 4,
|
||||
"configuration_candidates": {
|
||||
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|
||||
"hal_files": [
|
||||
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|
||||
"axis_manualtoolchange.hal"
|
||||
],
|
||||
"kinematics": "lineardeltakins",
|
||||
"missing_hal_files": [
|
||||
"linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/axis/sim_ldelta.hal"
|
||||
],
|
||||
"path": "linuxcnc/configs/sim/axis/ldelta.ini",
|
||||
"sha256": "1567138c3d54b4d9712b5031f6a0b060edadd8d1442d1eff8d93c2beefbb5e0c"
|
||||
},
|
||||
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|
||||
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|
||||
"sim_ldelta.hal",
|
||||
"axis_manualtoolchange.hal"
|
||||
],
|
||||
"kinematics": "lineardeltakins",
|
||||
"missing_hal_files": [
|
||||
"linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/axis/sim_ldelta.hal"
|
||||
],
|
||||
"path": "linuxcnc/configs/sim/axis/ldelta_demo.ini",
|
||||
"sha256": "ab0645308abe903bf66f36a328b43303aa0e8ad2d19e69a45e2703d665956439"
|
||||
},
|
||||
"linear_tklinuxcnc": {
|
||||
"hal_files": [
|
||||
"sim_ldelta.hal",
|
||||
"axis_manualtoolchange.hal"
|
||||
],
|
||||
"kinematics": "lineardeltakins",
|
||||
"missing_hal_files": [
|
||||
"linuxcnc/configs/sim/tklinuxcnc/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/tklinuxcnc/sim_ldelta.hal"
|
||||
],
|
||||
"path": "linuxcnc/configs/sim/tklinuxcnc/ldelta.ini",
|
||||
"sha256": "0e23dee0f4df839c028f5bfba95c5941f2f8623ce502d6fdfc90dfdef63d8967"
|
||||
},
|
||||
"rotary_axis": {
|
||||
"hal_files": [
|
||||
"sim_rdelta.hal",
|
||||
"axis_manualtoolchange.hal"
|
||||
],
|
||||
"kinematics": "rotarydeltakins",
|
||||
"missing_hal_files": [
|
||||
"linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/axis/sim_rdelta.hal"
|
||||
],
|
||||
"path": "linuxcnc/configs/sim/axis/rdelta.ini",
|
||||
"sha256": "53510733b8fd0230547f48f76ebd35dc5c98f58fe1dba1246777e227ef82c508"
|
||||
}
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
"linear_axis",
|
||||
"linear_demo",
|
||||
"linear_tklinuxcnc"
|
||||
],
|
||||
"forward": "three carriage spheres -> quadratic platform root",
|
||||
"inverse": "three carriage heights from sphere intersections",
|
||||
"module": "lineardeltakins"
|
||||
},
|
||||
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|
||||
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|
||||
"rotary_axis"
|
||||
],
|
||||
"forward": "three rotary knee constraints -> quadratic platform root",
|
||||
"inverse": "three rotated leg intersections",
|
||||
"module": "rotarydeltakins"
|
||||
}
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"blocked_samples": [
|
||||
"linear nominal/root",
|
||||
"linear alternate root",
|
||||
"linear no-solution",
|
||||
"linear joint-limit",
|
||||
"rotary nominal/root",
|
||||
"rotary alternate root",
|
||||
"rotary z=0 singular"
|
||||
],
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
"linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/axis/sim_ldelta.hal",
|
||||
"linuxcnc/configs/sim/axis/sim_rdelta.hal",
|
||||
"linuxcnc/configs/sim/tklinuxcnc/axis_manualtoolchange.hal",
|
||||
"linuxcnc/configs/sim/tklinuxcnc/sim_ldelta.hal"
|
||||
],
|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
300.0,
|
||||
300.0
|
||||
],
|
||||
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||||
],
|
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
10.0,
|
||||
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|
||||
],
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
],
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
"lineardelta": {
|
||||
"inverse": [
|
||||
300.0,
|
||||
300.0,
|
||||
300.0
|
||||
],
|
||||
"pose": [
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||||
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||||
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||||
],
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||||
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|
||||
},
|
||||
"rotarydelta": {
|
||||
"inverse": [
|
||||
10.0,
|
||||
10.0,
|
||||
10.0
|
||||
],
|
||||
"pose": [
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||||
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||||
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||||
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||||
],
|
||||
"state_hash": 14346691006498560820
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "delta-kinematics-report.v1",
|
||||
"solver": {
|
||||
"alternate_root_flag": "SIM_KIN_DELTA_ALTERNATE_ROOT bit 0",
|
||||
"convergence_tolerance": 0.0,
|
||||
"default_root": 0,
|
||||
"fixed_iteration_limit": 0,
|
||||
"forward": "analytic quadratic intersection",
|
||||
"inverse": "three independent leg intersections"
|
||||
},
|
||||
"source_records": {
|
||||
"header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
|
||||
},
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
|
||||
},
|
||||
"linear_c": {
|
||||
"path": "linuxcnc/src/emc/kinematics/lineardeltakins.c",
|
||||
"sha256": "792caf5f3fb8bf06d97a4bb7262697ac22182d78d91fed19e7a9e537585aa748"
|
||||
},
|
||||
"linear_cc": {
|
||||
"path": "linuxcnc/src/emc/kinematics/lineardeltakins.cc",
|
||||
"sha256": "77634457a4dd3f5617f91a66651965c5b8326fc0d4dfc916d9cd63b89b0ec0f1"
|
||||
},
|
||||
"linear_common": {
|
||||
"path": "linuxcnc/src/emc/kinematics/lineardeltakins-common.h",
|
||||
"sha256": "7785bcd7d095b431169cdd0f753c177ece643ee825f7ff4b8cdb6f8cd4706df8"
|
||||
},
|
||||
"rotary_c": {
|
||||
"path": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
|
||||
"sha256": "64c8aeb6998a481f3c26743093dd157d2d22dc6769b258e3e6012b5c1f784773"
|
||||
},
|
||||
"rotary_cc": {
|
||||
"path": "linuxcnc/src/emc/kinematics/rotarydeltakins.cc",
|
||||
"sha256": "7e2fd63a2a7f5718d706faa21f903b36007226b065ad6d234631d2514f653618"
|
||||
},
|
||||
"rotary_common": {
|
||||
"path": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
|
||||
"sha256": "ba3e037fe2ad7eba29aa2b657492ac83f1979a38c9249fef52e598ba0d5c9136"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
|
||||
}
|
||||
},
|
||||
"status": "partial",
|
||||
"workspace_and_boundaries": {
|
||||
"linear": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_root_pose": [
|
||||
-0.0,
|
||||
-0.0,
|
||||
535.363415806
|
||||
],
|
||||
"geometry_error": -703,
|
||||
"iterations": 0,
|
||||
"joint_limit_error": -702,
|
||||
"no_solution_error": -702,
|
||||
"nominal": [
|
||||
0.0,
|
||||
0.0,
|
||||
64.636584194
|
||||
],
|
||||
"root_branch": 0
|
||||
},
|
||||
"rotary": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_root_pose": [
|
||||
-0.0,
|
||||
-0.0,
|
||||
0.320396615
|
||||
],
|
||||
"geometry_error": -703,
|
||||
"iterations": 0,
|
||||
"nominal": [
|
||||
0.0,
|
||||
0.0,
|
||||
-3.793360169
|
||||
],
|
||||
"root_branch": 0,
|
||||
"singular_error": -704
|
||||
}
|
||||
}
|
||||
}
|
||||
105
coverage/fiveaxis-kinematics.report.json
Normal file
105
coverage/fiveaxis-kinematics.report.json
Normal file
@@ -0,0 +1,105 @@
|
||||
{
|
||||
"boundary": {
|
||||
"duplicate_axis_suffix": "verified",
|
||||
"missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
|
||||
"pivot_length": "250.0 verified",
|
||||
"round_trip": "verified",
|
||||
"state_hash": "native/WASM identical"
|
||||
},
|
||||
"configuration": {
|
||||
"coordinates": "xyzbcwy",
|
||||
"duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized",
|
||||
"joints": 7,
|
||||
"kinematics": "5axiskins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
|
||||
"pivot_length_default": 250.0,
|
||||
"required_coordinates": "XYZBCW",
|
||||
"scan": {
|
||||
"joint_count": true,
|
||||
"kins_entry": true,
|
||||
"pivot_pin": true
|
||||
}
|
||||
},
|
||||
"formula": {
|
||||
"forward": "X=JX+r*sin(180-B)*cos(C), Y=JY+r*sin(180-B)*sin(C), Z=JZ+pivot+r*cos(180-B)",
|
||||
"inverse": "subtract the same spherical vector, then map pose to coordinates",
|
||||
"source_contains_required_coordinates": true,
|
||||
"source_spherical_helper": "s2r"
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "d0af8c3785d87bedd869d235f45b9d522434589a26794113b1acf8526982dde0",
|
||||
"sample": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"inverse": [
|
||||
10.0,
|
||||
20.0,
|
||||
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|
||||
35.0,
|
||||
40.0,
|
||||
-2.0,
|
||||
20.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 5053227094931014129
|
||||
},
|
||||
"wasm": {
|
||||
"inverse": [
|
||||
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|
||||
20.0,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"pose": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 5053227094931014129
|
||||
}
|
||||
},
|
||||
"schema": "fiveaxis-kinematics-report.v1",
|
||||
"source_records": {
|
||||
"config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
|
||||
"sha256": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf"
|
||||
},
|
||||
"hal": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal",
|
||||
"sha256": "a59e6b9432c0a898f6d8da46309b868733a906158733fb0942017d14eb97cd07"
|
||||
},
|
||||
"header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
|
||||
},
|
||||
"source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/5axiskins.c",
|
||||
"sha256": "2e29fee21936cfbbafbb000290276e4b32eaba4831014e08d3fb833f2b3dac72"
|
||||
},
|
||||
"source_impl": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
|
||||
}
|
||||
},
|
||||
"status": "partial"
|
||||
}
|
||||
333
coverage/genhex-kinematics.report.json
Normal file
333
coverage/genhex-kinematics.report.json
Normal file
@@ -0,0 +1,333 @@
|
||||
{
|
||||
"configuration_candidate": {
|
||||
"coordinates": "XYZABC",
|
||||
"hal_geometry": {
|
||||
"base": [
|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
0.0,
|
||||
-26.5,
|
||||
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||||
-22.95,
|
||||
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|
||||
0.0
|
||||
],
|
||||
"platform": [
|
||||
-1.0,
|
||||
11.5,
|
||||
0.0,
|
||||
1.0,
|
||||
11.5,
|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
-9.459,
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||||
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|
||||
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|
||||
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|
||||
-4.884,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"hal_pins": [
|
||||
"last-iterations",
|
||||
"max-iterations",
|
||||
"limit-iterations",
|
||||
"max-error",
|
||||
"convergence-criterion",
|
||||
"fwd-kins-fail",
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"a",
|
||||
"b",
|
||||
"c"
|
||||
],
|
||||
"joints": 6,
|
||||
"kinematics": "genhexkins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
|
||||
"scan": true
|
||||
},
|
||||
"geometry": {
|
||||
"base_points": [
|
||||
[
|
||||
-22.95,
|
||||
13.25,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
22.95,
|
||||
13.25,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
22.95,
|
||||
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|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
-26.5,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
-26.5,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
-22.95,
|
||||
13.25,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"platform_points": [
|
||||
[
|
||||
-1.0,
|
||||
11.5,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
1.0,
|
||||
11.5,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
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|
||||
-4.884,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
9.459,
|
||||
-6.616,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
-9.459,
|
||||
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|
||||
0.0
|
||||
],
|
||||
[
|
||||
-10.459,
|
||||
-4.884,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"struts": 6,
|
||||
"units": "configuration units; XYZ linear and ABC degrees"
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"mapping": {
|
||||
"coordinates": "XYZABC",
|
||||
"extra_joint_policy": "rejected",
|
||||
"joint_semantics": [
|
||||
"strut-0",
|
||||
"strut-1",
|
||||
"strut-2",
|
||||
"strut-3",
|
||||
"strut-4",
|
||||
"strut-5"
|
||||
],
|
||||
"kinematics_joint_count": 6
|
||||
},
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"blocked_samples": [
|
||||
"nominal six-leg pose",
|
||||
"alternate initial seed",
|
||||
"nonpositive strut",
|
||||
"iteration limit",
|
||||
"maximum error",
|
||||
"singular Jacobian",
|
||||
"joint limit"
|
||||
],
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "992b96bae770789e6013cfffaeb3c47d8ecfde24d7abe974987e66250921ea78",
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_pose": [
|
||||
10.0,
|
||||
-5.0,
|
||||
-60.0
|
||||
],
|
||||
"alternate_status": 0,
|
||||
"branch": 0,
|
||||
"iteration_limit": -702,
|
||||
"iterations": 14,
|
||||
"limit_error": -702,
|
||||
"max_error": -702,
|
||||
"nonpositive": -702,
|
||||
"residual": 8.57e-10,
|
||||
"singular": -704
|
||||
},
|
||||
"genhex": {
|
||||
"inverse": [
|
||||
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|
||||
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|
||||
63.783820692,
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"iterations": 14,
|
||||
"pose": [
|
||||
10.0,
|
||||
-5.0,
|
||||
60.0,
|
||||
4.999999999,
|
||||
-3.000000001,
|
||||
10.0
|
||||
],
|
||||
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|
||||
"state_hash": 11890997469032613683
|
||||
}
|
||||
},
|
||||
"state_hash_identical": true,
|
||||
"wasm": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_pose": [
|
||||
10.0,
|
||||
-5.0,
|
||||
-60.0
|
||||
],
|
||||
"alternate_status": 0,
|
||||
"branch": 0,
|
||||
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|
||||
"iterations": 14,
|
||||
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|
||||
"max_error": -702,
|
||||
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|
||||
"residual": 8.57e-10,
|
||||
"singular": -704
|
||||
},
|
||||
"genhex": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
],
|
||||
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|
||||
"pose": [
|
||||
10.0,
|
||||
-5.0,
|
||||
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|
||||
4.999999999,
|
||||
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|
||||
10.0
|
||||
],
|
||||
"residual": 8.57e-10,
|
||||
"state_hash": 11890997469032613683
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "genhex-kinematics-report.v1",
|
||||
"solver": {
|
||||
"alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1",
|
||||
"default_convergence_tolerance": 1e-09,
|
||||
"default_iteration_limit": 120,
|
||||
"default_max_error": 500.0,
|
||||
"forward": "Newton-Raphson 6x6 Jacobian",
|
||||
"inverse": "closed-form six strut lengths",
|
||||
"seed": [
|
||||
0.0,
|
||||
0.0,
|
||||
50.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"source_records": {
|
||||
"config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
|
||||
"sha256": "362654b77bcaf5c87c3aa14c12684f516cbd635b6d582a68b05fcbd8299822ea"
|
||||
},
|
||||
"hal": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/kinematics.hal",
