{
  "configuration_candidate_count": 4,
  "configuration_candidates": {
    "linear_axis": {
      "hal_files": [
        "sim_ldelta.hal",
        "axis_manualtoolchange.hal"
      ],
      "kinematics": "lineardeltakins",
      "missing_hal_files": [
        "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
        "linuxcnc/configs/sim/axis/sim_ldelta.hal"
      ],
      "path": "linuxcnc/configs/sim/axis/ldelta.ini",
      "sha256": "1567138c3d54b4d9712b5031f6a0b060edadd8d1442d1eff8d93c2beefbb5e0c"
    },
    "linear_demo": {
      "hal_files": [
        "sim_ldelta.hal",
        "axis_manualtoolchange.hal"
      ],
      "kinematics": "lineardeltakins",
      "missing_hal_files": [
        "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
        "linuxcnc/configs/sim/axis/sim_ldelta.hal"
      ],
      "path": "linuxcnc/configs/sim/axis/ldelta_demo.ini",
      "sha256": "ab0645308abe903bf66f36a328b43303aa0e8ad2d19e69a45e2703d665956439"
    },
    "linear_tklinuxcnc": {
      "hal_files": [
        "sim_ldelta.hal",
        "axis_manualtoolchange.hal"
      ],
      "kinematics": "lineardeltakins",
      "missing_hal_files": [
        "linuxcnc/configs/sim/tklinuxcnc/axis_manualtoolchange.hal",
        "linuxcnc/configs/sim/tklinuxcnc/sim_ldelta.hal"
      ],
      "path": "linuxcnc/configs/sim/tklinuxcnc/ldelta.ini",
      "sha256": "0e23dee0f4df839c028f5bfba95c5941f2f8623ce502d6fdfc90dfdef63d8967"
    },
    "rotary_axis": {
      "hal_files": [
        "sim_rdelta.hal",
        "axis_manualtoolchange.hal"
      ],
      "kinematics": "rotarydeltakins",
      "missing_hal_files": [
        "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
        "linuxcnc/configs/sim/axis/sim_rdelta.hal"
      ],
      "path": "linuxcnc/configs/sim/axis/rdelta.ini",
      "sha256": "53510733b8fd0230547f48f76ebd35dc5c98f58fe1dba1246777e227ef82c508"
    }
  },
  "families": {
    "linear_delta": {
      "configuration_candidates": [
        "linear_axis",
        "linear_demo",
        "linear_tklinuxcnc"
      ],
      "forward": "three carriage spheres -> quadratic platform root",
      "inverse": "three carriage heights from sphere intersections",
      "module": "lineardeltakins"
    },
    "rotary_delta": {
      "configuration_candidates": [
        "rotary_axis"
      ],
      "forward": "three rotary knee constraints -> quadratic platform root",
      "inverse": "three rotated leg intersections",
      "module": "rotarydeltakins"
    }
  },
  "geometry": {
    "linear": {
      "radius": 130.25,
      "rod_length": 269.0,
      "tower_layout": "120-degree equilateral",
      "units": "mm"
    },
    "rotary": {
      "foot_radius": 6.0,
      "joint_units": "degrees",
      "platform_radius": 10.0,
      "shin_length": 14.0,
      "thigh_length": 10.0
    }
  },
  "implementation_status": "verified",
  "mapping": {
    "coordinates": "XYZ",
    "extra_joint_policy": "prefix only; extra joints rejected by count",
    "kinematics_joint_count": 3,
    "optional_axes": "A/B/C/U/V/W pass through"
  },
  "native_wasm": {
    "native_command": "build-native/sim_kinematics_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
  },
  "oracle": {
    "blocked_samples": [
      "linear nominal/root",
      "linear alternate root",
      "linear no-solution",
      "linear joint-limit",
      "rotary nominal/root",
      "rotary alternate root",
      "rotary z=0 singular"
    ],
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "a585edd0895eefb4add8753927a33b60cae806e814623830df39f396787cd2e3",
  "resource_gaps": {
    "missing_hal_files": [
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      "linuxcnc/configs/sim/axis/sim_ldelta.hal",
      "linuxcnc/configs/sim/axis/sim_rdelta.hal",
      "linuxcnc/configs/sim/tklinuxcnc/axis_manualtoolchange.hal",
      "linuxcnc/configs/sim/tklinuxcnc/sim_ldelta.hal"
    ],
    "policy": "retained as missing inputs; no configuration smoke is promoted to numeric golden"
  },
  "samples": {
    "byte_identical_json": true,
    "native": {
      "delta_edges": {
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          "alternate_pose": [
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          "alternate_status": 0,
          "branch": 0,
          "geometry_error": -703,
          "iterations": 0,
          "limit_error": -702,
          "no_solution": -702
        },
        "rotarydelta": {
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          "alternate_pose": [
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            0.320396615
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          "alternate_status": 0,
          "branch": 0,
          "geometry_error": -703,
          "iterations": 0,
          "singular": -704
        },
        "tripod": {
          "alternate_branch": 1,
          "alternate_pose": [
