Add AC/BC RTCP programs and 3D machine manager

coverage/glb-machine/jog-limits/acceptance.report.json

@@ -0,0 +1,105 @@
+{
+  "report_id": "jog-limit-acceptance-v1",
+  "status": "verified",
+  "tasks": [
+    "TRT-JOG02",
+    "GLB-UI02"
+  ],
+  "wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6",
+  "known_baseline_failures": [
+    {
+      "test": "test_xyzac_manual_control.mjs",
+      "failure": "synchronous homing mask 0 != 1; identical with HEAD modules"
+    },
+    {
+      "test": "test_xyzac_button_constraints.mjs",
+      "failure": "unhomed versus machine-off gate priority; identical with HEAD modules"
+    }
+  ],
+  "boundaries": [
+    "RTCP limit stops at last valid servo sample; no predictive hardware deceleration claim",
+    "Previously broken transport sessions require page reload"
+  ],
+  "evidence": [
+    {
+      "path": "coverage/glb-machine/jog-limits/ac-recovered.png",
+      "sha256": "c02719451fdb3a7ba9d83235e81310c4897cb469f42911cd7ec14af5f6688dc7"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/bc-recovered.png",
+      "sha256": "6bbaa58ccdcab209c8ce354d3fec9b9bc83f437be5386c0aff0fc02136a366f8"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/before.log",
+      "sha256": "bdb05ff556524c0780412115b3d3798107eb2ac79b54477a59fd93004704524a"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/browser.log",
+      "sha256": "25151979cfb56821cf2e6f82b128745f348cca6ac5ae7214b611d5204eb856d8"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/browser.report.json",
+      "sha256": "305fd429b308099c209da8c460932521d009909ede89c019247ee2c794c322da"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/build.log",
+      "sha256": "e53b7da801576efd224cc73eee896ca46b050fc6ed73b32645f9bb86adc517fe"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/buttons-baseline.log",
+      "sha256": "445f0d3ab7af7c51457c735be03e474e7b8cf1315caf0df5601fc8c67d211386"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/buttons.log",
+      "sha256": "b126107f6f7b0b468934cac4f4778df4cfd6f99ea50670668e54b15945085bca"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/checkpoint.log",
+      "sha256": "c92e75901b4f8a2a6ec54f8fddf5c41fafdbf8729e76c2f9d22d2a68fbd8ea3c"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/exact-checkpoint.report.json",
+      "sha256": "bda234634bcfbaef24dfa7291cf8650c67d33805a3ceefe96e251fdb2a64059e"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/manual-baseline.log",
+      "sha256": "1bbaa532fe461967f677a8c045a3af0c84e9052aeaa6ab5d143e90ae89928af5"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/manual.log",
+      "sha256": "1a3e27bdf66ef7c6f020da595181282b99bd74ea1c058583ba929c3466e80ada"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/motion.log",
+      "sha256": "57ed59ba66d43ff00784733a3ddb7a0c3936c33aae0e03ab3c4fd4c2eacca361"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/motion.report.json",
+      "sha256": "91c3fa8ed8037aac8e71b8c76d54c38db9dc011ae25f63553966860b624aa626"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/recovery.log",
+      "sha256": "12b7792cd312e327154d4b66a13d869906a4c53a9143dd0d04493f687452da3b"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/shadow.png",
+      "sha256": "f8c60fb173f8cc22dcb1f44da3c214a00ee2c401100e5536fabccc8d0d1904c3"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/shadow.report.json",
+      "sha256": "b33cc89335b8cc32e2493b0199d5690eafaa14d84a7bdf4a5e19d71b05f22237"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/step.log",
+      "sha256": "897d2f0bbd0c40e64ae9fc311206cf89bb4fa220b2662bf33bf4b87aac406321"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/worker.log",
+      "sha256": "2f71069076125e38f1b313f5c4b397df1bf324879e8492fdb8599655a7772893"
+    },
+    {
+      "path": "coverage/glb-machine/jog-limits/worker.report.json",
+      "sha256": "e599aa05ca175ccd59dc36c783b9aa0a62e149e91b37aa065580b2ec58d88d6c"
+    }
+  ]
+}

coverage/glb-machine/jog-limits/browser.report.json

@@ -0,0 +1,143 @@
+{
+  "report_id": "jog-limit-browser-v1",
+  "status": "verified",
+  "machines": [
+    {
+      "id": "ac",
+      "atLimit": {
+        "joints": [
+          0,
+          0,
+          30,
+          50,
+          20
+        ],
+        "tip": [
+          0,
+          0.3,
+          -6.661338147750939e-17
+        ],
+        "tick": 207
+      },
+      "retreat": {
+        "joints": [
+          0,
+          0,
+          30,
+          48.7325,
+          20
+        ],
+        "tip": [
+          0,
+          0.3,
+          -6.661338147750939e-17
+        ],
+        "tick": 220
+      },
+      "stopped": {
+        "joints": [
+          147.16819064437152,
+          99.93568159167009,
+          30,
+          0,
+          38.13000000000069
+        ],
+        "tip": [
+          1.4716819064437154,
+          0.3000000000000002,
+          0.9993568159167008
+        ],
+        "tick": 1329
+      },
+      "resumed": {
+        "joints": [
+          152.31822671868903,
+          93.99260677882737,
+          30,
+          0,
+          35.422500000000696
+        ],
+        "tip": [
+          1.5231822671868902,
+          0.3000000000000002,
+          0.9399260677882736
+        ],
+        "tick": 1353
+      },
+      "fault": {
+        "code": "motion_limit",
+        "reason": "motion_joint_limit"
+      },
+      "pixels": 1135
+    },
+    {
+      "id": "bc",
+      "atLimit": {
+        "joints": [
+          0,
+          0,
+          30,
+          50,
+          20
+        ],
+        "tip": [
+          0,
+          0.3,
+          -6.661338147750939e-17
+        ],
+        "tick": 1640
+      },
+      "retreat": {
+        "joints": [
+          0,
+          0,
+          30,
+          48.92,
+          20
+        ],
+        "tip": [
+          0,
+          0.3,
+          -6.661338147750939e-17
+        ],
+        "tick": 1652
+      },
+      "stopped": {
+        "joints": [
+          171.92682873768467,
+          99.95231076385438,
+          30,
+          -7.105427357601002e-15,
+          28.200000000000312
+        ],
+        "tip": [
+          1.7192682873768468,
+          0.3000000000000002,
+          0.9995231076385437
+        ],
+        "tick": 2727
+      },
+      "resumed": {
+        "joints": [
+          174.0693024962762,
+          95.05173063293552,
+          30,
+          -7.105427357601002e-15,
+          26.73000000000031
+        ],
+        "tip": [
+          1.740693024962762,
+          0.3000000000000002,
+          0.9505173063293549
+        ],
+        "tick": 2746
+      },
+      "fault": {
+        "code": "motion_limit",
+        "reason": "motion_joint_limit"
+      },
+      "pixels": 1109
+    }
+  ],
+  "page_errors": []
+}