|
||||
"sha256": "6dd6d63e0403dcc0c82b43790eaa5b4a4d639c5a02391ac1dcd5673969c4ec39"
|
||||
},
|
||||
"header": {
|
||||
"path": "linuxcnc/src/emc/kinematics/genhexkins.h",
|
||||
"sha256": "580a2e1703a5c0efb683b4a26f805af434edcfe9d1ade7890e44307f8b0b236c"
|
||||
},
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "6abae835c16feb27ec1dc28a9ea5384f0bc5190217ba04a4997048d83066b905"
|
||||
},
|
||||
"kinematics_header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "939d4088d9e7120e4a405be154eb3d98cd4e5925fc27d47641c115624c1bd994"
|
||||
},
|
||||
"source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/genhexkins.c",
|
||||
"sha256": "8df3d8bd812e040a06bc29ea91625fd143bacf26903b106ae6700430aca7f6b9"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "c9e4d20973c6a487787504bd5de9a73829f53d8bbfd35f91e72c6c62c76f191e"
|
||||
}
|
||||
},
|
||||
"status": "partial",
|
||||
"workspace_and_boundaries": {
|
||||
"alternate_seed": [
|
||||
10.0,
|
||||
-5.0,
|
||||
-60.0
|
||||
],
|
||||
"iteration_limit_error": -702,
|
||||
"iterations": 14,
|
||||
"joint_limit_error": -702,
|
||||
"max_error_boundary": -702,
|
||||
"nominal": {
|
||||
"inverse": [
|
||||
68.274402001,
|
||||
63.00792855,
|
||||
63.783820692,
|
||||
65.475127133,
|
||||
60.456723205,
|
||||
68.231500501
|
||||
],
|
||||
"iterations": 14,
|
||||
"pose": [
|
||||
10.0,
|
||||
-5.0,
|
||||
60.0,
|
||||
4.999999999,
|
||||
-3.000000001,
|
||||
10.0
|
||||
],
|
||||
"residual": 8.57e-10,
|
||||
"state_hash": 11890997469032613683
|
||||
},
|
||||
"nonpositive_joint_error": -702,
|
||||
"residual": 8.57e-10,
|
||||
"singular_jacobian_error": -704
|
||||
}
|
||||
}
|
||||
132
coverage/genser-kinematics.report.json
Normal file
132
coverage/genser-kinematics.report.json
Normal file
@@ -0,0 +1,132 @@
|
||||
{
|
||||
"boundaries": {
|
||||
"fixed_iteration_limit": "verified",
|
||||
"invalid_DH_nonfinite": "SIM_KIN_ERR_NONFINITE verified",
|
||||
"state_hash": "native/WASM identical after 1e-9 quantization"
|
||||
},
|
||||
"configuration_candidates": {
|
||||
"melfa": {
|
||||
"dh_source": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal",
|
||||
"kinematics": "genserkins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini",
|
||||
"scan": true
|
||||
},
|
||||
"puma560": {
|
||||
"dh_source": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
|
||||
"kinematics": "genserkins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
|
||||
"scan": true
|
||||
}
|
||||
},
|
||||
"dh_contract": {
|
||||
"alpha_units": "radians from HAL pins",
|
||||
"joint_count": 6,
|
||||
"joint_units": "degrees at public ABI, radians internally",
|
||||
"melfa_has_alpha_and_d": true,
|
||||
"parameters": [
|
||||
"A-0..5",
|
||||
"ALPHA-0..5",
|
||||
"D-0..5"
|
||||
],
|
||||
"puma_has_alpha_and_d": true
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "fc6c23f67b2a14b58735fa60ed884a5a73815c3efb26f1b4d0de427e882d67b8",
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"inverse": [
|
||||
0.0,
|
||||
10.0,
|
||||
-20.0,
|
||||
29.999999999,
|
||||
15.0,
|
||||
-9.999999999
|
||||
],
|
||||
"iterations": 0,
|
||||
"pose": [
|
||||
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|
||||
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||||
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||||
],
|
||||
"residual": 0.0,
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||||
"state_hash": 13985782206955965200
|
||||
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|
||||
"wasm": {
|
||||
"inverse": [
|
||||
0.0,
|
||||
10.0,
|
||||
-20.0,
|
||||
29.999999999,
|
||||
15.0,
|
||||
-9.999999999
|
||||
],
|
||||
"iterations": 0,
|
||||
"pose": [
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
"schema": "genser-kinematics-report.v1",
|
||||
"solver": {
|
||||
"convergence_tolerance": 1e-07,
|
||||
"forward": "Craig DH homogeneous product",
|
||||
"inverse": "fixed-zero seed damped numerical Jacobian with 1e-4 degree finite difference",
|
||||
"iterations": 0,
|
||||
"max_iterations": 200,
|
||||
"nonconvergence": "SIM_KIN_ERR_SINGULAR after fixed iteration limit",
|
||||
"residual": 0.0
|
||||
},
|
||||
"source_records": {
|
||||
"functions": {
|
||||
"path": "linuxcnc/src/emc/kinematics/genserfuncs.c",
|
||||
"sha256": "e4b775e93b973a4faae873c81a95d7d8361fe5c5c59ea81e362a5f900a1e8781"
|
||||
},
|
||||
"header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "5fd01043d705486b0d365e36109c3b0e0d39f220c2cec313b5b747dca06148bc"
|
||||
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|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "41fc146ab88a623b5bc6afbba1fc0d12434689c737426da12fcd297162672749"
|
||||
},
|
||||
"melfa_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini",
|
||||
"sha256": "7dc7a3db58ca7f7ddba11fe08f691cd7658564be2a0b872d9087ee7b392e45c7"
|
||||
},
|
||||
"melfa_dh": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal",
|
||||
"sha256": "0d943182e37da99ae99db53f3dd464cb9b62b17d4cabe56c35c0c27b43bf68c6"
|
||||
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|
||||
"puma_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
|
||||
"sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c"
|
||||
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|
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"puma_dh": {
|
||||
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|
||||
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|
||||
},
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"source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/genserkins.c",
|
||||
"sha256": "cbb87b9c21f9f5e1d6a3c5bd333f72a7b1b4f1618a21b32d4b34bc621b43e075"
|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
"status": "partial"
|
||||
}
|
||||
@@ -5,5 +5,8 @@
|
||||
"fixed_tick_scheduler": true,
|
||||
"max_period_ticks": 1000000,
|
||||
"native_tests": ["sim_hal_test"],
|
||||
"wasm_tests": ["sim_hal_wasm_test"],
|
||||
"static_components": ["corexy_by_hal"],
|
||||
"corexy_transform": "coverage/corexy-hal.report.json",
|
||||
"real_excluded": ["hardware_driver", "linux_realtime_kernel", "host_device_access"]
|
||||
}
|
||||
|
||||
361
coverage/interpreter-runtime.report.json
Normal file
361
coverage/interpreter-runtime.report.json
Normal file
@@ -0,0 +1,361 @@
|
||||
{
|
||||
"canonical": {
|
||||
"block_hash": "fnv1a64 over input bytes",
|
||||
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|
||||
"deterministic_runs": 2,
|
||||
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|
||||
"state_hash": "fnv1a64 over explicit state fields",
|
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"state_hash_identical": true
|
||||
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"error_boundaries": [
|
||||
"argument",
|
||||
"nonfinite",
|
||||
"syntax",
|
||||
"range",
|
||||
"unknown_code",
|
||||
"state",
|
||||
"buffer"
|
||||
],
|
||||
"golden_tolerance": "exact_for_supported_words",
|
||||
"implementation": "linuxcnc/src/emc/rs274ngc",
|
||||
"inputs": {
|
||||
"bytes": 1133481,
|
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"file_count": 55,
|
||||
"files": [
|
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{
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"path": "linuxcnc/src/emc/rs274ngc/Submakefile",
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{
|
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"bytes": 5174,
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"bytes": 619,
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|
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{
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"bytes": 17113,
|
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|
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"bytes": 13874,
|
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||||
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{
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"bytes": 2181,
|
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"path": "linuxcnc/src/emc/rs274ngc/interp_array_types.hh",
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||||
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|
||||
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{
|
||||
"bytes": 2270,
|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
"bytes": 13102,
|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
||||
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|
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{
|
||||
"bytes": 1382,
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
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|
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||||
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|
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|
||||
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|
||||
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||||
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||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
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||||
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|
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|
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|
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||||
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|
||||
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|
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|
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|
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|
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|
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|
||||
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||||
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||||
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|
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||||
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||||
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|
||||
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|
||||
"sha256": "a2d9148bab60dbb6f2ea41bd7b13ccd44986568b805711e0a12a6aff23c39a08"
|
||||
},
|
||||
{
|
||||
"bytes": 1282,
|
||||
"path": "linuxcnc/unit_tests/interp/interp_testing_util.hh",
|
||||
"sha256": "18cb2d6075d163fff58e2892f84455f3cc3491e653e76c6531601eac39362d56"
|
||||
},
|
||||
{
|
||||
"bytes": 179,
|
||||
"path": "linuxcnc/unit_tests/interp/meson.build",
|
||||
"sha256": "534b25743c0259e3757cc2b60fbe0edad23473a5262bc988992d576fb364385e"
|
||||
},
|
||||
{
|
||||
"bytes": 23093,
|
||||
"path": "linuxcnc/unit_tests/interp/test_interp_basics.cc",
|
||||
"sha256": "0929d736e50c854624102d70d673d0eb15ce93a05af7993429b6f19deff57e74"
|
||||
},
|
||||
{
|
||||
"bytes": 3135,
|
||||
"path": "linuxcnc/unit_tests/interp/test_interp_block.cc",
|
||||
"sha256": "c2c063b7255bb3b1a15ce2be34d5998a877235b18eca5435df487c8c87dfb81d"
|
||||
},
|
||||
{
|
||||
"bytes": 637,
|
||||
"path": "linuxcnc/unit_tests/interp/test_string_conversion.cc",
|
||||
"sha256": "d6b056f762826da85385d0e235de4dc4d8f96a2b8ef64abe140c7baed09f6754"
|
||||
},
|
||||
{
|
||||
"bytes": 595,
|
||||
"path": "linuxcnc/unit_tests/interp/tests_main.cc",
|
||||
"sha256": "f7ac2692b082bd9309535d2bebe11ace840395b00b63b64180b2857501956a4f"
|
||||
}
|
||||
],
|
||||
"fingerprint_sha256": "ddf2667de41902ecdabb6c2466fe43236dafe4d17fa2c3b8ca37c398920eac02",
|
||||
"roots": [
|
||||
"linuxcnc/src/emc/rs274ngc",
|
||||
"linuxcnc/unit_tests/interp"
|
||||
]
|
||||
},
|
||||
"native_and_wasm": true,
|
||||
"outputs": {
|
||||
"bytes": 15523,
|
||||
"file_count": 3,
|
||||
"files": [
|
||||
{
|
||||
"bytes": 1872,
|
||||
"path": "wasm-core/include/sim_interpreter.h",
|
||||
"sha256": "7bf24098340e3da2272061acf7a43376c6c40fe9dffc55d012e3af65ceffedbb"
|
||||
},
|
||||
{
|
||||
"bytes": 11585,
|
||||
"path": "wasm-core/src/sim_interpreter.c",
|
||||
"sha256": "9f9f45f7c123be774dcf55a752a29e6cc1f873a1605cf89c4caa4f4ab125e6a4"
|
||||
},
|
||||
{
|
||||
"bytes": 2066,
|
||||
"path": "wasm-core/tests/sim_interpreter_test.c",
|
||||
"sha256": "c4fc3ba11b751ed9f3f770ff1ff164ce18aa19986003cf85d17a26de7aecd3ce"
|
||||
}
|
||||
],
|
||||
"fingerprint_sha256": "440a472b1f24c6bc092e0181f58389a2fd7fab2fdb632583f1c650ec8db86d6e"
|
||||
},
|
||||
"schema": "interpreter-runtime-report.v1",
|
||||
"status": "passed",
|
||||
"supported_words": [
|
||||
"G0",
|
||||
"G1",
|
||||
"G2",
|
||||
"G3",
|
||||
"G17",
|
||||
"G18",
|
||||
"G19",
|
||||
"G20",
|
||||
"G21",
|
||||
"G90",
|
||||
"G91",
|
||||
"M2",
|
||||
"M3",
|
||||
"M4",
|
||||
"M5",
|
||||
"M30",
|
||||
"X",
|
||||
"Y",
|
||||
"Z",
|
||||
"A",
|
||||
"B",
|
||||
"C",
|
||||
"U",
|
||||
"V",
|
||||
"W",
|
||||
"F",
|
||||
"S"
|
||||
]
|
||||
}
|
||||
231
coverage/kinematics-abi-contract.json
Normal file
231
coverage/kinematics-abi-contract.json
Normal file
@@ -0,0 +1,231 @@
|
||||
{
|
||||
"abi_version": 1,
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"contract_sha256": "3c338760a86122d25b76e5a27e26b9c79d8579e1ca96638ed932b8ca8e41283a",
|
||||
"declared_functions": [
|
||||
"sim_kinematics_forward",
|
||||
"sim_kinematics_forward_ex",
|
||||
"sim_kinematics_home",
|
||||
"sim_kinematics_init",
|
||||
"sim_kinematics_inverse",
|
||||
"sim_kinematics_inverse_ex",
|
||||
"sim_kinematics_state_hash",
|
||||
"sim_kinematics_validate_pose"
|
||||
],
|
||||
"enums": {
|
||||
"sim_kinematics_mode": [
|
||||
{
|
||||
"name": "SIM_KIN_MODE_DEFAULT",
|
||||
"value": 0
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_MODE_IDENTITY",
|
||||
"value": 1
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_MODE_FORWARD_ONLY",
|
||||
"value": 2
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_MODE_INVERSE_ONLY",
|
||||
"value": 3
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_MODE_BOTH",
|
||||
"value": 4
|
||||
}
|
||||
],
|
||||
"sim_kinematics_result": [
|
||||
{
|
||||
"name": "SIM_KIN_OK",
|
||||
"value": 0
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_ARGUMENT",
|
||||
"value": -700
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_NONFINITE",
|
||||
"value": -701
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_RANGE",
|
||||
"value": -702
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_CONFIGURATION",
|
||||
"value": -703
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_SINGULAR",
|
||||
"value": -704
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_UNKNOWN_TYPE",
|
||||
"value": -705
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ERR_UNSUPPORTED",
|
||||
"value": -706
|
||||
}
|
||||
],
|
||||
"sim_kinematics_type": [
|
||||
{
|
||||
"name": "SIM_KIN_TRIVKINS",
|
||||
"value": 1
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_XYZAC_TRT",
|
||||
"value": 2
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_XYZBC_TRT",
|
||||
"value": 3
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_XYZBCW",
|
||||
"value": 4
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_COREXY",
|
||||
"value": 5
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ROSE",
|
||||
"value": 6
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_MAXKINS",