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            3.0,
            -4.0
          ],
          "alternate_status": 0,
          "branch": 0,
          "geometry_error": -703,
          "iterations": 0,
          "limit_error": -702,
          "no_solution": -702,
          "singular": -704
        }
      },
      "lineardelta": {
        "inverse": [
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          300.0,
          300.0
        ],
        "pose": [
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        "state_hash": 10022623683197000937
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      "rotarydelta": {
        "inverse": [
          10.0,
          10.0,
          10.0
        ],
        "pose": [
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          -3.793360169
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        "state_hash": 14346691006498560820
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    },
    "state_hash_identical": true,
    "wasm": {
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          "alternate_pose": [
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          "alternate_status": 0,
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          "geometry_error": -703,
          "iterations": 0,
          "limit_error": -702,
          "no_solution": -702
        },
        "rotarydelta": {
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          "alternate_pose": [
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          "alternate_status": 0,
          "branch": 0,
          "geometry_error": -703,
          "iterations": 0,
          "singular": -704
        },
        "tripod": {
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          "alternate_pose": [
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            -4.0
          ],
          "alternate_status": 0,
          "branch": 0,
          "geometry_error": -703,
          "iterations": 0,
          "limit_error": -702,
          "no_solution": -702,
          "singular": -704
        }
      },
      "lineardelta": {
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          300.0
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      "rotarydelta": {
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    }
  },
  "schema": "delta-kinematics-report.v1",
  "solver": {
    "alternate_root_flag": "SIM_KIN_DELTA_ALTERNATE_ROOT bit 0",
    "convergence_tolerance": 0.0,
    "default_root": 0,
    "fixed_iteration_limit": 0,
    "forward": "analytic quadratic intersection",
    "inverse": "three independent leg intersections"
  },
  "source_records": {
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      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
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    "implementation": {
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      "sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
    },
    "linear_c": {
      "path": "linuxcnc/src/emc/kinematics/lineardeltakins.c",
      "sha256": "792caf5f3fb8bf06d97a4bb7262697ac22182d78d91fed19e7a9e537585aa748"
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    "linear_cc": {
      "path": "linuxcnc/src/emc/kinematics/lineardeltakins.cc",
      "sha256": "77634457a4dd3f5617f91a66651965c5b8326fc0d4dfc916d9cd63b89b0ec0f1"
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    "linear_common": {
      "path": "linuxcnc/src/emc/kinematics/lineardeltakins-common.h",
      "sha256": "7785bcd7d095b431169cdd0f753c177ece643ee825f7ff4b8cdb6f8cd4706df8"
    },
    "rotary_c": {
      "path": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
      "sha256": "64c8aeb6998a481f3c26743093dd157d2d22dc6769b258e3e6012b5c1f784773"
    },
    "rotary_cc": {
      "path": "linuxcnc/src/emc/kinematics/rotarydeltakins.cc",
      "sha256": "7e2fd63a2a7f5718d706faa21f903b36007226b065ad6d234631d2514f653618"
    },
    "rotary_common": {
      "path": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
      "sha256": "ba3e037fe2ad7eba29aa2b657492ac83f1979a38c9249fef52e598ba0d5c9136"
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    "test": {
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      "sha256": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
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  },
  "status": "partial",
  "workspace_and_boundaries": {
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      "nominal": [
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    "rotary": {
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      "geometry_error": -703,
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      "nominal": [
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      "root_branch": 0,
      "singular_error": -704
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  }
}