coverage/glb-machine/jog-limits/exact-checkpoint.report.json

@@ -0,0 +1,131 @@
+{
+  "report_id": "trt-checkpoint-exact-v1",
+  "status": "verified",
+  "safeguards": {
+    "corrupt_native_rejected": true,
+    "foreign_build_rejected": true,
+    "frozen_subroutines": true,
+    "heap_relocation_checked": true,
+    "receipts_nonrecursive": true,
+    "backward_transport_restore_rejected": true
+  },
+  "rows": [
+    {
+      "machine": "xyzac-trt",
+      "phase": "subroutine",
+      "checkpoint_tick": 6,
+      "continuation_tick": 18,
+      "state_hash": "fnv1a64:113cda82a07e692a",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "paused-resumed",
+      "checkpoint_tick": 18,
+      "continuation_tick": 30,
+      "state_hash": "fnv1a64:e380c733d2e27194",
+      "samples": 12,
+      "new_transport_recovery": true,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "line",
+      "checkpoint_tick": 35,
+      "continuation_tick": 47,
+      "state_hash": "fnv1a64:8e128e04aca13b45",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "arc",
+      "checkpoint_tick": 72,
+      "continuation_tick": 84,
+      "state_hash": "fnv1a64:16fef8e7095d1cc7",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "completed",
+      "checkpoint_tick": 684,
+      "continuation_tick": 696,
+      "state_hash": "fnv1a64:571fff3045139a9b",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "trace-and-transport",
+      "state_hash": "fnv1a64:50c207f5409d5062",
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzac-trt",
+      "phase": "post-recovery-jog",
+      "samples": 6,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "subroutine",
+      "checkpoint_tick": 6,
+      "continuation_tick": 18,
+      "state_hash": "fnv1a64:94587fdc5ce1e3b1",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "paused-resumed",
+      "checkpoint_tick": 18,
+      "continuation_tick": 30,
+      "state_hash": "fnv1a64:5f0adc4aa9f2a037",
+      "samples": 12,
+      "new_transport_recovery": true,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "line",
+      "checkpoint_tick": 35,
+      "continuation_tick": 47,
+      "state_hash": "fnv1a64:74b83ca0c127a6c1",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "arc",
+      "checkpoint_tick": 72,
+      "continuation_tick": 84,
+      "state_hash": "fnv1a64:89a768be32ed9eda",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "completed",
+      "checkpoint_tick": 704,
+      "continuation_tick": 716,
+      "state_hash": "fnv1a64:d0cf609cae7c894b",
+      "samples": 12,
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "trace-and-transport",
+      "state_hash": "fnv1a64:4e6307e65d801db6",
+      "first_divergent_tick": null
+    },
+    {
+      "machine": "xyzbc-trt",
+      "phase": "post-recovery-jog",
+      "samples": 6,
+      "first_divergent_tick": null
+    }
+  ],
+  "state_hash": "fnv1a64:d7f8b093cb3e4510"
+}

coverage/glb-machine/jog-limits/shadow.report.json

@@ -0,0 +1,5 @@
+{
+  "report_id": "shadow-warning-v1",
+  "status": "verified",
+  "warnings": []
+}

coverage/glb-machine/jog-limits/worker.report.json

@@ -0,0 +1,60 @@
+{
+  "report_id": "jog-limit-recovery-v1",
+  "status": "verified",
+  "machines": [
+    {
+      "coordinates": "XYZAC",
+      "limit": [
+        0,
+        0,
+        30,
+        50,
+        20
+      ],
+      "recovered": [
+        0,
+        0,
+        30,
+        49,
+        20
+      ],
+      "rtcp_limit": [
+        161.584370202784,
+        99.95244522356447,
+        30,
+        0,
+        31.740000000000453
+      ],
+      "stopped_tick": 1307,
+      "completed_cycles": 1,
+      "seq": 291
+    },
+    {
+      "coordinates": "XYZBC",
+      "limit": [
+        0,
+        0,
+        30,
+        50,
+        20
+      ],
+      "recovered": [
+        0,
+        0,
+        30,
+        49,
+        20
+      ],
+      "rtcp_limit": [
+        161.584370202784,
+        99.95244522356447,
+        30,
+        0,
+        31.740000000000453
+      ],
+      "stopped_tick": 1307,
+      "completed_cycles": 1,
+      "seq": 291
+    }
+  ]
+}