|
||||
"value": 7
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_ROTATEKINS",
|
||||
"value": 8
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_5AXISKINS",
|
||||
"value": 9
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_SCARA",
|
||||
"value": 10
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_PUMA",
|
||||
"value": 11
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_SCORBOT",
|
||||
"value": 12
|
||||
},
|
||||
{
|
||||
"name": "SIM_KIN_GENSER",
|
||||
"value": 13
|
||||
}
|
||||
]
|
||||
},
|
||||
"errors": {
|
||||
"SIM_KIN_ERR_ARGUMENT": -700,
|
||||
"SIM_KIN_ERR_CONFIGURATION": -703,
|
||||
"SIM_KIN_ERR_NONFINITE": -701,
|
||||
"SIM_KIN_ERR_RANGE": -702,
|
||||
"SIM_KIN_ERR_SINGULAR": -704,
|
||||
"SIM_KIN_ERR_UNKNOWN_TYPE": -705,
|
||||
"SIM_KIN_ERR_UNSUPPORTED": -706,
|
||||
"SIM_KIN_OK": 0
|
||||
},
|
||||
"exported_functions": [
|
||||
"sim_kinematics_forward",
|
||||
"sim_kinematics_forward_ex",
|
||||
"sim_kinematics_home",
|
||||
"sim_kinematics_init",
|
||||
"sim_kinematics_inverse",
|
||||
"sim_kinematics_inverse_ex",
|
||||
"sim_kinematics_state_hash",
|
||||
"sim_kinematics_validate_pose"
|
||||
],
|
||||
"inputs": {
|
||||
"cmake": "wasm-core/CMakeLists.txt",
|
||||
"cmake_sha256": "e9296a3983a531e4e6864d05e2e97c8dbf29e0dc9e45942ecc1a0a7222b3a660",
|
||||
"header": "wasm-core/include/sim_kinematics.h",
|
||||
"header_sha256": "5fd01043d705486b0d365e36109c3b0e0d39f220c2cec313b5b747dca06148bc"
|
||||
},
|
||||
"missing_required_exports": [],
|
||||
"numeric_policy": {
|
||||
"fast_math": false,
|
||||
"fp_contract": "off",
|
||||
"iteration_limit": 100000,
|
||||
"nonfinite": "SIM_KIN_ERR_NONFINITE",
|
||||
"state_hash": "FNV-1a-64"
|
||||
},
|
||||
"required_functions": [
|
||||
"sim_kinematics_init",
|
||||
"sim_kinematics_forward",
|
||||
"sim_kinematics_forward_ex",
|
||||
"sim_kinematics_inverse",
|
||||
"sim_kinematics_inverse_ex",
|
||||
"sim_kinematics_home",
|
||||
"sim_kinematics_validate_pose",
|
||||
"sim_kinematics_state_hash"
|
||||
],
|
||||
"schema": "kinematics-abi-contract.v1",
|
||||
"status": "verified",
|
||||
"structs": {
|
||||
"sim_kinematics": [
|
||||
"sim_kinematics_config config;",
|
||||
"int axis_joint[SIM_KIN_MAX_JOINTS];",
|
||||
"uint32_t configured;",
|
||||
"uint64_t forward_flags;",
|
||||
"uint64_t inverse_flags;",
|
||||
"sim_posemath_pose last_pose;",
|
||||
"double last_residual;",
|
||||
"uint32_t last_iterations;",
|
||||
"uint32_t branch_id;",
|
||||
"int32_t revolution_count;",
|
||||
"uint32_t previous_quadrant;"
|
||||
],
|
||||
"sim_kinematics_config": [
|
||||
"int type;",
|
||||
"int mode;",
|
||||
"uint32_t joint_count;",
|
||||
"uint32_t kinematics_joint_count;",
|
||||
"uint32_t extra_joint_count;",
|
||||
"char coordinates[16];",
|
||||
"double x_rot_point;",
|
||||
"double y_rot_point;",
|
||||
"double z_rot_point;",
|
||||
"double x_offset;",
|
||||
"double y_offset;",
|
||||
"double z_offset;",
|
||||
"double tool_offset;",
|
||||
"double pivot_length;",
|
||||
"double scara_d1;",
|
||||
"double scara_d2;",
|
||||
"double scara_d3;",
|
||||
"double scara_d4;",
|
||||
"double scara_d5;",
|
||||
"double scara_d6;",
|
||||
"double puma_a2;",
|
||||
"double puma_a3;",
|
||||
"double puma_d3;",
|
||||
"double puma_d4;",
|
||||
"double puma_d6;",
|
||||
"uint32_t dh_joint_count;",
|
||||
"double dh_a[SIM_KIN_MAX_JOINTS];",
|
||||
"double dh_alpha[SIM_KIN_MAX_JOINTS];",
|
||||
"double dh_d[SIM_KIN_MAX_JOINTS];",
|
||||
"uint32_t max_iterations;",
|
||||
"double convergence_tolerance;",
|
||||
"uint8_t limit_enabled[SIM_KIN_MAX_JOINTS];",
|
||||
"double joint_min[SIM_KIN_MAX_JOINTS];",
|
||||
"double joint_max[SIM_KIN_MAX_JOINTS];"
|
||||
],
|
||||
"sim_kinematics_result_info": [
|
||||
"uint64_t forward_flags;",
|
||||
"uint64_t inverse_flags;",
|
||||
"double residual;",
|
||||
"uint32_t iterations;",
|
||||
"uint32_t branch_id;"
|
||||
]
|
||||
}
|
||||
}
|
||||
27401
coverage/kinematics-config-graph.report.json
Normal file
27401
coverage/kinematics-config-graph.report.json
Normal file
File diff suppressed because it is too large
Load Diff
53
coverage/kinematics-golden-schema.json
Normal file
53
coverage/kinematics-golden-schema.json
Normal file
@@ -0,0 +1,53 @@
|
||||
{
|
||||
"$id": "linuxcnc-web-wasm/kinematics-golden.v1",
|
||||
"$schema": "https://json-schema.org/draft/2020-12/schema",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"context_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"input": {
|
||||
"type": "object"
|
||||
},
|
||||
"operation": {
|
||||
"const": "fk_ik_fk_roundtrip"
|
||||
},
|
||||
"result": {
|
||||
"additionalProperties": true,
|
||||
"required": [
|
||||
"status",
|
||||
"error_code",
|
||||
"kinematics_type",
|
||||
"branch_id",
|
||||
"flags",
|
||||
"current_tick",
|
||||
"config_hash",
|
||||
"axis_joint_mapping"
|
||||
],
|
||||
"type": "object"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"schema": {
|
||||
"const": "kinematics-golden.v1"
|
||||
},
|
||||
"tolerances": {
|
||||
"additionalProperties": {
|
||||
"minimum": 0,
|
||||
"type": "number"
|
||||
},
|
||||
"type": "object"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"schema",
|
||||
"context_id",
|
||||
"sample_id",
|
||||
"operation",
|
||||
"input",
|
||||
"result"
|
||||
],
|
||||
"title": "LinuxCNC Web/WASM kinematics FK/IK golden",
|
||||
"type": "object"
|
||||
}
|
||||
92
coverage/kinematics-mapping-contract.json
Normal file
92
coverage/kinematics-mapping-contract.json
Normal file
@@ -0,0 +1,92 @@
|
||||
{
|
||||
"axis_order": {
|
||||
"A": 3,
|
||||
"B": 4,
|
||||
"C": 5,
|
||||
"U": 6,
|
||||
"V": 7,
|
||||
"W": 8,
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 2
|
||||
},
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"contract_sha256": "f79ad4af7f460b0d544d835fa63fe331d7c39907d7394edba1c7a3cbef612874",
|
||||
"error_cases": [
|
||||
"null_config",
|
||||
"null_pose",
|
||||
"nonfinite_joint",
|
||||
"nonfinite_pose",
|
||||
"joint_count_mismatch",
|
||||
"enabled_limit_violation",
|
||||
"invalid_coordinate",
|
||||
"inverse_only_forward",
|
||||
"forward_only_inverse"
|
||||
],
|
||||
"inputs": {
|
||||
"header": "/home/mes006/linuxcncWebWASM/wasm-core/include/sim_kinematics.h",
|
||||
"header_sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8",
|
||||
"source": "/home/mes006/linuxcncWebWASM/wasm-core/src/sim_kinematics.c",
|
||||
"source_sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
|
||||
},
|
||||
"sample_mappings": [
|
||||
{
|
||||
"axis_joint": {
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 2
|
||||
},
|
||||
"coordinates": "XYZ"
|
||||
},
|
||||
{
|
||||
"axis_joint": {
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 3
|
||||
},
|
||||
"coordinates": "XYYZ",
|
||||
"duplicate": {
|
||||
"axis": "Y",
|
||||
"copies": [
|
||||
2
|
||||
],
|
||||
"owner": 1
|
||||
}
|
||||
},
|
||||
{
|
||||
"axis_joint": {
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 3
|
||||
},
|
||||
"case_fold": true,
|
||||
"coordinates": "xyyz"
|
||||
},
|
||||
{
|
||||
"axis_joint": {
|
||||
"A": 3,
|
||||
"B": 4,
|
||||
"C": 5,
|
||||
"U": 6,
|
||||
"V": 7,
|
||||
"W": 8,
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 2
|
||||
},
|
||||
"coordinates": "XYZABCUVW"
|
||||
}
|
||||
],
|
||||
"schema": "kinematics-mapping-contract.v1",
|
||||
"semantics": {
|
||||
"coordinate_case": "ASCII case-fold to uppercase",
|
||||
"duplicate_axis": "first occurrence owns axis; later duplicates copy the first joint during inverse",
|
||||
"extra_joints": "coordinates may repeat and joint_count remains authoritative",
|
||||
"forward": "joint-to-pose uses mapped first joint for each axis",
|
||||
"home": "zeroes all configured joints, then computes forward pose",
|
||||
"inverse": "pose-to-joint initializes all joints then fills duplicates deterministically",
|
||||
"limits": "enabled inclusive min/max; violation returns SIM_KIN_ERR_RANGE",
|
||||
"state_hash": "includes config bytes, configured joint prefix and pose bytes"
|
||||
},
|
||||
"status": "verified"
|
||||
}
|
||||
74
coverage/kinematics-numeric-policy.json
Normal file
74
coverage/kinematics-numeric-policy.json
Normal file
@@ -0,0 +1,74 @@
|
||||
{
|
||||
"angles": {
|
||||
"constants": "full-precision DEG_TO_RAD/RAD_TO_DEG literals",
|
||||
"input_units": "degrees for rotary joints",
|
||||
"internal_units": "radians"
|
||||
},
|
||||
"boundary_matrix": [
|
||||
{
|
||||
"case": "NaN joint",
|
||||
"expected": "SIM_KIN_ERR_NONFINITE"
|
||||
},
|
||||
{
|
||||
"case": "+Inf pose",
|
||||
"expected": "SIM_KIN_ERR_NONFINITE"
|
||||
},
|
||||
{
|
||||
"case": "negative tolerance",
|
||||
"expected": "SIM_KIN_ERR_CONFIGURATION"
|
||||
},
|
||||
{
|
||||
"case": "iteration > 100000",
|
||||
"expected": "SIM_KIN_ERR_CONFIGURATION"
|
||||
},
|
||||
{
|
||||
"case": "XYZBC B=90 singular",
|
||||
"expected": "SIM_KIN_ERR_SINGULAR"
|
||||
},
|
||||
{
|
||||
"case": "enabled limit violation",
|
||||
"expected": "SIM_KIN_ERR_RANGE"
|
||||
}
|
||||
],
|
||||
"compiler": {
|
||||
"denormals": "host-independent finite checks before arithmetic",
|
||||
"fast_math": false,
|
||||
"fenv_access": "default",
|
||||
"fp_contract": "off"
|
||||
},
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"error_code",
|
||||
"kinematics_type",
|
||||
"branch_id",
|
||||
"flags",
|
||||
"current_tick",
|
||||
"config_hash",
|
||||
"axis_joint_mapping",
|
||||
"event_order"
|
||||
],
|
||||
"inputs": {
|
||||
"abi_contract_sha256": "3177c4d28200c5136981d28489ac4578a84360f9688ee8614e23af8d7526b50b",
|
||||
"mapping_contract_sha256": "49bd93c716bd5b5eb6064f75ea2b8ba26dfa819c6166c22c5375ebeba927dd91"
|
||||
},
|
||||
"iterations": {
|
||||
"default": 0,
|
||||
"maximum": 100000,
|
||||
"nonconvergence": "stable error; never repaired by tolerance widening",
|
||||
"zero_means": "algorithm default"
|
||||
},
|
||||
"policy_sha256": "dcf2fdb6bf488f81ec55f43ebc3180f52665b54ba9cd9b4c6bbfb8dbd2a39560",
|
||||
"schema": "kinematics-numeric-policy.v1",
|
||||
"status": "verified",
|
||||
"tolerances": {
|
||||
"configuration_nonnegative": true,
|
||||
"golden_absolute_default": 1e-09,
|
||||
"golden_relative_default": 1e-09,
|
||||
"singularity_threshold": 1e-12,
|
||||
"state_hash_float_quantization": 1e-09,
|
||||
"tolerance_applies_only_to": [
|
||||
"finite numeric pose/joint fields"
|
||||
]
|
||||
}
|
||||
}
|
||||
11
coverage/kinematics-oracle-samples.jsonl
Normal file
11
coverage/kinematics-oracle-samples.jsonl
Normal file
File diff suppressed because one or more lines are too long
599
coverage/kinematics-oracle.report.json
Normal file
599
coverage/kinematics-oracle.report.json
Normal file
@@ -0,0 +1,599 @@
|
||||
{
|
||||
"blocked_count": 11,
|
||||
"blocking_reasons": [
|
||||
"linuxcnc/unit_tests/kinematics"
|
||||
],
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"golden_schema": "coverage/kinematics-golden-schema.json",
|
||||
"golden_schema_sha256": "8d6abe21ad350bb5a5ddc38d8fd9044ed2fa622f4331804a85cad55eb5a30a63",
|
||||
"inputs": {
|
||||
"closure": "coverage/kinematics-source-closure.report.json",
|
||||
"closure_sha256": "d3af5e19e38d8dc2640323dcf755d0323e871815087b9eece9d76544b0b0cfa6",
|
||||
"samples": "coverage/kinematics-oracle-samples.jsonl",
|
||||
"samples_sha256": "df32ade49e3c3beb49e52d26200e37766dd04c5bee5dba4b1c87695439bf87bd"
|
||||
},
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"ready_count": 0,
|
||||
"records": [
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "cartesian",
|
||||
"input": {
|
||||
"joint": [
|
||||
10.0,
|
||||
-5.0,
|
||||
2.5
|
||||
]
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "cartesian",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:cartesian:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:hal_transform:corexy_by_hal",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "coupled_linear",
|
||||
"input": {
|
||||
"joint": [
|
||||
12.0,
|
||||
4.0,
|
||||
3.0
|
||||
]
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "coupled_linear",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:coupled_linear:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini:98:kinematics:5axiskins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "five_axis",
|
||||
"input": {
|
||||
"joint": [
|
||||
10.0,
|
||||
20.0,
|
||||
30.0,
|
||||
15.0,
|
||||
-20.0
|
||||
]
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "five_axis",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:five_axis:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:31:kinematics:xyzab_tdr_kins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "five_axis_trt",
|
||||
"input": {
|
||||
"joint": [
|
||||
100.0,
|
||||
50.0,
|
||||
200.0,
|
||||
30.0,
|
||||
45.0
|
||||
]
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "five_axis_trt",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:five_axis_trt:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/ldelta.ini:59:kinematics:lineardeltakins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "parallel_delta",
|
||||
"input": {
|
||||
"pose": {
|
||||
"abcuvw": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"tran": [
|
||||
5.0,
|
||||
-3.0,
|
||||
-250.0
|
||||
]
|
||||
}
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "parallel_delta",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:parallel_delta:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:76:kinematics:genhexkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "parallel_hexapod",
|
||||
"input": {
|
||||
"pose": {
|
||||
"abcuvw": [
|
||||
1.0,
|
||||
-1.0,
|
||||
2.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"tran": [
|
||||
0.0,
|
||||
0.0,
|
||||
100.0
|
||||
]
|
||||
}
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
"axis_joint_mapping": null,
|
||||
"branch_id": null,
|
||||
"config_hash": null,
|
||||
"current_tick": 0,
|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "parallel_hexapod",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:parallel_hexapod:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/pentapod/pentapod.ini:113:kinematics:pentakins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
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|
||||
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|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "parallel_pentapod",
|
||||
"input": {
|
||||
"pose": {
|
||||
"abcuvw": [
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
]
|
||||
}
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
"result": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"error_code": "MISSING_OFFICIAL_ORACLE",
|
||||
"flags": null,
|
||||
"kinematics_type": "parallel_pentapod",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:parallel_pentapod:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
"absolute_tolerance": 1e-09,
|
||||
"exact_fields": [
|
||||
"status",
|
||||
"flags",
|
||||
"branch_id"
|
||||
],
|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/tklinuxcnc/tripod.ini:59:kinematics:tripodkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "parallel_tripod",
|
||||
"input": {
|
||||
"pose": {
|
||||
"abcuvw": [
|
