{
  "report_id": "GLB-MGR-E13",
  "status": "verified",
  "url": "http://127.0.0.1:5180/",
  "machines": [
    {
      "coordinates": "XYZBC",
      "checks": [
        "fixed or single DOF",
        "direction/sign and parent isolation",
        "pivot and child inheritance",
        "duplicate axis rejected",
        "JSON on scene and real bed",
        "GLB roundtrip restores calibration and bindings",
        "single-file apply",
        "WASM runtime axis mapping",
        "live dialog follows actual joints"
      ],
      "nodeCount": 134,
      "samples": [
        {
          "tick": 90,
          "q": [
            1.3329950123827954,
            0.7177480791808708,
            0.6399756098721868,
            1.3420399371694114,
            2.013059905754117
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                468.9718404561084,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.805459818095166,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -203.55824741375432,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.84515293523689,
                18.940227031707764,
                1.3646586624133574
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                375.2853574131991
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -19.05318983480354,
                22.693080605839754,
                -7.675830534363986
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.09287421014032093,
                0,
                0.9956778500553337
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                -0.06093478253640957,
                0.9981417495913296
              ],
              "world": [
                -18.356217359868296,
                7.982795032364486,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 180,
          "q": [
            2.766438027705197,
            1.6088474279360891,
            1.2716921368117247,
            2.811733782839189,
            4.217600674258783
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                470.4052834714308,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.791125387941943,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -202.66714806499908,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.830818505083666,
                18.940227031707764,
                1.3735696559009098
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                374.65364088625955
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -19.038855404650317,
                22.686763440570356,
                -7.6669195408764335
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.08009685716826766,
                0,
                0.9967870853255304
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                -0.04172219310644397,
                0.999129250198586
              ],
              "world": [
                -18.378063637032554,
                7.978996384122459,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 275,
          "q": [
            4.240122439171268,
            2.664612323566039,
            1.8643679838555824,
            4.363077286601698,
            6.544615929902546
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                471.87896788289686,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.77638854382728,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -201.61138316936913,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.816081660969004,
                18.940227031707764,
                1.3841273048572091
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                374.0609650392157
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -19.024118560535655,
                22.68083668209992,
                -7.656361891920135
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.06659540002082798,
                0,
                0.9977800622863067
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                -0.021425628607248472,
                0.9997704448716136
              ],
              "world": [
                -18.40122120764243,
                7.975595975242779,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 365,
          "q": [
            5.590120449209219,
            3.769665818331871,
            2.3605087594884826,
            5.832771132271442,
            8.749156698407162
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                473.2289658929348,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.762888563726904,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -200.5063296746033,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.802581680868627,
                18.940227031707764,
                1.3951778398048678
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                373.5648242635828
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -19.010618580435278,
                22.67587527434359,
                -7.645311356972476
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.05379324718442026,
                0,
                0.9985520950643265
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                -0.0021890190114552117,
                0.9999976040950136
              ],
              "world": [
                -18.423237322685893,
                7.972953962222888,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 460,
          "q": [
            6.957563664607322,
            5.041874761097972,
            2.8212639336800454,
            7.38411463603433,
            11.076171954051496
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                474.5964091083329,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.74921413157292,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -199.2341207318372,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.788907248714644,
                18.940227031707764,
                1.4078999292325285
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                373.10406908939126
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.996944148281294,
                22.671267722601673,
                -7.632589267544815
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.04027030642080173,
                0,
                0.9991888222056804
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                0.018117026989570854,
                0.9998358731977259
              ],
              "world": [
                -18.44654192054848,
                7.970778743713527,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 550,
          "q": [
            8.19086819781266,
            6.342427968934119,
            3.2043989406756506,
            8.853808481704728,
            13.280712722557091
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                475.82971364153826,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.736881086240867,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -197.93356752400106,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.77657420338259,
