{
  "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"
    ]
  }
}