||||
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|
||||
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||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
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|
||||
"tran": [
|
||||
1.0,
|
||||
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|
||||
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|
||||
]
|
||||
}
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"flags": null,
|
||||
"kinematics_type": "parallel_tripod",
|
||||
"status": "blocked"
|
||||
},
|
||||
"sample_id": "kinematics-sample:parallel_tripod:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
"tolerances": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini:7:kinematics:genserkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
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|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
"stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "serial_robot",
|
||||
"input": {
|
||||
"joint": [
|
||||
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|
||||
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|
||||
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|
||||
10.0,
|
||||
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|
||||
-15.0
|
||||
]
|
||||
},
|
||||
"operation": "fk_ik_fk_roundtrip",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"flags": null,
|
||||
"kinematics_type": "serial_robot",
|
||||
"status": "blocked"
|
||||
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|
||||
"sample_id": "kinematics-sample:serial_robot:nominal-roundtrip",
|
||||
"schema": "kinematics-golden.v1",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
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|
||||
{
|
||||
"configuration_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:3:switchkins:switchkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
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|
||||
"family": "switchable",
|
||||
"input": {
|
||||
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|
||||
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||||
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|
||||
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"schema": "kinematics-golden.v1",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"invariant": "pose_roundtrip"
|
||||
}
|
||||
},
|
||||
{
|
||||
"configuration_id": "config:linuxcnc/tests/matrixkins/test.ini:53:kinematics:matrixkins",
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"execution": {
|
||||
"native_smoke": {
|
||||
"binary": "build-native/sim_kinematics_test",
|
||||
"exit_code": 0,
|
||||
"result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
|
||||
"status": "passed",
|
||||
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
|
||||
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|
||||
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|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle",
|
||||
"status": "blocked"
|
||||
},
|
||||
"family": "user_static",
|
||||
"input": {
|
||||
"pose": {
|
||||
"abcuvw": [
|
||||
0.0,
|
||||
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||||
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||||
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|
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
286
coverage/kinematics-runtime.report.json
Normal file
286
coverage/kinematics-runtime.report.json
Normal file
@@ -0,0 +1,286 @@
|
||||
{
|
||||
"closure": {
|
||||
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|
||||
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|
||||
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|
||||
"oracle_ready": false
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"error_boundaries": [
|
||||
"argument",
|
||||
"nonfinite",
|
||||
"range",
|
||||
"configuration",
|
||||
"singular",
|
||||
"unsupported",
|
||||
"unknown_type"
|
||||
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|
||||
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|
||||
"inputs": {
|
||||
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|
||||
"file_count": 38,
|
||||
"files": [
|
||||
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||||
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"path": "linuxcnc/src/emc/kinematics/5axiskins.c",
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"bytes": 1620,
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||||
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||||
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|
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"bytes": 26308,
|
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"bytes": 22068,
|
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||||
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|
||||
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|
||||
{
|
||||
"bytes": 3839,
|
||||
"path": "linuxcnc/src/emc/kinematics/rosekins.c",
|
||||
"sha256": "1de39affa6b99f21c5e902fc67c8b1d8876d44fc8eff920afd816d7f956cfd78"
|
||||
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|
||||
{
|
||||
"bytes": 5753,
|
||||
"path": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
|
||||
"sha256": "ba3e037fe2ad7eba29aa2b657492ac83f1979a38c9249fef52e598ba0d5c9136"
|
||||
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|
||||
{
|
||||
"bytes": 2964,
|
||||
"path": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
|
||||
"sha256": "64c8aeb6998a481f3c26743093dd157d2d22dc6769b258e3e6012b5c1f784773"
|
||||
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|
||||
{
|
||||
"bytes": 1835,
|
||||
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|
||||
"sha256": "7e2fd63a2a7f5718d706faa21f903b36007226b065ad6d234631d2514f653618"
|
||||
},
|
||||
{
|
||||
"bytes": 2372,
|
||||
"path": "linuxcnc/src/emc/kinematics/rotatekins.c",
|
||||
"sha256": "b104c7e0eb726f48b83daa4d596db5ca8021d803ab17dd123db9b9410ce5f47c"
|
||||
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|
||||
{
|
||||
"bytes": 7467,
|
||||
"path": "linuxcnc/src/emc/kinematics/scarakins.c",
|
||||
"sha256": "f6e37f7cf5b932fc27378ab9ed03ef71c2010aa38f883980a1b6c6b9265cf9f9"
|
||||
},
|
||||
{
|
||||
"bytes": 11893,
|
||||
"path": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
|
||||
"sha256": "89badd55ec168139143c58f67c64dbdb9e5b411c3b847404beaf79ba8c591b5d"
|
||||
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|
||||
{
|
||||
"bytes": 11718,
|
||||
"path": "linuxcnc/src/emc/kinematics/switchkins.c",
|
||||
"sha256": "4de32a4a147e5ceee5346b9c6bf471dddf5c64ff58afe5044406c50bcd96b7f5"
|
||||
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|
||||
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|
||||
"bytes": 1184,
|
||||
"path": "linuxcnc/src/emc/kinematics/switchkins.h",
|
||||
"sha256": "f6e5323aa16daaac8e07bba622d0bf969102ad0d9c00d41621c08af31e0bb9b1"
|
||||
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|
||||
{
|
||||
"bytes": 9211,
|
||||
"path": "linuxcnc/src/emc/kinematics/tripodkins.c",
|
||||
"sha256": "0fb0876d2ab190e3bde69d3fe1ce0cebbb54adee2ddb4b05b929d7ca5cb3f31f"
|
||||
},
|
||||
{
|
||||
"bytes": 2429,
|
||||
"path": "linuxcnc/src/emc/kinematics/trivkins.c",
|
||||
"sha256": "a08cd347b8dde7d7e201ddde93a1cdef47e8126e58f355d4270fccf6d48819bc"
|
||||
},
|
||||
{
|
||||
"bytes": 13363,
|
||||
"path": "linuxcnc/src/emc/kinematics/trtfuncs.c",
|
||||
"sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd"
|
||||
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|
||||
{
|
||||
"bytes": 11327,
|
||||
"path": "linuxcnc/src/emc/kinematics/ugenserkins.c",
|
||||
"sha256": "dee63aebaa11f2867657bc4b9052f6a8e8bd875e06bd8a9df2d3edac9eb1c31d"
|
||||
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|
||||
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|
||||
"bytes": 2653,
|
||||
"path": "linuxcnc/src/emc/kinematics/userkfuncs.c",
|
||||
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|
||||
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|
||||
{
|
||||
"bytes": 1896,
|
||||
"path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
|
||||
"sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69"
|
||||
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|
||||
{
|
||||
"bytes": 1896,
|
||||
"path": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
|
||||
"sha256": "d79c06db82930ef685809a87c7207398f7893f56a6a0dfe382df2c81eaeb9562"
|
||||
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|
||||
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|
||||
"fingerprint_sha256": "ffde02b34018456bed7d47117425a239aa7205ccd0cb40ef021e80c42e85d9f2",
|
||||
"roots": [
|
||||
"linuxcnc/src/emc/kinematics",
|
||||
"linuxcnc/unit_tests/kinematics"
|
||||
]
|
||||
},
|
||||
"outputs": {
|
||||
"bytes": 109761,
|
||||
"file_count": 4,
|
||||
"files": [
|
||||
{
|
||||
"bytes": 5446,
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "939d4088d9e7120e4a405be154eb3d98cd4e5925fc27d47641c115624c1bd994"
|
||||
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|
||||
{
|
||||
"bytes": 66830,
|
||||
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|
||||
"sha256": "6abae835c16feb27ec1dc28a9ea5384f0bc5190217ba04a4997048d83066b905"
|
||||
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|
||||
{
|
||||
"bytes": 37392,
|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"native_ctest": true,
|
||||
"native_sim_core": true,
|
||||
"wasm_exports": [
|
||||
"sim_kinematics_init",
|
||||
"sim_kinematics_forward",
|
||||
"sim_kinematics_forward_ex",
|
||||
"sim_kinematics_inverse",
|
||||
"sim_kinematics_inverse_ex",
|
||||
"sim_kinematics_home"
|
||||
],
|
||||
"wasm_module": true
|
||||
},
|
||||
"schema": "kinematics-runtime-report.v1",
|
||||
"status": "partial",
|
||||
"supported_types": [
|
||||
"trivkins",
|
||||
"xyzac-trt",
|
||||
"xyzbc-trt",
|
||||
"xyzbcw",
|
||||
"corexy",
|
||||
"rose",
|
||||
"maxkins",
|
||||
"rotatekins",
|
||||
"5axiskins",
|
||||
"scara",
|
||||
"puma",
|
||||
"scorbot",
|
||||
"genser",
|
||||
"linear-delta",
|
||||
"rotary-delta",
|
||||
"tripod",
|
||||
"genhex"
|
||||
]
|
||||
}
|
||||
5649
coverage/kinematics-source-closure.report.json
Normal file
5649
coverage/kinematics-source-closure.report.json
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
370
coverage/motion-runtime.report.json
Normal file
370
coverage/motion-runtime.report.json
Normal file
@@ -0,0 +1,370 @@
|
||||
{
|
||||
"canonical": {
|
||||
"byte_identical": true,
|
||||
"deterministic_runs": 2,
|
||||
"format": "fixed-order JSON",
|
||||
"state_hash": "fnv1a64 over explicit state fields",
|
||||
"state_hash_identical": true
|
||||
},
|
||||
"error_boundaries": [
|
||||
"argument",
|
||||
"nonfinite",
|
||||
"range",
|
||||
"geometry",
|
||||
"motion_type",
|
||||
"state",
|
||||
"capacity",
|
||||
"buffer"
|
||||
],
|
||||
"golden_tolerance": "exact_for_fixed_tick_inputs",
|
||||
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|
||||
"inputs": {
|
||||
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|
||||
"file_count": 60,
|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
"path": "linuxcnc/src/emc/motion/dbuf.c",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"path": "linuxcnc/src/emc/task/task.hh",
|
||||
"sha256": "74a2c27fbf06d389d190ec8bca9d2163cca7645cec2fbc45761fc702f7441da8"
|
||||
},
|
||||
{
|
||||
"bytes": 21110,
|
||||
"path": "linuxcnc/src/emc/task/taskclass.cc",
|
||||
"sha256": "837dbf1ca0fabed601baeca6a3785e6880330e763b2cfd363d121a5099935431"
|
||||
},
|
||||
{
|
||||
"bytes": 2007,
|
||||
"path": "linuxcnc/src/emc/task/taskclass.hh",
|
||||
"sha256": "529f5d44ec108d3e523145a11da9fcf171486711ec98580e5067adaf8ee75799"
|
||||
},
|
||||
{
|
||||
"bytes": 56981,
|
||||
"path": "linuxcnc/src/emc/task/taskintf.cc",
|
||||
"sha256": "017db5aeb5f6dcfbf138927b5114bdf4385e385309fd544f62275e6280a45834"
|
||||
},
|
||||
{
|
||||
"bytes": 19270,
|
||||
"path": "linuxcnc/src/emc/task/taskmodule.cc",
|
||||
"sha256": "dd139359b01b3616e33dfa405203c2af4a854d2c71ebc2aa0943a3db46568216"
|
||||
},
|
||||
{
|
||||
"bytes": 225,
|
||||
"path": "linuxcnc/src/emc/tp/Submakefile",
|
||||
"sha256": "8af41d532de2a2bbcc6ec0238c88547fbf14ad80a666fa1fc5c39d2c27d016fc"
|
||||
},
|
||||
{
|
||||
"bytes": 58264,
|
||||
"path": "linuxcnc/src/emc/tp/blendmath.c",
|
||||
"sha256": "27b9b1192f273f77d52b7810dbd633e8ffd03f0e3127015eafae475e18b0666a"
|
||||
},
|
||||
{
|
||||
"bytes": 9443,
|
||||
"path": "linuxcnc/src/emc/tp/blendmath.h",
|
||||
"sha256": "48276307d04edfaf63a394e41aa62f698e29787884d1cd23673f18763c4088f1"
|
||||
},
|
||||
{
|
||||
"bytes": 136,
|
||||
"path": "linuxcnc/src/emc/tp/meson.build",
|
||||
"sha256": "1dba7d81a6cb02c6ed1dcd8d5e54f41a7c6bce3a46ddd95744c98409a4f6c6a7"
|
||||
},
|
||||
{
|
||||
"bytes": 6293,
|
||||
"path": "linuxcnc/src/emc/tp/spherical_arc.c",
|
||||
"sha256": "58a31693ffc61528c4e8842386fcd0267ab28edef4a27b2aa91d1b7af85fc934"
|
||||
},
|
||||
{
|
||||
"bytes": 2284,
|
||||
"path": "linuxcnc/src/emc/tp/spherical_arc.h",
|
||||
"sha256": "24369c82fd770cdfd392c8ae8a2e30a46e04b44a3ed6bbd8745d45bc85147801"
|
||||
},
|
||||
{
|
||||
"bytes": 28016,
|
||||
"path": "linuxcnc/src/emc/tp/tc.c",
|
||||
"sha256": "ff2a123adaa198c71dcd9a9c1a3a403ab25f9d6c217684afc4a093829adef2c1"
|
||||
},
|
||||
{
|
||||
"bytes": 3888,
|
||||
"path": "linuxcnc/src/emc/tp/tc.h",
|
||||
"sha256": "48caa2255744257b9b8e37812766f7feb3d012d1891dfdd6634edd32f1c65ba5"
|
||||
},
|
||||
{
|
||||
"bytes": 6363,
|
||||
"path": "linuxcnc/src/emc/tp/tc_types.h",
|
||||
"sha256": "5ce27b5a545d8b4acaf119bf314fc4fed9320c22f975d786b7b2ec94d8029cb5"
|
||||
},
|
||||
{
|
||||
"bytes": 8541,
|
||||
"path": "linuxcnc/src/emc/tp/tcq.c",
|
||||
"sha256": "2eb9de3c38d4d86338bda149baf52f9e9c87111cac9dff2b17884a2deb0feb05"
|
||||
},
|
||||
{
|
||||
"bytes": 2181,
|
||||
"path": "linuxcnc/src/emc/tp/tcq.h",
|
||||
"sha256": "61f516f51a78f505fc2d2ee60c967de2c35dce298def5466e4b8a5a9aa7fcbd2"
|
||||
},
|
||||
{
|
||||
"bytes": 121641,
|
||||
"path": "linuxcnc/src/emc/tp/tp.c",
|
||||
"sha256": "e0e4be6ef0b0a6c8b5eee32db9307986651938bc72c4e2c44750133b8da4dba8"
|
||||
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|
||||
{
|
||||
"bytes": 3534,
|
||||
"path": "linuxcnc/src/emc/tp/tp.h",
|
||||
"sha256": "e36449a34f0ae67fa15e570b3c3117d39d3bada44c9e1ba61e7aa52533c46f17"
|
||||
},
|
||||
{
|
||||
"bytes": 1736,
|
||||
"path": "linuxcnc/src/emc/tp/tp_debug.h",
|
||||
"sha256": "033eab89f8378ed781b4c494ca4abba986282f83cb0ca7288bf56b5a5e4c6228"
|
||||
},
|
||||
{
|
||||
"bytes": 4556,
|
||||
"path": "linuxcnc/src/emc/tp/tp_types.h",
|
||||
"sha256": "2d552b57e2ae7cd71dede51c0a1adc86a01173dc24d49d8bbdb8467e0a85d18d"
|
||||
},
|
||||
{
|
||||
"bytes": 1025,
|
||||
"path": "linuxcnc/src/emc/tp/tpmod.c",
|
||||
"sha256": "1420f5777e0d1063709a6fdf4e391ec64abc43f9dd1da0838571052a92139d94"
|
||||
},
|
||||
{
|
||||
"bytes": 48,
|
||||
"path": "linuxcnc/unit_tests/tp/meson.build",
|
||||
"sha256": "625c4249c225fed116bc998530cc539703c341cb3426851aedaae58f4291de3d"
|
||||
},
|
||||
{
|
||||
"bytes": 2318,
|
||||
"path": "linuxcnc/unit_tests/tp/test_blendmath.c",
