{
  "configuration_candidate": {
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    "hal_geometry": {
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        418.0,
        500.0,
        -140.0,
        0.0,
        500.0,
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        418.0,
        500.0,
        510.0,
        -418.0,
        500.0,
        510.0
      ],
      "effector_radius": [
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        80.3,
        80.3,
        80.3
      ],
      "effector_z": [
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        140.5,
        232.5,
        258.5
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    },
    "hal_pins": [
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      "max-iterations",
      "limit-iterations",
      "max-error",
      "convergence-criterion",
      "tool-offset"
    ],
    "joints": 5,
    "kinematics": "pentakins",
    "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
    "provenance": "shipped LinuxCNC simulation",
    "scan": true
  },
  "configuration_candidates": [
    {
      "coordinates": "XYZAB",
      "id": "shipped-pentapod",
      "joints": 5,
      "kind": "real",
      "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini"
    },
    {
      "coordinates": "XYZAB",
      "id": "offset-seed-regression",
      "initial_pose": [
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        300.0,
        0.0,
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      ],
      "joints": 5,
      "kind": "derived",
      "path": "wasm-core/tests/sim_kinematics_test.c",
      "purpose": "non-zero roll/pitch Newton convergence and native/WASM comparison",
      "target_pose": [
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        500.0,
        300.0,
        0.01,
        -0.01
      ]
    }
  ],
  "geometry": {
    "orientation": "roll/pitch only; yaw is constrained to zero in the forward result",
    "struts": 5,
    "tool_offset": "applied to both base and effector HAL z coordinates",
    "units": "configuration units; XYZ linear and AB degrees"
  },
  "implementation_status": "verified",
  "mapping": {
    "coordinates": "XYZAB",
    "extra_joint_policy": "rejected",
    "joint_semantics": [
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      "strut-2",
      "strut-3",
      "strut-4"
    ],
    "kinematics_joint_count": 5
  },
  "native_wasm": {
    "native_command": "build-native/sim_kinematics_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
  },
  "oracle": {
    "blocked_samples": [
      "nominal five-strut pose",
      "negative-z seed",
      "nonpositive strut",
      "iteration limit",
      "maximum error",
      "singular Jacobian",
      "joint limit"
    ],
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "d8863549ead6486889c8473134f9e2ce1c2835024c9ea67494c4c7e0a13a6b75",
  "samples": {
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    "native": {
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        "alternate_status": -702,
        "branch": 0,
        "iteration_limit": -702,
        "iteration_limit_iterations": 1,
        "iterations": 12,
        "limit_error": -702,
        "max_error": -702,
        "max_error_iterations": 1,
        "nonpositive": -702,
        "nonpositive_iterations": 0,
        "residual": 1e-09,
        "singular": -704,
        "singular_iterations": 0
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        "iterations": 12,
        "pose": [
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        "residual": 1e-09,
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    "state_hash_identical": true,
    "wasm": {
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        "alternate_status": -702,
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        "iterations": 12,
        "limit_error": -702,
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        "nonpositive": -702,
        "nonpositive_iterations": 0,
        "residual": 1e-09,
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        "singular_iterations": 0
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        "residual": 1e-09,
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    }
  },
  "schema": "pentapod-kinematics-report.v1",
  "solver": {
    "alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1; negative-z seed is explicitly bounded",
    "default_convergence_tolerance": 1e-09,
    "default_iteration_limit": 120,
    "default_max_error": 1000.0,
    "forward": "Newton-Raphson 5x5 numerical Jacobian",
    "inverse": "closed-form radial/z strut lengths",
    "seed": [
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      0.0,
      0.0
    ],
    "seed_units": "XYZ in configuration units; A/B in radians internally"
  },
  "source_records": {
    "config": {
      "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
      "sha256": "0fb210122ab482087d3a95e5e7487baecb84c3260dca1769970f4c19b2ad0618"
    },
    "hal": {
      "path": "linuxcnc/configs/sim/axis/pentapod/kinematics.hal",
      "sha256": "cf56ea1c1fe2b49d1af6a771bd73ea43ecc7a37991717b68a1e017c101bc6ae2"
    },
    "header": {
      "path": "linuxcnc/src/emc/kinematics/pentakins.h",
      "sha256": "af8551454177bbcc85e4e17377e059573ab8c15dc022de2a4be9b70dead74e2d"
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    "implementation": {
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      "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600"
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    "kinematics_header": {
      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec"
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    "source": {
      "path": "linuxcnc/src/emc/kinematics/pentakins.c",
      "sha256": "1b385c2ab3a1bcb106d1d22a2dfe14519dba9c4a5df4cb31071a180845cda4c6"
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  "status": "partial",
  "workspace_and_boundaries": {
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    "alternate_seed_error": -702,
    "alternate_seed_iterations": 1,
    "iteration_limit_error": -702,
    "iteration_limit_iterations": 1,
    "iterations": 12,
    "joint_limit_error": -702,
    "max_error_boundary": -702,
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      "state_hash": 13978136356142463125
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    "nonpositive_joint_error": -702,
    "nonpositive_joint_iterations": 0,
    "posture_constraint": "C/yaw is not a configured joint and forward output is exactly zero",
    "residual": 1e-09,
    "singular_jacobian_error": -704,
    "singular_jacobian_iterations": 0
  }
}