{
  "report_id": "glb-machine-browser-v1",
  "status": "verified",
  "wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6",
  "parser": [
    {
      "id": "ac",
      "rejected": [
        {
          "name": "truncated",
          "error": "机床模型无效：GLB 头部或长度错误"
        },
        {
          "name": "missing-schema",
          "error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
        },
        {
          "name": "external-buffer",
          "error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
        },
        {
          "name": "external-texture",
          "error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
        },
        {
          "name": "animation",
          "error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
        },
        {
          "name": "node-cycle",
          "error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
        },
        {
          "name": "wrong-hierarchy",
          "error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
        },
        {
          "name": "node-offset-mismatch",
          "error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
        },
        {
          "name": "duplicate-link",
          "error": "机床模型无效：GLB link base 缺失或重名"
        },
        {
          "name": "matrix-origin-mismatch",
          "error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
        },
        {
          "name": "xml-syntax",
          "error": "机床模型无效：URDF XML 语法错误"
        },
        {
          "name": "doctype",
          "error": "机床模型无效：URDF 长度或 XML 声明不支持"
        },
        {
          "name": "duplicate-coordinate",
          "error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
        },
        {
          "name": "negative-axis",
          "error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
        },
        {
          "name": "nonzero-rpy",
          "error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
        },
        {
          "name": "nan-limit",
          "error": "机床模型无效：需要有限数值"
        },
        {
          "name": "mimic",
          "error": "机床模型无效：不支持 mimic"
        },
        {
          "name": "unknown-profile",
          "error": "机床模型无效：不支持的运动学 profile"
        },
        {
          "name": "broken-tree",
          "error": "机床模型无效：存在断开的结构或环"
        },
        {
          "name": "runtime-range-outside-model",
          "error": "X：INI 行程超出 URDF，先调整运行配置"
        },
        {
          "name": "runtime-speed-outside-model",
          "error": "X：INI 速度超出 URDF"
        }
      ]
    },
    {
      "id": "bc",
      "rejected": [
        {
          "name": "truncated",
          "error": "机床模型无效：GLB 头部或长度错误"
        },
        {
          "name": "missing-schema",
          "error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
        },
        {
          "name": "external-buffer",
          "error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
        },
        {
          "name": "external-texture",
          "error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
        },
        {
          "name": "animation",
          "error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
        },
        {
          "name": "node-cycle",
          "error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
        },
        {
          "name": "wrong-hierarchy",
          "error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
        },
        {
          "name": "node-offset-mismatch",
          "error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
        },
        {
          "name": "duplicate-link",
          "error": "机床模型无效：GLB link base 缺失或重名"
        },
        {
          "name": "matrix-origin-mismatch",
          "error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
        },
        {
          "name": "xml-syntax",
          "error": "机床模型无效：URDF XML 语法错误"
        },
        {
          "name": "doctype",
          "error": "机床模型无效：URDF 长度或 XML 声明不支持"
        },
        {
          "name": "duplicate-coordinate",
          "error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
        },
        {
          "name": "negative-axis",
          "error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
        },
        {
          "name": "nonzero-rpy",
          "error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
        },
        {
          "name": "nan-limit",
          "error": "机床模型无效：需要有限数值"
        },
        {
          "name": "mimic",
          "error": "机床模型无效：不支持 mimic"
        },
        {
          "name": "unknown-profile",
          "error": "机床模型无效：不支持的运动学 profile"
        },
        {
          "name": "broken-tree",
          "error": "机床模型无效：存在断开的结构或环"
        },
        {
          "name": "runtime-range-outside-model",
          "error": "X：INI 行程超出 URDF，先调整运行配置"
        },
        {
          "name": "runtime-speed-outside-model",
          "error": "X：INI 速度超出 URDF"
        }
      ]
    }
  ],
  "machines": [
    {
      "id": "ac",
      "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1",
      "coordinates": "XYZAC",
      "offsets": {
        "x_rot_point": 24,
        "x_offset": 0,
        "y_rot_point": -12,
        "y_offset": 18,
        "z_rot_point": 8,
        "z_offset": -45
      },
      "program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
      "geometry": [
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": 0,
          "error": 6.206335383118183e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": 0,
          "error": 1.2412670766236366e-16
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": 0,
          "error": 1.1933397187179203e-16
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": 0,
          "error": 2.1599919653272043e-16
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": 0,
          "error": 2.486410087150353e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": 0,
          "error": 1.709648974837069e-16
        },
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": 17,
          "error": 6.206335383118183e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": 17,
          "error": 1.3472894910096233e-16
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": 17,
          "error": 1.1354490689426183e-16
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": 17,
          "error": 2.036065864674698e-16
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": 17,
          "error": 2.482534153247273e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": 17,
          "error": 1.3877787807814457e-16
        },
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": -4,