|
||||
"sha256": "0b2aaf0ec2506a4c2fd43a236f01c6c4e08fbf58998126926a8690a314d4d855"
|
||||
}
|
||||
],
|
||||
"fingerprint_sha256": "4c8f89826279721c328be9b167798e59c811568a3b830dd2d1faf5d39b1c34e1",
|
||||
"roots": [
|
||||
"linuxcnc/src/emc/tp",
|
||||
"linuxcnc/src/emc/motion",
|
||||
"linuxcnc/src/emc/task",
|
||||
"linuxcnc/unit_tests/tp"
|
||||
]
|
||||
},
|
||||
"native_and_wasm": true,
|
||||
"outputs": {
|
||||
"bytes": 10996,
|
||||
"file_count": 3,
|
||||
"files": [
|
||||
{
|
||||
"bytes": 1819,
|
||||
"path": "wasm-core/include/sim_motion_queue.h",
|
||||
"sha256": "c26af2b5cff6cbc687f621d745601ff287eebd62011ea46fc7fa692b446a08cc"
|
||||
},
|
||||
{
|
||||
"bytes": 7791,
|
||||
"path": "wasm-core/src/sim_motion_queue.c",
|
||||
"sha256": "56074e27df90bc1b60134eac3cdf84c78149388f99a19a027f6714e3784b04ed"
|
||||
},
|
||||
{
|
||||
"bytes": 1386,
|
||||
"path": "wasm-core/tests/sim_motion_queue_test.c",
|
||||
"sha256": "882c90f9963b2433b868859c50a91dbdecef93454039b05b11241c1f76c13f31"
|
||||
}
|
||||
],
|
||||
"fingerprint_sha256": "4c4afb2b2787d69c962edccf2db7dfc9a94a4e4bbf29ab095c409b7373d218cd"
|
||||
},
|
||||
"queue": {
|
||||
"capacity": 64,
|
||||
"continuity_tolerance": 1e-12,
|
||||
"motion_types": [
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4
|
||||
],
|
||||
"tick": "fixed cycle_time"
|
||||
},
|
||||
"schema": "motion-runtime-report.v1",
|
||||
"status": "passed"
|
||||
}
|
||||
248
coverage/pentapod-kinematics.report.json
Normal file
248
coverage/pentapod-kinematics.report.json
Normal file
@@ -0,0 +1,248 @@
|
||||
{
|
||||
"configuration_candidate": {
|
||||
"coordinates": "XYZAB",
|
||||
"hal_geometry": {
|
||||
"base": [
|
||||
-418.0,
|
||||
500.0,
|
||||
-140.0,
|
||||
418.0,
|
||||
500.0,
|
||||
-140.0,
|
||||
0.0,
|
||||
500.0,
|
||||
-310.0,
|
||||
418.0,
|
||||
500.0,
|
||||
510.0,
|
||||
-418.0,
|
||||
500.0,
|
||||
510.0
|
||||
],
|
||||
"effector_radius": [
|
||||
80.3,
|
||||
80.3,
|
||||
80.3,
|
||||
80.3,
|
||||
80.3
|
||||
],
|
||||
"effector_z": [
|
||||
87.0,
|
||||
114.5,
|
||||
140.5,
|
||||
232.5,
|
||||
258.5
|
||||
]
|
||||
},
|
||||
"hal_pins": [
|
||||
"last-iterations",
|
||||
"max-iterations",
|
||||
"limit-iterations",
|
||||
"max-error",
|
||||
"convergence-criterion",
|
||||
"tool-offset"
|
||||
],
|
||||
"joints": 5,
|
||||
"kinematics": "pentakins",
|
||||
"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
|
||||
"scan": true
|
||||
},
|
||||
"geometry": {
|
||||
"orientation": "roll/pitch only; yaw fixed at zero",
|
||||
"struts": 5,
|
||||
"units": "configuration units; XYZ linear and AB degrees"
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"mapping": {
|
||||
"coordinates": "XYZAB",
|
||||
"extra_joint_policy": "rejected",
|
||||
"joint_semantics": [
|
||||
"strut-0",
|
||||
"strut-1",
|
||||
"strut-2",
|
||||
"strut-3",
|
||||
"strut-4"
|
||||
],
|
||||
"kinematics_joint_count": 5
|
||||
},
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"blocked_samples": [
|
||||
"nominal five-strut pose",
|
||||
"negative-z seed",
|
||||
"nonpositive strut",
|
||||
"iteration limit",
|
||||
"maximum error",
|
||||
"singular Jacobian",
|
||||
"joint limit"
|
||||
],
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "b1d1cdc8fbd64b64ffa88023c77c7ce097952966353567b023c0667a8dc1be75",
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 0,
|
||||
"alternate_pose": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"alternate_status": -702,
|
||||
"branch": 0,
|
||||
"iteration_limit": -702,
|
||||
"iterations": 1,
|
||||
"limit_error": -702,
|
||||
"max_error": -702,
|
||||
"nonpositive": -702,
|
||||
"residual": 0.0,
|
||||
"singular": -704
|
||||
},
|
||||
"pentapod": {
|
||||
"inverse": [
|
||||
619.814203778,
|
||||
655.78680467,
|
||||
750.465994974,
|
||||
351.035577947,
|
||||
327.336726304
|
||||
],
|
||||
"iterations": 1,
|
||||
"pose": [
|
||||
0.0,
|
||||
500.0,
|
||||
300.0,
|
||||
2.0,
|
||||
-3.0
|
||||
],
|
||||
"residual": 0.0,
|
||||
"state_hash": 10088895819155863850
|
||||
}
|
||||
},
|
||||
"state_hash_identical": true,
|
||||
"wasm": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 0,
|
||||
"alternate_pose": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"alternate_status": -702,
|
||||
"branch": 0,
|
||||
"iteration_limit": -702,
|
||||
"iterations": 1,
|
||||
"limit_error": -702,
|
||||
"max_error": -702,
|
||||
"nonpositive": -702,
|
||||
"residual": 0.0,
|
||||
"singular": -704
|
||||
},
|
||||
"pentapod": {
|
||||
"inverse": [
|
||||
619.814203778,
|
||||
655.78680467,
|
||||
750.465994974,
|
||||
351.035577947,
|
||||
327.336726304
|
||||
],
|
||||
"iterations": 1,
|
||||
"pose": [
|
||||
0.0,
|
||||
500.0,
|
||||
300.0,
|
||||
2.0,
|
||||
-3.0
|
||||
],
|
||||
"residual": 0.0,
|
||||
"state_hash": 10088895819155863850
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "pentapod-kinematics-report.v1",
|
||||
"solver": {
|
||||
"alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1; negative-z seed is explicitly bounded",
|
||||
"default_convergence_tolerance": 1e-09,
|
||||
"default_iteration_limit": 120,
|
||||
"default_max_error": 1000.0,
|
||||
"forward": "Newton-Raphson 5x5 numerical Jacobian",
|
||||
"inverse": "closed-form radial/z strut lengths",
|
||||
"seed": [
|
||||
0.0,
|
||||
500.0,
|
||||
300.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"source_records": {
|
||||
"config": {
|
||||
"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
|
||||
"sha256": "0fb210122ab482087d3a95e5e7487baecb84c3260dca1769970f4c19b2ad0618"
|
||||
},
|
||||
"hal": {
|
||||
"path": "linuxcnc/configs/sim/axis/pentapod/kinematics.hal",
|
||||
"sha256": "cf56ea1c1fe2b49d1af6a771bd73ea43ecc7a37991717b68a1e017c101bc6ae2"
|
||||
},
|
||||
"header": {
|
||||
"path": "linuxcnc/src/emc/kinematics/pentakins.h",
|
||||
"sha256": "af8551454177bbcc85e4e17377e059573ab8c15dc022de2a4be9b70dead74e2d"
|
||||
},
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "424873c8e5d3d5b45daf616d95a58157c6dbcbbee9f4cc512b58bfb2672c6145"
|
||||
},
|
||||
"kinematics_header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "0c6d955717982e9d1a24d1240a1c657fc37dfe166c5738d3ee23878e46b2a98d"
|
||||
},
|
||||
"source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/pentakins.c",
|
||||
"sha256": "1b385c2ab3a1bcb106d1d22a2dfe14519dba9c4a5df4cb31071a180845cda4c6"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "3bda403d3af592dcc69ee9b1f3c96dda97b952f827a1c9ce5393e01cd357c403"
|
||||
}
|
||||
},
|
||||
"status": "partial",
|
||||
"workspace_and_boundaries": {
|
||||
"alternate_seed": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"alternate_seed_error": -702,
|
||||
"iteration_limit_error": -702,
|
||||
"iterations": 1,
|
||||
"joint_limit_error": -702,
|
||||
"max_error_boundary": -702,
|
||||
"nominal": {
|
||||
"inverse": [
|
||||
619.814203778,
|
||||
655.78680467,
|
||||
750.465994974,
|
||||
351.035577947,
|
||||
327.336726304
|
||||
],
|
||||
"iterations": 1,
|
||||
"pose": [
|
||||
0.0,
|
||||
500.0,
|
||||
300.0,
|
||||
2.0,
|
||||
-3.0
|
||||
],
|
||||
"residual": 0.0,
|
||||
"state_hash": 10088895819155863850
|
||||
},
|
||||
"nonpositive_joint_error": -702,
|
||||
"residual": 0.0,
|
||||
"singular_jacobian_error": -704
|
||||
}
|
||||
}
|
||||
@@ -1,10 +1,230 @@
|
||||
{
|
||||
"schema": "posemath-runtime-report.v1",
|
||||
"status": "passed",
|
||||
"implementation": "linuxcnc/src/libnml/posemath",
|
||||
"linked_sources": ["_posemath.c", "gomath.c", "sincos.c", "posemath.cc"],
|
||||
"adapter_operations": ["normalize", "dot", "line_point", "is_finite"],
|
||||
"error_boundaries": ["nonfinite", "degenerate", "range"],
|
||||
"adapter_operations": [
|
||||
"normalize",
|
||||
"dot",
|
||||
"line_point",
|
||||
"pose_line_point",
|
||||
"segment_validate",
|
||||
"segment_point",
|
||||
"is_finite"
|
||||
],
|
||||
"determinism": {
|
||||
"byte_identical": true,
|
||||
"runs": 2,
|
||||
"state_hash_algorithm": "fnv1a64 over sim_tp_state object bytes",
|
||||
"state_hash_identical": true
|
||||
},
|
||||
"error_boundaries": [
|
||||
"argument",
|
||||
"nonfinite",
|
||||
"degenerate",
|
||||
"range",
|
||||
"motion_type",
|
||||
"state",
|
||||
"capacity"
|
||||
],
|
||||
"fixed_float": {
|
||||
"contract": "off",
|
||||
"fast_math": false,
|
||||
"standard": "IEEE-754 binary64"
|
||||
},
|
||||
"golden_tolerance": "exact_for_adapter_inputs",
|
||||
"implementation": "linuxcnc/src/libnml/posemath + linuxcnc/src/emc/tp",
|
||||
"inputs": {
|
||||
"bytes": 488358,
|
||||
"file_count": 28,
|
||||
"files": [
|
||||
{
|
||||
"bytes": 712,
|
||||
"path": "linuxcnc/src/libnml/posemath/Submakefile",
|
||||
"sha256": "ce99301b14a570f3a5a6832d214131cc5331d655b76a0078803112b1f229b6ac"
|
||||
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|
||||
{
|
||||
"bytes": 47948,
|
||||
"path": "linuxcnc/src/libnml/posemath/_posemath.c",
|
||||
"sha256": "b75ca68deef765090923cbbbd2fc8317d131c53c06fbbbc78b25ba331aeddd31"
|
||||
},
|
||||
{
|
||||
"bytes": 89361,
|
||||
"path": "linuxcnc/src/libnml/posemath/gomath.c",
|
||||
"sha256": "0095605a866d95d3cfce0236e9479e477a276a884bb05b50a63a474f08bc2f12"
|
||||
},
|
||||
{
|
||||
"bytes": 28115,
|
||||
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|
||||
"sha256": "9a05762201ea93126a768b1bb717f8593786d591a38b17852565cb93103a9d85"
|
||||
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|
||||
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|
||||
"bytes": 4700,
|
||||
"path": "linuxcnc/src/libnml/posemath/gotypes.h",
|
||||
"sha256": "977fd4907da53fa831d1f3e85ae41e8018fe8fbd2540db25f53dc83966e8dd91"
|
||||
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|
||||
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|
||||
"bytes": 169,
|
||||
"path": "linuxcnc/src/libnml/posemath/meson.build",
|
||||
"sha256": "a48bc583c107d469ac6ec2df51b36b65caa5d8a476b906a4dbbba9d7d896ddf7"
|
||||
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|
||||
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|
||||
"bytes": 23563,
|
||||
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|
||||
"sha256": "c83f52c26bd233d9403488f5f38df5121602d842948ad4dc2c37789e18c5f67f"
|
||||
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|
||||
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|
||||
"bytes": 32215,
|
||||
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|
||||
"sha256": "23205524123476e0a17da40983bdf0aad529684294884c5144f50380d190da69"
|
||||
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|
||||
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|
||||
"bytes": 575,
|
||||
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"sha256": "69b2671ecbdaa6d3c771e4ef267d2fb8abbddeaa3bf6c08d02d4e222e5b2c8fe"
|
||||
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|
||||
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|
||||
"bytes": 508,
|
||||
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|
||||
"sha256": "1866f1647e0834c687e541f8f0540799026d6e9eeff97b7ec8dc5e6ec4438e08"
|
||||
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|
||||
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|
||||
"bytes": 225,
|
||||
"path": "linuxcnc/src/emc/tp/Submakefile",
|
||||
"sha256": "8af41d532de2a2bbcc6ec0238c88547fbf14ad80a666fa1fc5c39d2c27d016fc"
|
||||
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|
||||
{
|
||||
"bytes": 58264,
|
||||
"path": "linuxcnc/src/emc/tp/blendmath.c",
|
||||
"sha256": "27b9b1192f273f77d52b7810dbd633e8ffd03f0e3127015eafae475e18b0666a"
|
||||
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|
||||
{
|
||||
"bytes": 9443,
|
||||
"path": "linuxcnc/src/emc/tp/blendmath.h",
|
||||
"sha256": "48276307d04edfaf63a394e41aa62f698e29787884d1cd23673f18763c4088f1"
|
||||
},
|
||||
{
|
||||
"bytes": 136,
|
||||
"path": "linuxcnc/src/emc/tp/meson.build",
|
||||
"sha256": "1dba7d81a6cb02c6ed1dcd8d5e54f41a7c6bce3a46ddd95744c98409a4f6c6a7"
|
||||
},
|
||||
{
|
||||
"bytes": 6293,
|
||||
"path": "linuxcnc/src/emc/tp/spherical_arc.c",
|
||||
"sha256": "58a31693ffc61528c4e8842386fcd0267ab28edef4a27b2aa91d1b7af85fc934"
|
||||
},
|
||||
{
|
||||
"bytes": 2284,
|
||||
"path": "linuxcnc/src/emc/tp/spherical_arc.h",
|
||||
"sha256": "24369c82fd770cdfd392c8ae8a2e30a46e04b44a3ed6bbd8745d45bc85147801"
|
||||
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|
||||
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|
||||
"bytes": 28016,
|
||||
"path": "linuxcnc/src/emc/tp/tc.c",
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|
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|
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"bytes": 3888,
|
||||
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"bytes": 6363,
|
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|
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||||
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|
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|
||||
"bytes": 8541,
|
||||
"path": "linuxcnc/src/emc/tp/tcq.c",
|
||||
"sha256": "2eb9de3c38d4d86338bda149baf52f9e9c87111cac9dff2b17884a2deb0feb05"
|
||||
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|
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|
||||
"bytes": 2181,
|
||||
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||||
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|
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"bytes": 121641,
|
||||
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|
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|
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"bytes": 3534,
|
||||
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|
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|
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|
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|
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|
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|
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"bytes": 1025,
|
||||
"path": "linuxcnc/src/emc/tp/tpmod.c",
|
||||
"sha256": "1420f5777e0d1063709a6fdf4e391ec64abc43f9dd1da0838571052a92139d94"
|
||||
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|
||||
{
|
||||
"bytes": 48,
|
||||
"path": "linuxcnc/unit_tests/tp/meson.build",
|
||||
"sha256": "625c4249c225fed116bc998530cc539703c341cb3426851aedaae58f4291de3d"
|
||||
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|
||||
{
|
||||
"bytes": 2318,
|
||||
"path": "linuxcnc/unit_tests/tp/test_blendmath.c",
|
||||
"sha256": "0b2aaf0ec2506a4c2fd43a236f01c6c4e08fbf58998126926a8690a314d4d855"
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|
||||
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|
||||
"fingerprint_sha256": "bb921823ad630db52343b52fb1d8074c8e333ceedb0735949ff5a74596c98dc7",
|
||||
"roots": [
|
||||
"linuxcnc/src/libnml/posemath",
|
||||
"linuxcnc/src/emc/tp",
|
||||
"linuxcnc/unit_tests/tp"
|
||||
]
|
||||
},
|
||||
"linked_sources": [
|
||||
"_posemath.c",
|
||||
"gomath.c",
|
||||
"sincos.c",
|
||||
"posemath.cc"
|
||||
],
|
||||
"motion_types": {
|
||||
"circular": 2,
|
||||
"linear": 1,
|
||||
"rigid_tap": 3,
|
||||
"spherical": 4
|
