{
  "configuration_candidates": [
    {
      "coordinates": "XYZCAB",
      "id": "shipped-scara-userk-slot",
      "implementation": "identity template",
      "kind": "real",
      "path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini",
      "scan": true
    },
    {
      "coordinates": "XYZABC",
      "id": "shipped-puma560-genser",
      "implementation": "ugenser static adapter over genser",
      "kind": "real",
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
      "scan": true
    },
    {
      "id": "static-descriptor-regression",
      "implementations": [
        "userk.identity",
        "ugenser.static"
      ],
      "kind": "derived",
      "path": "wasm-core/tests/sim_userkins_test.c",
      "purpose": "ABI/capability checks, FK/IK calls, switch slot binding, and native/WASM comparison"
    }
  ],
  "error_boundaries": {
    "abi_version": -710,
    "capability": -711,
    "dynamic_module": -712,
    "missing_or_uninitialized_module": -708
  },
  "implementation_status": "verified",
  "native_wasm": {
    "native_command": "build-native/sim_userkins_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_userkins_wasm_test.js"
  },
  "oracle": {
    "blocked_samples": [
      "userk identity template",
      "ugenser static adapter",
      "ABI mismatch",
      "capability mismatch",
      "dynamic module rejection",
      "uninitialized module"
    ],
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; the deprecated ugenser CLI is not an approved replacement",
    "status": "blocked"
  },
  "report_sha256": "43f7a1918c7f09cea97e0ac400f6572ff9b9051fccc22cde5b70765dd1e735f1",
  "samples": {
    "byte_identical_json": true,
    "native": {
      "abi_error": -710,
      "abi_version": 1,
      "active_mode": 2,
      "capabilities": 7,
      "capability_error": -711,
      "dynamic_path_error": -712,
      "identity": {
        "forward_calls": 1,
        "inverse_calls": 1,
        "joints": [
          10.0,
          20.0,
          30.0,
          5.0,
          15.0
        ],
        "pose": [
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          30.0,
          5.0,
          15.0
        ],
        "repeat_hash": 7729967891798573724,
        "state_hash": 7729967891798573724
      },
      "missing_implementation": -708,
      "path_name_error": -712,
      "schema": "userkins-samples.v1",
      "switch_to_user": 0,
      "ugenser": {
        "forward_calls": 2,
        "inverse_calls": 1,
        "iterations": 0,
        "pose": [
          619.051467462,
          30.4112378,
          -349.855537721,
          -173.973089253,
          5.329608876,
          -19.06581641
        ],
        "repeat_hash": 1161289569922079659,
        "residual": 0.0,
        "state_hash": 1161289569922079659
      },
      "uninitialized_error": -708
    },
    "state_hash_identical": true,
    "state_hash_stable": true,
    "wasm": {
      "abi_error": -710,
      "abi_version": 1,
      "active_mode": 2,
      "capabilities": 7,
      "capability_error": -711,
      "dynamic_path_error": -712,
      "identity": {
        "forward_calls": 1,
        "inverse_calls": 1,
        "joints": [
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          20.0,
          30.0,
          5.0,
          15.0
        ],
        "pose": [
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          20.0,
          30.0,
          5.0,
          15.0
        ],
        "repeat_hash": 7729967891798573724,
        "state_hash": 7729967891798573724
      },
      "missing_implementation": -708,
      "path_name_error": -712,
      "schema": "userkins-samples.v1",
      "switch_to_user": 0,
      "ugenser": {
        "forward_calls": 2,
        "inverse_calls": 1,
        "iterations": 0,
        "pose": [
          619.051467462,
          30.4112378,
          -349.855537721,
          -173.973089253,
          5.329608876,
          -19.06581641
        ],
        "repeat_hash": 1161289569922079659,
        "residual": 0.0,
        "state_hash": 1161289569922079659
      },
      "uninitialized_error": -708
    }
  },
  "schema": "userkins-kinematics-report.v1",
  "source_records": {
    "genser_functions": {
      "path": "linuxcnc/src/emc/kinematics/genserfuncs.c",
      "sha256": "e4b775e93b973a4faae873c81a95d7d8361fe5c5c59ea81e362a5f900a1e8781"
    },
    "genser_source": {
      "path": "linuxcnc/src/emc/kinematics/genserkins.c",
      "sha256": "cbb87b9c21f9f5e1d6a3c5bd333f72a7b1b4f1618a21b32d4b34bc621b43e075"
    },
    "header": {
      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec"
    },
    "implementation": {
      "path": "wasm-core/src/sim_userkins.c",
      "sha256": "cf3a0f3fea81fb63abf3336b87de1971391d7798b4eed3ec826c07bfd300ed0e"
    },
    "test": {
      "path": "wasm-core/tests/sim_userkins_test.c",
      "sha256": "13ecf5d2405a0e4c706cde25d93424655108779188c310f75ed36683abed624e"
    },
    "ugenser_config": {
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
      "sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c"
    },
    "ugenser_dh": {
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
      "sha256": "23758eb7a6a4abe116e1de88140d04e6c9a910d1c378f019d76843a5a3fb6141"
    },
    "ugenser_source": {
      "path": "linuxcnc/src/emc/kinematics/ugenserkins.c",
      "sha256": "dee63aebaa11f2867657bc4b9052f6a8e8bd875e06bd8a9df2d3edac9eb1c31d"
    },
    "userk_config": {
      "path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini",
      "sha256": "602e02bb6d320b728d9ae15904a5d229ea1a31e932c18e9018b45be007d695ce"
    },
    "userk_source": {
      "path": "linuxcnc/src/emc/kinematics/userkfuncs.c",
      "sha256": "146238645955f8d4e2cb0cd34ff44db3a9dad01e149f81c08f8a53c19f1609bc"
    }
  },
  "static_contract": {
    "abi_version": 1,
    "capabilities": {
      "forward": 1,
      "inverse": 2,
      "sample_mask": 7,
      "static": 4
    },
    "dynamic_host_loading": "forbidden; paths, slash-delimited names, and host shared libraries return SIM_KIN_ERR_DYNAMIC_MODULE",
    "implementations": {
      "1": "identity",
      "2": "genser"
    },
    "switch_binding": {
      "active_after_select": 2,
      "slot": 2
    }
  },
  "status": "partial",
  "ugenser_scope": {
    "adaptation": "reuse the verified statically linked genser FK/IK implementation; do not port gettimeofday, stdin, or HAL process lifecycle",
    "legacy_cli_status": "excluded",
    "source_warning_present": true
  }
}