          "error": 6.206335383118183e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": -4,
          "error": 1.2412670766236366e-16
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": -4,
          "error": 9.508199615517185e-17
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": -4,
          "error": 1.9141791241147513e-16
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": -4,
          "error": 2.2591401799415137e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": -4,
          "error": 1.1857187100668868e-16
        }
      ],
      "jogs": [
        {
          "axis": "a",
          "before": {
            "joints": [
              4.466649999999994,
              4.066650000000003,
              0,
              0,
              0
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.04466649999999994,
              9.02977692618379e-18,
              0.04066650000000002
            ],
            "tick": 61,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "after": {
            "joints": [
              4.466649999999994,
              0.20968795268657026,
              -0.40477997583241176,
              6.000000000000007,
              0
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.04466649999999994,
              -0.0040477997583241165,
              0.0020968795268657033
            ],
            "tick": 96,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "tcp_error": 1.0148132334464322e-16,
          "render_error": 0
        },
        {
          "axis": "c",
          "before": {
            "joints": [
              4.466649999999994,
              0.20968795268657026,
              -0.40477997583241176,
              6.000000000000007,
              0
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.04466649999999994,
              -0.0040477997583241165,
              0.0020968795268657033
            ],
            "tick": 96,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "after": {
            "joints": [
              2.7494471200932686,
              -2.1290148625374243,
              -0.650587546740212,
              6.000000000000007,
              6.600000000000012
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.027494471200932687,
              -0.006505875467402124,
              -0.021290148625374247
            ],
            "tick": 133,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "tcp_error": 7.666221752544845e-17,
          "render_error": 0
        },
        {
          "axis": "a",
          "before": {
            "joints": [
              2.7494471200932686,
              -2.1290148625374243,
              -0.650587546740212,
              6.000000000000007,
              6.600000000000012
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.027494471200932687,
              -0.006505875467402124,
              -0.021290148625374247
            ],
            "tick": 133,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "after": {
            "joints": [
              2.7494471200932686,
              -4.955897853959007,
              -1.4004358096033798,
              10.500000000000002,
              6.600000000000012
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.027494471200932687,
              -0.014004358096033807,
              -0.04955897853959007
            ],
            "tick": 163,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "tcp_error": 6.938893903907228e-18,
          "render_error": 0
        },
        {
          "axis": "c",
          "before": {
            "joints": [
              2.7494471200932686,
              -4.955897853959007,
              -1.4004358096033798,
              10.500000000000002,
              6.600000000000012
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.027494471200932687,
              -0.014004358096033807,
              -0.04955897853959007
            ],
            "tick": 163,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "after": {
            "joints": [
              1.3727669510375335,
              -7.330203467035044,
              -1.8404873443064815,
              10.500000000000002,
              12.900000000000022
            ],
            "offsets": {
              "x_rot_point": 24,
              "y_rot_point": -12,
              "z_rot_point": 8,
              "x_offset": 0,
              "y_offset": 18,
              "z_offset": -45,
              "tool_offset": 0
            },
            "tip": [
              0.013727669510375335,
              -0.018404873443064833,
              -0.07330203467035044
            ],
            "tick": 199,
            "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1"
          },
          "tcp_error": 8.464668479171608e-17,
          "render_error": 0
        }
      ],
      "pixels": {
        "colors": 1415,
        "width": 472,
        "height": 586
      },
      "worker_derived_offsets": {
        "x_rot_point": 24,
        "y_rot_point": -12,
        "z_rot_point": 8,
        "x_offset": 0,
        "y_offset": 18,
        "z_offset": -45,
        "tool_offset": 0
      }
    },
    {
      "id": "bc",
      "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b",
      "coordinates": "XYZBC",
      "offsets": {
        "x_rot_point": -18,
        "x_offset": 22,
        "y_rot_point": 14,
        "y_offset": 0,
        "z_rot_point": 12,
        "z_offset": -40
      },
      "program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
      "geometry": [
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": 0,
          "error": 7.850462293418876e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": 0,
          "error": 1.1188630228279524e-16
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": 0,
          "error": 1.3672438525262642e-16
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": 0,
          "error": 2.3714374201337736e-16
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": 0,
          "error": 1.0007415106216802e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": 0,
          "error": 1.3597399555105182e-16
        },
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": 17,
          "error": 6.206335383118183e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": 17,
          "error": 1.1443916996305594e-16
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": 17,
          "error": 1.3951318755036565e-16
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": 17,
          "error": 1.5700924586837752e-16
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": 17,
          "error": 1.3597399555105182e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": 17,
          "error": 1.3597399555105182e-16
        },
        {