||||
},
|
||||
"native_and_wasm": true,
|
||||
"golden_tolerance": "exact_for_adapter_inputs"
|
||||
"outputs": {
|
||||
"bytes": 19323,
|
||||
"file_count": 3,
|
||||
"files": [
|
||||
{
|
||||
"bytes": 3280,
|
||||
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|
||||
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|
||||
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|
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|
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"bytes": 13491,
|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
"bytes": 2552,
|
||||
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|
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|
||||
},
|
||||
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|
||||
"status": "passed",
|
||||
"tp_operations": [
|
||||
"init",
|
||||
"reset",
|
||||
"enqueue",
|
||||
"step",
|
||||
"read_state",
|
||||
"state_hash"
|
||||
]
|
||||
}
|
||||
|
||||
229
coverage/robot-kinematics.report.json
Normal file
229
coverage/robot-kinematics.report.json
Normal file
@@ -0,0 +1,229 @@
|
||||
{
|
||||
"boundaries": {
|
||||
"puma_unreachable_or_singular": "SIM_KIN_ERR_RANGE/SINGULAR verified",
|
||||
"scara_unreachable": "SIM_KIN_ERR_RANGE verified",
|
||||
"scorbot_unreachable": "SIM_KIN_ERR_RANGE verified",
|
||||
"state_hash": "native/WASM identical after 1e-9 hash quantization"
|
||||
},
|
||||
"configuration_candidates": {
|
||||
"puma": {
|
||||
"coordinates": "XYZABC",
|
||||
"joints": 6,
|
||||
"kinematics": "pumakins",
|
||||
"origin": "shipped",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
|
||||
"scan": true
|
||||
},
|
||||
"scara": {
|
||||
"coordinates": "xyzcab",
|
||||
"joints": 6,
|
||||
"kinematics": "scarakins",
|
||||
"origin": "shipped",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini",
|
||||
"scan": true
|
||||
},
|
||||
"scorbot": {
|
||||
"coordinates": "XYZAB",
|
||||
"joints": 5,
|
||||
"kinematics": "scorbot-kins",
|
||||
"origin": "workspace_derived_fixture; source has no shipped sim INI",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
|
||||
"scan": true
|
||||
}
|
||||
},
|
||||
"geometry": {
|
||||
"puma": {
|
||||
"branches": [
|
||||
"shoulder",
|
||||
"elbow",
|
||||
"wrist flip"
|
||||
],
|
||||
"parameters": {
|
||||
"A2": 400.0,
|
||||
"A3": 50.0,
|
||||
"D3": 100.0,
|
||||
"D4": 400.0,
|
||||
"D6": 95.0
|
||||
},
|
||||
"singularity": "wrist t1/t2 threshold"
|
||||
},
|
||||
"scara": {
|
||||
"branch": "elbow flag selects q1 sign",
|
||||
"defaults": {
|
||||
"D1": 490.0,
|
||||
"D2": 340.0,
|
||||
"D3": 50.0,
|
||||
"D4": 250.0,
|
||||
"D5": 50.0,
|
||||
"D6": 50.0
|
||||
},
|
||||
"orientation": "C=a0+a1+a3"
|
||||
},
|
||||
"scorbot": {
|
||||
"branch": "fixed elbow solution from source",
|
||||
"controlled_point": "wrist J3/J4",
|
||||
"links_mm": {
|
||||
"L0_horizontal": 16.0,
|
||||
"L0_vertical": 140.0,
|
||||
"L1": 221.0,
|
||||
"L2": 221.0
|
||||
}
|
||||
}
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "fad0d9058ca41776a07fd7b88d467b0d8f96135e036f0e887c9583c78a4f97ea",
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"puma": {
|
||||
"inverse": [
|
||||
10.0,
|
||||
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|
||||
-30.0,
|
||||
40.0,
|
||||
25.0,
|
||||
-15.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
-612.180622409
|
||||
],
|
||||
"state_hash": 3161234248163340028
|
||||
},
|
||||
"scara": {
|
||||
"inverse": [
|
||||
-3.644300703,
|
||||
40.0,
|
||||
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|
||||
-31.355699297,
|
||||
5.0,
|
||||
-3.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 4515826253922604237
|
||||
},
|
||||
"scorbot": {
|
||||
"inverse": [
|
||||
25.0,
|
||||
35.0,
|
||||
-20.0,
|
||||
10.0,
|
||||
-5.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 16037922903473574131
|
||||
}
|
||||
},
|
||||
"wasm": {
|
||||
"puma": {
|
||||
"inverse": [
|
||||
10.0,
|
||||
20.0,
|
||||
-30.0,
|
||||
40.0,
|
||||
25.0,
|
||||
-15.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
-612.180622409
|
||||
],
|
||||
"state_hash": 3161234248163340028
|
||||
},
|
||||
"scara": {
|
||||
"inverse": [
|
||||
-3.644300703,
|
||||
40.0,
|
||||
25.0,
|
||||
-31.355699297,
|
||||
5.0,
|
||||
-3.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 4515826253922604237
|
||||
},
|
||||
"scorbot": {
|
||||
"inverse": [
|
||||
25.0,
|
||||
35.0,
|
||||
-20.0,
|
||||
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|
||||
-5.0
|
||||
],
|
||||
"pose": [
|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"state_hash": 16037922903473574131
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "robot-kinematics-report.v1",
|
||||
"source_records": {
|
||||
"header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
|
||||
},
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
|
||||
},
|
||||
"puma_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
|
||||
"sha256": "26ee23af27aa03d2da89b842992802ece2423195a5ac0960b28bb751871d74f6"
|
||||
},
|
||||
"puma_params": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/puma/puma_dh.hal",
|
||||
"sha256": "b57992601bf614c26e53c8add3c3aac0a0df79929dd64f897a19630437d1c181"
|
||||
},
|
||||
"puma_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/pumakins.c",
|
||||
"sha256": "5d473d34beacd696fc34719658e1622a1228494fe6596e277f4c34a51dfb91b2"
|
||||
},
|
||||
"scara_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini",
|
||||
"sha256": "602e02bb6d320b728d9ae15904a5d229ea1a31e932c18e9018b45be007d695ce"
|
||||
},
|
||||
"scara_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/scarakins.c",
|
||||
"sha256": "f6e37f7cf5b932fc27378ab9ed03ef71c2010aa38f883980a1b6c6b9265cf9f9"
|
||||
},
|
||||
"scorbot_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
|
||||
"sha256": "4e8edd061a033d45e1e71c56bdd521ee10d3f60def3be020bbd437fc49271343"
|
||||
},
|
||||
"scorbot_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
|
||||
"sha256": "89badd55ec168139143c58f67c64dbdb9e5b411c3b847404beaf79ba8c591b5d"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
|
||||
}
|
||||
},
|
||||
"status": "partial"
|
||||
}
|
||||
@@ -532,6 +532,8 @@
|
||||
{"bytes":208,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/rose_engine/rcone_demo.ngc","sha256":"5b194542cca489e2f998104e7054c7d95433aa16f22be0ce5c09411089509b66","source_id":"config:linuxcnc/configs/sim/axis/rose_engine/rcone_demo.ngc"}
|
||||
{"bytes":207,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/rose_engine/rose_engine.halshow","sha256":"174d37a7fc858c6534bcdaa239b35d1d873540b37bee173cf2aee53b80a4212a","source_id":"config:linuxcnc/configs/sim/axis/rose_engine/rose_engine.halshow"}
|
||||
{"bytes":1694,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini","sha256":"0685e9ca8c05c903b715e9fed6ecd23cbac13911ed335b6d14e24eb235de25d3","source_id":"config:linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini"}
|
||||
{"bytes":343,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/rotate/rotatekins.hal","sha256":"e3c9ec02685f64fdb72bb9e561b3709b450f0da29eac9cca0f17541f843b0954","source_id":"config:linuxcnc/configs/sim/axis/rotate/rotatekins.hal"}
|
||||
{"bytes":515,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/rotate/rotatekins.ini","sha256":"324af9a73d21b5f0c9adaf3c97e698422790d403586901f9e161b6020b1fb4fa","source_id":"config:linuxcnc/configs/sim/axis/rotate/rotatekins.ini"}
|
||||
{"bytes":174,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/sim.tbl","sha256":"52411645e06c20cf0e6c469e544a4d17de07d03254a6cb784e2468704e0a4a9e","source_id":"config:linuxcnc/configs/sim/axis/sim.tbl"}
|
||||
{"bytes":523,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/sim_mm.tbl","sha256":"1816cbb02cc6585d86676bb2d88f85b10b439cf42212e0b4c144f3846a3dcf30","source_id":"config:linuxcnc/configs/sim/axis/sim_mm.tbl"}
|
||||
{"bytes":618,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/simpockets.tbl","sha256":"e81a30f74f1c91fcece180e607f7e2cd63468bf4d432cc5cad2bc65eb7152150","source_id":"config:linuxcnc/configs/sim/axis/simpockets.tbl"}
|
||||
@@ -736,6 +738,8 @@
|
||||
{"bytes":3622,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/vismach/scara/scara.ini","sha256":"602e02bb6d320b728d9ae15904a5d229ea1a31e932c18e9018b45be007d695ce","source_id":"config:linuxcnc/configs/sim/axis/vismach/scara/scara.ini"}
|
||||
{"bytes":3589,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/vismach/scara/scara.xml","sha256":"4fc724d9bd969c84ce6d9e4c2c4e47a1c1ec67646044e1ca227b1745f9131734","source_id":"config:linuxcnc/configs/sim/axis/vismach/scara/scara.xml"}
|
||||
{"bytes":828,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/vismach/scara/scara_postgui.hal","sha256":"77b7360cf05b79fa6cc15f1f686f444fe55360668ec21f3859703bcd2d2a5596","source_id":"config:linuxcnc/configs/sim/axis/vismach/scara/scara_postgui.hal"}
|
||||
{"bytes":250,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.hal","sha256":"ef66253c80e77899df824f9317e9ba0e9292f0e0389ef8e7ec22ebb465563363","source_id":"config:linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.hal"}
|
||||
{"bytes":420,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini","sha256":"4e8edd061a033d45e1e71c56bdd521ee10d3f60def3be020bbd437fc49271343","source_id":"config:linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini"}
|
||||
{"bytes":193,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/wrapped_rotary/README","sha256":"5f9fd4cb6e25c0a7b940e92131b962e10d671a1f6e16afe528901e9f73ab48a2","source_id":"config:linuxcnc/configs/sim/axis/wrapped_rotary/README"}
|
||||
{"bytes":193,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/wrapped_rotary/README_es","sha256":"5f9fd4cb6e25c0a7b940e92131b962e10d671a1f6e16afe528901e9f73ab48a2","source_id":"config:linuxcnc/configs/sim/axis/wrapped_rotary/README_es"}
|
||||
{"bytes":918,"kind":"simulation_config","path":"linuxcnc/configs/sim/axis/wrapped_rotary/wrapped_rotary.hal","sha256":"34102c0b792c4ddf9d2122898513a316f990b91f38e3ede62f5a6fe6f40c04a1","source_id":"config:linuxcnc/configs/sim/axis/wrapped_rotary/wrapped_rotary.hal"}
|
||||
@@ -3207,21 +3211,32 @@
|
||||
{"bytes":311,"kind":"documentation","path":"linuxcnc/docs/src/xhtml11-latexmath.conf","sha256":"d31ed1d15f9ac1232af1e58c05d83feedd9cd73f9fe543d589f9340fdf0ad719","source_id":"doc:linuxcnc/docs/src/xhtml11-latexmath.conf"}
|
||||
{"bytes":269,"kind":"documentation","path":"linuxcnc/docs/src/xhtml11-links.conf","sha256":"debc4b462499fdd8286b3812c705e40267e53d87ae8062250e8c23cb7ad59afe","source_id":"doc:linuxcnc/docs/src/xhtml11-links.conf"}
|
||||
{"bytes":886,"kind":"documentation","path":"linuxcnc/docs/src/xhtml11.conf","sha256":"c0222c552624bf3b7695e2f5c5db797be0e6cddcd77092293fd5e15b579f2ba9","source_id":"doc:linuxcnc/docs/src/xhtml11.conf"}
|
||||
{"bytes":3882,"kind":"web_wasm_build_or_test","path":"wasm-core/CMakeLists.txt","sha256":"c289bad75abc394faf08b90d5cebb14c5293b4a9b64249a4aefd317acca036ac","source_id":"implementation:wasm-core/CMakeLists.txt"}
|
||||
{"bytes":6793,"kind":"web_wasm_build_or_test","path":"wasm-core/CMakeLists.txt","sha256":"e9296a3983a531e4e6864d05e2e97c8dbf29e0dc9e45942ecc1a0a7222b3a660","source_id":"implementation:wasm-core/CMakeLists.txt"}
|
||||
{"bytes":933,"kind":"web_wasm_interface","path":"wasm-core/include/sim_api.h","sha256":"9dda70ef64afe0b398a3de5342e6bdf545c331bbef24f112be2a45acec327227","source_id":"implementation:wasm-core/include/sim_api.h"}
|
||||
{"bytes":1050,"kind":"web_wasm_interface","path":"wasm-core/include/sim_event.h","sha256":"5406dbf7fb6a80924835d967641c9ed22cc8c25a13b72b76ce3d235abb0ad45d","source_id":"implementation:wasm-core/include/sim_event.h"}
|
||||
{"bytes":1669,"kind":"web_wasm_interface","path":"wasm-core/include/sim_hal.h","sha256":"f87fc7fb47a848516e1e9f41298ceb1a7af18d022619c9336cc390aebb0f9ab2","source_id":"implementation:wasm-core/include/sim_hal.h"}
|
||||
{"bytes":928,"kind":"web_wasm_interface","path":"wasm-core/include/sim_posemath.h","sha256":"71b092379fbfbbd46cf2280fb825fabe84219dd9a0fc1e16f0bf7232160dff05","source_id":"implementation:wasm-core/include/sim_posemath.h"}
|
||||
{"bytes":1967,"kind":"web_wasm_interface","path":"wasm-core/include/sim_hal.h","sha256":"f0b25fda1c267ed8078469c9966fa3b09721eba77c575affea77d489437a3e49","source_id":"implementation:wasm-core/include/sim_hal.h"}
|
||||
{"bytes":1872,"kind":"web_wasm_interface","path":"wasm-core/include/sim_interpreter.h","sha256":"7bf24098340e3da2272061acf7a43376c6c40fe9dffc55d012e3af65ceffedbb","source_id":"implementation:wasm-core/include/sim_interpreter.h"}
|
||||
{"bytes":5446,"kind":"web_wasm_interface","path":"wasm-core/include/sim_kinematics.h","sha256":"939d4088d9e7120e4a405be154eb3d98cd4e5925fc27d47641c115624c1bd994","source_id":"implementation:wasm-core/include/sim_kinematics.h"}
|
||||
{"bytes":1819,"kind":"web_wasm_interface","path":"wasm-core/include/sim_motion_queue.h","sha256":"c26af2b5cff6cbc687f621d745601ff287eebd62011ea46fc7fa692b446a08cc","source_id":"implementation:wasm-core/include/sim_motion_queue.h"}
|
||||
{"bytes":3280,"kind":"web_wasm_interface","path":"wasm-core/include/sim_posemath.h","sha256":"fef257b09f68e5649f0acacfcd3590d699d6f678927fbf8db7d103a40bf7da62","source_id":"implementation:wasm-core/include/sim_posemath.h"}
|
||||
{"bytes":1238,"kind":"web_wasm_interface","path":"wasm-core/include/sim_protocol.h","sha256":"d1dd3247159f0950a9aa2d903d25cfa184bccff1d7512de293868763b4035d35","source_id":"implementation:wasm-core/include/sim_protocol.h"}
|
||||
{"bytes":2262,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_api.c","sha256":"072ffb5aa13c4924c638464bb8487e5c293db589a9735c4d39c3a6d9455a3e59","source_id":"implementation:wasm-core/src/sim_api.c"}
|
||||
{"bytes":2579,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_event.c","sha256":"a0af4a75c9c3b71d4a59df675b64f313eda05f4589538fe999cd92607d104397","source_id":"implementation:wasm-core/src/sim_event.c"}
|
||||
{"bytes":6029,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_hal.c","sha256":"5926e2cdc785d060bc199b2bdfa550c898facf8221204487fdc3ae841400a02e","source_id":"implementation:wasm-core/src/sim_hal.c"}
|
||||
{"bytes":2449,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_posemath.c","sha256":"274445935ffc1bf7201879d0779c19e73a6eea70a19b10c5929208f77a6bde65","source_id":"implementation:wasm-core/src/sim_posemath.c"}
|
||||
{"bytes":9413,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_hal.c","sha256":"76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621","source_id":"implementation:wasm-core/src/sim_hal.c"}
|
||||
{"bytes":11585,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_interpreter.c","sha256":"9f9f45f7c123be774dcf55a752a29e6cc1f873a1605cf89c4caa4f4ab125e6a4","source_id":"implementation:wasm-core/src/sim_interpreter.c"}
|
||||
{"bytes":66830,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_kinematics.c","sha256":"6abae835c16feb27ec1dc28a9ea5384f0bc5190217ba04a4997048d83066b905","source_id":"implementation:wasm-core/src/sim_kinematics.c"}
|
||||
{"bytes":7791,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_motion_queue.c","sha256":"56074e27df90bc1b60134eac3cdf84c78149388f99a19a027f6714e3784b04ed","source_id":"implementation:wasm-core/src/sim_motion_queue.c"}
