{
  "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": [
        619.051467462,
        30.4112378,
        -349.855537721
      ],
      "residual": 0.0,
      "state_hash": 13985782206955965200
    },
    "wasm": {
      "inverse": [
        0.0,
        10.0,
        -20.0,
        29.999999999,
        15.0,
        -9.999999999
      ],
      "iterations": 0,
      "pose": [
        619.051467462,
        30.4112378,
        -349.855537721
      ],
      "residual": 0.0,
      "state_hash": 13985782206955965200
    }
  },
  "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"
    },
    "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"
    },
    "puma_config": {
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
      "sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c"
    },
    "puma_dh": {
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
      "sha256": "23758eb7a6a4abe116e1de88140d04e6c9a910d1c378f019d76843a5a3fb6141"
    },
    "source": {
      "path": "linuxcnc/src/emc/kinematics/genserkins.c",
      "sha256": "cbb87b9c21f9f5e1d6a3c5bd333f72a7b1b4f1618a21b32d4b34bc621b43e075"
    },
    "test": {
      "path": "wasm-core/tests/sim_kinematics_test.c",
      "sha256": "6c803de9aeb91499cef391620f17c7da69ee78a873b43b0ba9fa508fd096f31a"
    }
  },
  "status": "partial"
}