          "tilt": 0,
          "c": 0,
          "tool_offset": -4,
          "error": 7.850462293418876e-17
        },
        {
          "tilt": 25,
          "c": 0,
          "tool_offset": -4,
          "error": 0
        },
        {
          "tilt": 0,
          "c": 65,
          "tool_offset": -4,
          "error": 1.4756369957997185e-16
        },
        {
          "tilt": -35,
          "c": 125,
          "tool_offset": -4,
          "error": 2.7755575615628914e-17
        },
        {
          "tilt": 42,
          "c": -80,
          "tool_offset": -4,
          "error": 1.3597399555105182e-16
        },
        {
          "tilt": -80,
          "c": 270,
          "tool_offset": -4,
          "error": 1.1102230246251565e-16
        }
      ],
      "jogs": [
        {
          "axis": "b",
          "before": {
            "joints": [
              4.2666499999999985,
              3.0666500000000028,
              0,
              0,
              0
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.04266649999999998,
              6.809330876933479e-18,
              0.030666500000000027
            ],
            "tick": 254,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "after": {
            "joints": [
              6.316603424925585,
              3.0666500000000028,
              -0.09472360297925775,
              4.199999999999992,
              0
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.06316603424925585,
              -0.0009472360297925706,
              0.030666500000000027
            ],
            "tick": 283,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "tcp_error": 1.909704485889413e-17,
          "render_error": 0
        },
        {
          "axis": "c",
          "before": {
            "joints": [
              6.316603424925585,
              3.0666500000000028,
              -0.09472360297925775,
              4.199999999999992,
              0
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.06316603424925585,
              -0.0009472360297925706,
              0.030666500000000027
            ],
            "tick": 283,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "after": {
            "joints": [
              7.151143087525739,
              4.968220047559935,
              -0.15600836492358994,
              4.199999999999992,
              4.799999999999997
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.07151143087525738,
              -0.0015600836492358884,
              0.04968220047559935
            ],
            "tick": 314,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "tcp_error": 4.4565853017184997e-17,
          "render_error": 0
        },
        {
          "axis": "b",
          "before": {
            "joints": [
              7.151143087525739,
              4.968220047559935,
              -0.15600836492358994,
              4.199999999999992,
              4.799999999999997
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.07151143087525738,
              -0.0015600836492358884,
              0.04968220047559935
            ],
            "tick": 314,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "after": {
            "joints": [
              9.32604357016951,
              4.968220047559935,
              -0.4890779358284192,
              8.699999999999987,
              4.799999999999997
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.0932604357016951,
              -0.004890779358284181,
              0.04968220047559935
            ],
            "tick": 344,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "tcp_error": 1.187272171697316e-16,
          "render_error": 0
        },
        {
          "axis": "c",
          "before": {
            "joints": [
              9.32604357016951,
              4.968220047559935,
              -0.4890779358284192,
              8.699999999999987,
              4.799999999999997
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.0932604357016951,
              -0.004890779358284181,
              0.04968220047559935
            ],
            "tick": 344,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "after": {
            "joints": [
              9.993012880413737,
              6.933141542161293,
              -0.5911385821243442,
              8.699999999999987,
              9.599999999999994
            ],
            "offsets": {
              "x_rot_point": -18,
              "y_rot_point": 14,
              "z_rot_point": 12,
              "x_offset": 22,
              "y_offset": 0,
              "z_offset": -40,
              "tool_offset": 0
            },
            "tip": [
              0.09993012880413737,
              -0.0059113858212434265,
              0.06933141542161293
            ],
            "tick": 380,
            "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b"
          },
          "tcp_error": 1.0318688768540417e-16,
          "render_error": 0
        }
      ],
      "pixels": {
        "colors": 1365,
        "width": 472,
        "height": 586
      },
      "worker_derived_offsets": {
        "x_rot_point": -18,
        "y_rot_point": 14,
        "z_rot_point": 12,
        "x_offset": 22,
        "y_offset": 0,
        "z_offset": -40,
        "tool_offset": 0
      }
    }
  ],
  "viewports": [
    {
      "width": 1440,
      "height": 1100,
      "bounds": [
        {
          "x": 969,
          "right": 999,
          "width": 30
        },
        {
          "x": 445,
          "right": 513.625,
          "width": 68.625
        },
        {
          "x": 521.421875,
          "right": 582.109375,
          "width": 60.6875
        },
        {
          "x": 586.65625,
          "right": 634.34375,
          "width": 47.6875
        },
        {
          "x": 642.140625,
          "right": 702.828125,
          "width": 60.6875
        },
        {
          "x": 707.375,
          "right": 755.0625,
          "width": 47.6875
        }
      ]
    },
    {
      "width": 390,
      "height": 844,
      "bounds": [
        {
          "x": 341,
          "right": 371,
          "width": 30
        },
        {
          "x": 23,
          "right": 91.625,
          "width": 68.625
        },
        {
          "x": 99.421875,
          "right": 160.109375,
          "width": 60.6875
        },
        {
          "x": 164.65625,
          "right": 212.34375,
          "width": 47.6875
        },
        {
          "x": 220.140625,
          "right": 280.828125,
          "width": 60.6875
        },
        {
          "x": 285.375,
          "right": 333.0625,
          "width": 47.6875
        }
      ]
    }
  ],
  "browser_errors": []
}