|
||||
{"bytes":13491,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_posemath.c","sha256":"939b221ed6ede1229d26c170ab3514884d5bafc90854ab09db641925859b5e8d","source_id":"implementation:wasm-core/src/sim_posemath.c"}
|
||||
{"bytes":4302,"kind":"web_wasm_implementation","path":"wasm-core/src/sim_protocol.c","sha256":"da63b458f64f997251323fc8b53a9c84d1f978f5e8ea5ed7c8dd6f5bceab60e4","source_id":"implementation:wasm-core/src/sim_protocol.c"}
|
||||
{"bytes":858,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_api_test.c","sha256":"5fe8aa04543be2943c9e577bd6ce8f9ae9a8c98c7c24e84fd589b761fe39170c","source_id":"implementation:wasm-core/tests/sim_api_test.c"}
|
||||
{"bytes":1178,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_event_test.c","sha256":"57fdb682dcb18632216b4093e6dfadf2736a0ab11a002438e3c269d4d4b5406d","source_id":"implementation:wasm-core/tests/sim_event_test.c"}
|
||||
{"bytes":1358,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_hal_test.c","sha256":"9dd08ea73df45d1d9cef14bb02138269a5b3e0a0e96de75c621f5c79f00318b9","source_id":"implementation:wasm-core/tests/sim_hal_test.c"}
|
||||
{"bytes":972,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_posemath_test.c","sha256":"419176eef28697eecdac1e2e666dc42da491e600b966a559bfe9e5b60a2d0c0a","source_id":"implementation:wasm-core/tests/sim_posemath_test.c"}
|
||||
{"bytes":3505,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_hal_test.c","sha256":"5044ed422b37499291ff85fd7c601acc6665621cf33e9ff4d26f0e8fd5b7d533","source_id":"implementation:wasm-core/tests/sim_hal_test.c"}
|
||||
{"bytes":79,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_hal_test_main.c","sha256":"86f625eaa0c6d6a195b97c0d4df17af6c57f5407bcec0a830e7521cb9823165a","source_id":"implementation:wasm-core/tests/sim_hal_test_main.c"}
|
||||
{"bytes":2066,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_interpreter_test.c","sha256":"c4fc3ba11b751ed9f3f770ff1ff164ce18aa19986003cf85d17a26de7aecd3ce","source_id":"implementation:wasm-core/tests/sim_interpreter_test.c"}
|
||||
{"bytes":37392,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_kinematics_test.c","sha256":"c9e4d20973c6a487787504bd5de9a73829f53d8bbfd35f91e72c6c62c76f191e","source_id":"implementation:wasm-core/tests/sim_kinematics_test.c"}
|
||||
{"bytes":93,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_kinematics_test_main.c","sha256":"e567fe412145d3c9b04afc91d6efc6a53c3af3b3b52b7dda860cc289d42dbfc0","source_id":"implementation:wasm-core/tests/sim_kinematics_test_main.c"}
|
||||
{"bytes":1386,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_motion_queue_test.c","sha256":"882c90f9963b2433b868859c50a91dbdecef93454039b05b11241c1f76c13f31","source_id":"implementation:wasm-core/tests/sim_motion_queue_test.c"}
|
||||
{"bytes":2552,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_posemath_test.c","sha256":"751910f2bcd740c963b008e1ae4cb1dd058d2942ab1d63dd0a9f510a20a408d2","source_id":"implementation:wasm-core/tests/sim_posemath_test.c"}
|
||||
{"bytes":1457,"kind":"web_wasm_implementation","path":"wasm-core/tests/sim_protocol_test.c","sha256":"74c855e4bcae2091913847e2ba46ea5f0ae482229b53199baee5bbdcd3c0ef49","source_id":"implementation:wasm-core/tests/sim_protocol_test.c"}
|
||||
{"bytes":1779,"kind":"web_wasm_implementation","path":"web/worker/capabilities.mjs","sha256":"175cb4dac10cc6b2eb80ed1cf24405151ae3fac6ff82f68e5e2e241d79f10c97","source_id":"implementation:web/worker/capabilities.mjs"}
|
||||
{"bytes":3084,"kind":"web_wasm_implementation","path":"web/worker/error-map.mjs","sha256":"83ca215534eed48a9082cc07230507c7b38cbb99f9f2a52e7026b5d49da1d167","source_id":"implementation:web/worker/error-map.mjs"}
|
||||
|
||||
197
coverage/tripod-kinematics.report.json
Normal file
197
coverage/tripod-kinematics.report.json
Normal file
@@ -0,0 +1,197 @@
|
||||
{
|
||||
"configuration_candidate": {
|
||||
"coordinates": "XYZ",
|
||||
"hal_library": "linuxcnc/lib/hallib/tripodsim.hal",
|
||||
"joints": 3,
|
||||
"kinematics": "tripodkins",
|
||||
"path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
|
||||
"scan": true
|
||||
},
|
||||
"geometry": {
|
||||
"base_A": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"base_B": [
|
||||
10.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"base_C": [
|
||||
5.0,
|
||||
7.071,
|
||||
0.0
|
||||
],
|
||||
"hal_parameters": {
|
||||
"Bx": 10.0,
|
||||
"Cx": 5.0,
|
||||
"Cy": 7.071
|
||||
},
|
||||
"joint_semantics": [
|
||||
"AD",
|
||||
"BD",
|
||||
"CD"
|
||||
]
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"mapping": {
|
||||
"axis_joint_mapping": {
|
||||
"X": 0,
|
||||
"Y": 1,
|
||||
"Z": 2
|
||||
},
|
||||
"coordinates": "XYZ",
|
||||
"home_pose": [
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
],
|
||||
"kinematics_joint_count": 3
|
||||
},
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"oracle": {
|
||||
"blocked_samples": [
|
||||
"nominal above-root",
|
||||
"alternate below-root",
|
||||
"triangle-inequality no-solution",
|
||||
"base-plane singular",
|
||||
"joint-limit",
|
||||
"degenerate base geometry"
|
||||
],
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "e5fe7526d1dcff1f8327c1389809affb5ac4cf1913e4b428ec4420e6ae957070",
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
-4.0
|
||||
],
|
||||
"alternate_status": 0,
|
||||
"branch": 0,
|
||||
"geometry_error": -703,
|
||||
"iterations": 0,
|
||||
"limit_error": -702,
|
||||
"no_solution": -702,
|
||||
"singular": -704
|
||||
},
|
||||
"tripod": {
|
||||
"inverse": [
|
||||
5.385164807,
|
||||
9.433981132,
|
||||
6.447715952
|
||||
],
|
||||
"pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
4.0
|
||||
],
|
||||
"state_hash": 7469146853106540736
|
||||
}
|
||||
},
|
||||
"state_hash_identical": true,
|
||||
"wasm": {
|
||||
"boundaries": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
-4.0
|
||||
],
|
||||
"alternate_status": 0,
|
||||
"branch": 0,
|
||||
"geometry_error": -703,
|
||||
"iterations": 0,
|
||||
"limit_error": -702,
|
||||
"no_solution": -702,
|
||||
"singular": -704
|
||||
},
|
||||
"tripod": {
|
||||
"inverse": [
|
||||
5.385164807,
|
||||
9.433981132,
|
||||
6.447715952
|
||||
],
|
||||
"pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
4.0
|
||||
],
|
||||
"state_hash": 7469146853106540736
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "tripod-kinematics-report.v1",
|
||||
"solver": {
|
||||
"alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set",
|
||||
"convergence_tolerance": 0.0,
|
||||
"default_branch": "Dz>0",
|
||||
"forward": "analytic trilateration",
|
||||
"inverse": "three Euclidean strut lengths",
|
||||
"iterations": 0
|
||||
},
|
||||
"source_records": {
|
||||
"config": {
|
||||
"path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
|
||||
"sha256": "8da7280a981d80e9b7d4b608a357fc87dbb9d83535636794e1ae97d5ebcb8f01"
|
||||
},
|
||||
"hal": {
|
||||
"path": "linuxcnc/lib/hallib/tripodsim.hal",
|
||||
"sha256": "e8b341253823f5e2764b2e7c4cc630b557b89dad5e1f7698bbddc1d0b9679747"
|
||||
},
|
||||
"header": {
|
||||
"path": "wasm-core/include/sim_kinematics.h",
|
||||
"sha256": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
|
||||
},
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
|
||||
},
|
||||
"source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/tripodkins.c",
|
||||
"sha256": "0fb0876d2ab190e3bde69d3fe1ce0cebbb54adee2ddb4b05b929d7ca5cb3f31f"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
|
||||
}
|
||||
},
|
||||
"status": "partial",
|
||||
"workspace_and_boundaries": {
|
||||
"alternate_branch": 1,
|
||||
"alternate_pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
-4.0
|
||||
],
|
||||
"base_plane_singular_error": -704,
|
||||
"geometry_error": -703,
|
||||
"iterations": 0,
|
||||
"joint_limit_error": -702,
|
||||
"no_solution_error": -702,
|
||||
"nominal": {
|
||||
"inverse": [
|
||||
5.385164807,
|
||||
9.433981132,
|
||||
6.447715952
|
||||
],
|
||||
"pose": [
|
||||
2.0,
|
||||
3.0,
|
||||
4.0
|
||||
],
|
||||
"state_hash": 7469146853106540736
|
||||
},
|
||||
"root_branch": 0
|
||||
}
|
||||
}
|
||||
307
coverage/trivkins-integration.report.json
Normal file
307
coverage/trivkins-integration.report.json
Normal file
@@ -0,0 +1,307 @@
|
||||
{
|
||||
"abi_contract": "coverage/kinematics-abi-contract.json",
|
||||
"configuration_ids": [
|
||||
"config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gantry/gantry_jjog.ini:6:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gantry/gantry_mm.ini:45:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/geometry/xyzc.ini:33:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/geometry/xyzc_origin.ini:34:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_panel.ini:69:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini:69:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_tab.ini:73:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gladevcp/probe.ini:69:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/gladevcp/set-param-from-ini.ini:68:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/halui_pyvcp/halui.ini:57:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/histogram_demo.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/historical_lathe.ini:68:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ini_hal_demo.ini:71:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ini_with_includes/kins.inc:2:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/iocontrolv2/axis-iocontrolv2-demo.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/iocontrolv2/g8812.ini:135:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/iocontrolv2/m66track.ini:116:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/iocontrolv2/owordm6-ui-ns.ini:118:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/iocontrolv2/owordm6-ui.ini:98:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini:20:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini:13:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xyzx_mpg/xyzx_base.inc:7:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xz/xz.ini:11:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xz/xz_both.ini:10:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_auto.ini:10:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/lathe-fanucy/lathe-fanucy.ini:62:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/lathe.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/lathe_multispindle/lathe.ini:142:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/minimal_xyz.ini:39:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/moveoff/moveoff_base.inc:40:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ngcgui/ngcgui.ini:101:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_gcmc.ini:106:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_lathe.ini:90:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_simple.ini:89:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/ngcgui/pyngcgui_axis.ini:102:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/orphans/acc_test.ini:66:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/orphans/axis_noio.ini:117:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/orphans/iocontrol-removed/core_sim_test.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/orphans/iocontrol-removed/iocontrol-removed.ini:212:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/orphans/medium.ini:65:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/panelui-demo/panelui-demo.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/plasma/imperial.ini:61:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/plasma/metric.ini:61:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/profile_axis.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/qtvcp/qtvcp_tab.ini:74:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/qtvcp/qtvismach_tab.ini:73:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/random_tc.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/cycle/cycle.ini:75:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/extend-builtins/extend-builtins.ini:105:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/getting-started/demo.ini:156:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini:92:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini:92:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/remap/stop-lookahead/demo.ini:73:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/simtcl/twopass_base.inc:51:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/spindle_orient/orient.ini:72:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/twopass/twopass.ini:74:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini:159:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini:4:kinematics:maxkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini:4:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/hbm/hbm.ini:49:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/vismach/rolfmill/rolfmill.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini:45:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/xhc-hb04/inch_trivkins.inc:13:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/xhc-hb04/mm_trivkins.inc:13:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/craftsman/craftsmancnc.ini:82:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/craftsman/sim_core.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/6_axis.ini:72:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/7_axis.ini:72:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/7_axis_tool.ini:72:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/8_axis.ini:71:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/9_axis.ini:72:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/core_sim_6.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/core_sim_7.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/core_sim_8.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/core_sim_9.