                18.940227031707764,
                1.42090546131089
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                372.7209340823957
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.98461110294924,
                22.667436372531718,
                -7.6195837354664535
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.027452251154261215,
                0,
                0.9996231159324815
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                0.03734757789035257,
                0.9993023358452255
              ],
              "world": [
                -18.46866667973197,
                7.969300709384652,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 640,
          "q": [
            9.356884433005701,
            7.730651003974226,
            3.542287286077644,
            10.323502327375126,
            15.485253491062688
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                476.9957298767313,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.725220923888937,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -196.54534448896098,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.76491404103066,
                18.940227031707764,
                1.434787691661291
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                372.38304573699367
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.97295094059731,
                22.6640574890777,
                -7.605701505116053
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.01462968023530727,
                0,
                0.9998929805015198
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                0.05656430649923953,
                0.9983989579473028
              ],
              "world": [
                -18.490822069456588,
                7.968390621171865,
                -8.353592157363893
              ]
            }
          }
        },
        {
          "tick": 735,
          "q": [
            10.508052284276753,
            9.28531166241756,
            3.8576896962603726,
            11.874845831138323,
            17.812268746707485
          ],
          "nodes": {
            "X": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2",
              "localMm": [
                478.14689772800233,
                1681.300401687622,
                -997.8671073913574
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.713709245376226,
                14.883894920349121,
                3.4002411365509015
              ]
            },
            "Y": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1",
              "localMm": [
                -3.9693117141723633,
                -194.9906838305176,
                405.63321113586426
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.75340236251795,
                18.940227031707764,
                1.4503342982457244
              ]
            },
            "Z": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/2/1/0",
              "localMm": [
                -20.80368995666504,
                -904.0489196777344,
                372.0676433268109
              ],
              "quaternion": [
                0,
                0,
                0,
                1
              ],
              "world": [
                -18.9614392620846,
                22.66090346497587,
                -7.590154898531619
              ]
            },
            "B": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3",
              "localMm": [
                497.99561500549316,
                1139.9997472763062,
                -1603.0043363571167
              ],
              "quaternion": [
                0,
                -0.0010921759424831284,
                0,
                0.9999994035756775
              ],
              "world": [
                -18.51522207260132,
                8.832522630691528,
                -2.0127654075622576
              ]
            },
            "C": {
              "id": "aeb4c700-d786-4c4c-9a82-f6888bd4f7c0:scene/0/0/0/3/1",
              "localMm": [
                -0.08916854858398438,
                -634.0826749801636,
                -86.4475965499878
              ],
              "quaternion": [
                0,
                0,
                0.07682577715235232,
                0.9970445325886588
              ],
              "world": [
                -18.51422543738136,
                7.9680467798152925,
                -8.353592157363893
              ]
            }
          }
        }
      ],
      "liveSample": {
        "q": {
          "x": 7.335436151103451,
          "y": 11.735957758464831,
          "z": -2.7569792395159682,
          "a": 0,
          "b": 2.3271051907522295,
          "c": 11.545175317920382
        },
        "joints": {
          "X": {
            "localMm": [
              479.974281594829,
              1681.300401687622,
              -997.8671073913574
            ],
            "quaternion": [
              0,
              0,
              0,
              1
            ],
            "world": [
              -1.8695435406707959,
              0.34002411365509033,
              1.488389492034912
            ]
          },
          "Y": {
            "localMm": [
              -3.9693117141723633,
              -192.54003773447033,
              405.63321113586426
            ],
            "quaternion": [
              0,
              0,
              0,
              1
            ],
            "world": [
              -1.8735128523849682,
              0.14748407592062,
              1.8940227031707764
            ]
          },
          "Z": {
            "localMm": [
              -20.80368995666504,
              -904.0489196777344,
              371.68231226258723
            ],
            "quaternion": [
              0,
              0,
              0,
              1
            ],
            "world": [
              -1.8943165423416333,
              -0.7565648437571144,
              2.2657050154333636
            ]
          },
          "B": {
            "localMm": [
              497.99561500549316,
              1139.9997472763062,
              -1603.0043363571167
            ],
            "quaternion": [
              0,
              0.020306427987709715,
              0,
              0.9997938032326366
            ],
            "world": [
              -1.8515222072601318,
              -0.20127654075622559,
              0.8832522630691528
            ]
          },
          "C": {
            "localMm": [
              -0.08916854858398438,
              -634.0826749801636,
              -86.4475965499878
            ],
            "quaternion": [
              0,
              0,
              0.10058029927953424,
              0.9949289438934015
            ],
            "world": [
              -1.8551214621264505,
              -0.8353592157363892,
              0.7968795806706839
            ]
          }
        }
      }
    }
  ],
  "browser_errors": []
}