{
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    "z=0 rotary singularity fails closed as authoritative_kinematics_singular",
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    "status": "PASSED",
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      "path": "linuxcnc/configs/sim/axis/rdelta.ini",
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    {
      "bytes": 2964,
      "path": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
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      "path": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
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      "path": "web/worker/test_authoritative_kinematics_s7_04.mjs",
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        "status": "PASSED",
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      "wasm": {
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        "status": "PASSED",
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    "kinematics_motion": {
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      },
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        "status": "PASSED",
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      "wasm": {
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        "status": "PASSED",
        "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
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  "schema": "authoritative-kinematics-s7-04.v1",
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      "platform_radius": 10,
      "shin_length": 14,
      "thigh_length": 10
    },
    "joint_count": 3,
    "kinematics": "rotarydelta",
    "pose": [
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    "selected_family": "parallel_rotary_delta",
    "singular_error": "authoritative_kinematics_singular",
    "source_module": "rotarydeltakins",
    "unsupported_error": "authoritative_kinematics_unsupported"
  },
  "selection": {
    "basis": [
      "delta-kinematics report has real rotarydelta configuration candidate and passed native/WASM samples",
      "rotarydelta preserves the existing authoritative XYZ plus three-joint shape",
      "no ABI/protocol/schema expansion is required"
    ],
    "not_promoted": [
      "TRT",
      "serial_robot",
      "linear_delta",
      "Hexapod",
      "Pentapod",
      "switch",
      "user",
      "official_oracle"
    ]
  },
  "status": "verified",
  "task_id": "S7-04",
  "worker": {
    "execution": {
      "command": [
        "node",
        "web/worker/test_authoritative_kinematics_s7_04.mjs"
      ],
      "returncode": 0,
      "status": "PASSED",
      "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
      "stdout_sha256": "455bb34a953f78e42b3392d859e001086dfab4f6d48adb98ba3f9bc7c545f491"
    },
    "sample": {
      "boundaries": [
        "official kinematics oracle remains SOURCE_BLOCKED",
        "TRT/robot/Hexapod/Pentapod/switch/user remain queued",
        "missing rdelta HAL resources remain configuration gaps"
      ],
      "checkpoint_hash": "fnv1a64:95c6e490b47e0043",
      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
      "geometry": {
        "foot_radius": 6,
        "platform_radius": 10,
        "shin_length": 14,
        "thigh_length": 10
      },
      "parity": {
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          "difference": null,
          "equal": true,
          "expected_hash": "fnv1a64:2b9d99b43dec0f25"
        },
        "recovery": {
          "actual_hash": "fnv1a64:85b2a8f5970c7e32",
          "difference": null,
          "equal": true,
          "expected_hash": "fnv1a64:85b2a8f5970c7e32"
        }
      },
      "schema": "authoritative-kinematics-s7-04-sample.v1",
      "singular": {
        "message_key": "authoritative_kinematics_singular"
      },
      "status": "verified",
      "supported": {
        "endpoint_hash": "fnv1a64:2b9d99b43dec0f25",
        "joints": [
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          10.000000000717074,
          10.000000000717074
        ],
        "pose": [
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          0,
          -3.793360169
        ],
        "source_family": "rotarydeltakins",
        "type": "rotarydelta"
      },
      "unsupported": {
        "code": "authoritative_kinematics_unsupported",
        "type": "xyzac-trt"
      }
    }
  }
}