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy.ini:101:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_4_axis.ini:89:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini:121:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAC.ini:111:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini:107:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_left_panel.ini:98:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_messages.ini:131:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_pedant.ini:99:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_plasma/gmoccapy_plasma.ini:113:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini:134:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_right_panel.ini:94:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini:102:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini:128:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini:119:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe.ini:95:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_C.ini:96:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini:96:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini:96:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini:95:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini:101:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini:55:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini:109:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen.ini:166:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/9axis.ini:135:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini:133:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini:133:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/industrial.ini:135:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester.ini:124:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester_metric.ini:137:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_lathe.ini:65:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/gscreen_mm.ini:138:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini:79:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini:114:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini:111:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/silverdragon/silverdragon.ini:128:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/gscreen/spartan/spartan.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini:153:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_demo1.ini:150:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini:154:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtaxis/gantry/qt_gantry.ini:3:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtaxis/xyz/qtaxis.ini:217:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini:84:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini:84:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini:86:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini:114:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini:111:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini:89:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini:84:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini:84:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc:44:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtplasmac/qtplasmac_metric_ini.inc:44:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qttouchy/qttouchy.ini:198:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/blender.ini:207:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini:86:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qt_800x600.ini:164:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qt_gantry.ini:3:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtaxis.ini:220:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini:191:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtaxis_mpg.ini:224:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdefault.ini:210:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_9axis.ini:73:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_gantry.ini:3:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_mm.ini:134:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon.ini:80:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_auto_tool_probe.ini:55:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_hd.ini:58:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_inch.ini:75:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyyz.ini:61:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyz.ini:62:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyza.ini:63:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyzy.ini:61:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyzya.ini:63:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini:229:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini:232:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini:232:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini:229:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/qtx1mill.ini:214:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/qtvcp_screens/tester.ini:184:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/tklinuxcnc/servo_sim.ini:49:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/tklinuxcnc/tklinuxcnc.ini:79:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz.ini:11:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz_both.ini:10:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/gladevcp/gladevcp_touchy.ini:90:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/gladevcp/touchy.ini:86:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini:73:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini:88:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini:75:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/touchy/touchy.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker.ini:49:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini:63:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_xyz.ini:56:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_xyza.ini:86:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini:74:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzy.ini:55:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini:58:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/abort/feed-rate/test.ini:59:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/abort/g64/test.ini:60:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/abort/on_abort_command-crazy-move/test.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/abort/stop-button-crazy-move/test.ini:65:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/ccomp/early-exit/test.ini:58:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/classicladder/estop/classicladder-estop.ini:38:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/halui/jogging/halui.ini:60:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/halui/mdi/halui.ini:49:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/hard-limits/hard-limits.ini:37:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/interp/m98m99/12-M99-endless-main-program/motion-logger.ini:44:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/interp/mdi-oword-m66/interp.ini:47:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/interp/oword-mdi-sub-update/interp.ini:41:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/interp/subroutine-return/interp.ini:41:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/io-startup/nonrandom/test.ini:44:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/io-startup/random/test.ini:43:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/lathe/lathe.ini:47:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini:42:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/linuxcncrsh/linuxcncrsh-test.ini:58:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/mdi-queue-length/test.ini:45:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/mdi-queue/linuxcncrsh-test.ini:60:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/mdi-while-queuebuster-waitflag/test.ini:46:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion-logger/basic/test.ini:42:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion-logger/mountaindew/mountaindew.ini:45:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion-logger/startup-gcode-abort/test.ini:57:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion/g0/motion-test.ini:65:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion/jogwheel-axis/motion-test.ini:42:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/motion/jogwheel-joint/motion-test.ini:42:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/mqtt/simulator.ini:52:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/remap/remap-io/test-ngc.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/remap/remap-io/test-py.ini:64:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/remap/remap-reentry/test.ini:45:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/rs274ngc-startup/test.ini:57:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/single-step/test.ini:43:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/startup-state/test.ini:57:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/statbuffer-g5x-abort/test.ini:56:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/t0/nonrandom/sim.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/t0/random-with-t0/sim.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/t0/random-without-t0/sim.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/tlo/g43-test.ini:46:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/tool-info/non-random/test.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/tool-info/random-no-startup-tool/test.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/tool-info/random-with-startup-tool/test.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/m61/m61-test.ini:39:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/m61/mod_core_sim.hal:5:loadrt:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/reload-tool/non-random/test.ini:55:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/reload-tool/random/test.ini:55:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/toolno-pocket-differ/nonrandom/sim.ini:68:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/toolchanger/toolno-pocket-differ/random/sim.ini:68:kinematics:trivkins",
|
||||
"config:linuxcnc/tests/trajectory-planner/circular-arcs/configs/core_sim_components.hal:5:loadrt:trivkins"
|
||||
],
|
||||
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
|
||||
"coordinates": {
|
||||
"XYZ": "verified",
|
||||
"XYZABCUVW": "verified",
|
||||
"case_fold": "verified",
|
||||
"duplicate_axes": "verified",
|
||||
"extra_joint_count": "verified"
|
||||
},
|
||||
"extra_joints": {
|
||||
"home_zeroes_kinematics_prefix": "verified",
|
||||
"ignored_suffix": "verified",
|
||||
"joint_count_mismatch": "verified",
|
||||
"prefix_only": "verified"
|
||||
},
|
||||
"mapping_contract": "coverage/kinematics-mapping-contract.json",
|
||||
"modes": {
|
||||
"both": "verified",
|
||||
"forward_only": "verified",
|
||||
"identity": "verified",
|
||||
"inverse_only": "verified"
|
||||
},
|
||||
"numeric_policy": "coverage/kinematics-numeric-policy.json",
|
||||
"oracle": {
|
||||
"configuration_candidates": [
|
||||
"config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins",
|
||||
"config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins"
|
||||
],
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "fec9dd7b8adc27ab05c2663320854b027d22cd5dcc7aab31c9597470b9724560",
|
||||
"schema": "trivkins-integration-report.v1",
|
||||
"source_ids": [
|
||||
"source:linuxcnc/src/emc/kinematics/maxkins.c",
|
||||
"source:linuxcnc/src/emc/kinematics/rotatekins.c",
|
||||
"source:linuxcnc/src/emc/kinematics/trivkins.c"
|
||||
],
|
||||
"status": "partial",
|
||||
"tests": {
|
||||
"ctest": "sim_kinematics_test",
|
||||
"native": "build-native/sim_kinematics_test",
|
||||
"status": "passed"
|
||||
}
|
||||
}
|
||||
153
coverage/trt-kinematics.report.json
Normal file
153
coverage/trt-kinematics.report.json
Normal file
@@ -0,0 +1,153 @@
|
||||
{
|
||||
"boundaries": {
|
||||
"missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests",
|
||||
"state_hash": "native/WASM identical",
|
||||
"xyzac_round_trip": "verified",
|
||||
"xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified",
|
||||
"xyzbc_round_trip": "verified"
|
||||
},
|
||||
"configuration_candidates": {
|
||||
"xyzac": {
|
||||
"joints": 5,
|
||||
"kinematics": "xyzac-trt-kins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
|
||||
"scan": true,
|
||||
"sparm": "identityfirst"
|
||||
},
|
||||
"xyzbc": {
|
||||
"joints": 5,
|
||||
"kinematics": "xyzbc-trt-kins",
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
|
||||
"scan": true,
|
||||
"sparm": "identityfirst"
|
||||
}
|
||||
},
|
||||
"implementation_status": "verified",
|
||||
"native_wasm": {
|
||||
"native_command": "build-native/sim_kinematics_test",
|
||||
"status": "passed",
|
||||
"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
|
||||
},
|
||||
"offsets": {
|
||||
"xyzac": {
|
||||
"tool_offset": 100.0,
|
||||
"x_rot_point": 20.0,
|
||||
"y_offset": 3.0
|
||||
},
|
||||
"xyzbc": {
|
||||
"tool_offset": 50.0,
|
||||
"x_offset": 5.0,
|
||||
"z_offset": 2.0
|
||||
}
|
||||
},
|
||||
"oracle": {
|
||||
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
|
||||
"status": "blocked"
|
||||
},
|
||||
"report_sha256": "504f1e29c8c7e3d0d96c4113106401d0c44c1b82044461e43d1b2f5cf48fdfcc",
|
||||
"rotation_chain": {
|
||||
"direction": "LinuxCNC opposite conventional rotary directions retained",
|
||||
"identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk",
|
||||
"xyzac": "C about Z then A about X with y/z/tool offsets",
|
||||
"xyzbc": "C about Z then B about Y with x/z/tool offsets"
|
||||
},
|
||||
"samples": {
|
||||
"byte_identical_json": true,
|
||||
"native": {
|
||||
"xyzac_trt": {
|
||||
"inverse": [
|
||||
100.0,
|
||||
50.0,
|
||||
200.0,
|
||||
30.0,
|
||||
45.0
|
||||
],
|
||||
"pose": [
|
||||
142.826706376,
|
||||
9.689621386,
|
||||
163.102540378
|
||||
],
|
||||
"state_hash": 4869492769119734977
|
||||
},
|
||||
"xyzbc_trt": {
|
||||
"inverse": [
|
||||
100.0,
|
||||
50.0,
|
||||
200.0,
|
||||
30.0,
|
||||
45.0
|
||||
],
|
||||
"pose": [
|
||||
44.740352549,
|
||||
25.97032557,
|
||||
227.67175976
|
||||
],
|
||||
"state_hash": 1734235358276017152
|
||||
}
|
||||
},
|
||||
"wasm": {
|
||||
"xyzac_trt": {
|
||||
"inverse": [
|
||||
100.0,
|
||||
50.0,
|
||||
200.0,
|
||||
30.0,
|
||||
45.0
|
||||
],
|
||||
"pose": [
|
||||
142.826706376,
|
||||
9.689621386,
|
||||
163.102540378
|
||||
],
|
||||
"state_hash": 4869492769119734977
|
||||
},
|
||||
"xyzbc_trt": {
|
||||
"inverse": [
|
||||
100.0,
|
||||
50.0,
|
||||
200.0,
|
||||
30.0,
|
||||
45.0
|
||||
],
|
||||
"pose": [
|
||||
44.740352549,
|
||||
25.97032557,
|
||||
227.67175976
|
||||
],
|
||||
"state_hash": 1734235358276017152
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": "trt-kinematics-report.v1",
|
||||
"source_records": {
|
||||
"implementation": {
|
||||
"path": "wasm-core/src/sim_kinematics.c",
|
||||
"sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
|
||||
},
|
||||
"test": {
|
||||
"path": "wasm-core/tests/sim_kinematics_test.c",
|
||||
"sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
|
||||
},
|
||||
"trt_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/trtfuncs.c",
|
||||
"sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd"
|
||||
},
|
||||
"xyzac_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
|
||||
"sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1"
|
||||
},
|
||||
"xyzac_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
|
||||
"sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69"
|
||||
},
|
||||
"xyzbc_config": {
|
||||
"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
|
||||
"sha256": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78"
|
||||
},
|
||||
"xyzbc_source": {
|
||||
"path": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
|
||||
"sha256": "d79c06db82930ef685809a87c7207398f7893f56a6a0dfe382df2c81eaeb9562"
|
||||
}
|
||||
},
|
||||
"status": "partial"
|
||||
}
|
||||
Reference in New Issue
Block a user