{
  "boundary": {
    "duplicate_axis_suffix": "verified",
    "missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
    "pivot_length": "250.0 verified",
    "round_trip": "verified",
    "state_hash": "native/WASM identical"
  },
  "configuration": {
    "coordinates": "xyzbcwy",
    "duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized",
    "joints": 7,
    "kinematics": "5axiskins",
    "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
    "pivot_length_default": 250.0,
    "required_coordinates": "XYZBCW",
    "scan": {
      "joint_count": true,
      "kins_entry": true,
      "pivot_pin": true
    }
  },
  "formula": {
    "forward": "X=JX+r*sin(180-B)*cos(C), Y=JY+r*sin(180-B)*sin(C), Z=JZ+pivot+r*cos(180-B)",
    "inverse": "subtract the same spherical vector, then map pose to coordinates",
    "source_contains_required_coordinates": true,
    "source_spherical_helper": "s2r"
  },
  "implementation_status": "verified",
  "native_wasm": {
    "native_command": "build-native/sim_kinematics_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
  },
  "oracle": {
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "d0af8c3785d87bedd869d235f45b9d522434589a26794113b1acf8526982dde0",
  "sample": {
    "byte_identical_json": true,
    "native": {
      "inverse": [
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        20.0,
        30.0,
        35.0,
        40.0,
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        20.0
      ],
      "pose": [
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      "state_hash": 5053227094931014129
    },
    "wasm": {
      "inverse": [
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      "pose": [
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      "state_hash": 5053227094931014129
    }
  },
  "schema": "fiveaxis-kinematics-report.v1",
  "source_records": {
    "config": {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
      "sha256": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf"
    },
    "hal": {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal",
      "sha256": "a59e6b9432c0a898f6d8da46309b868733a906158733fb0942017d14eb97cd07"
    },
    "header": {
      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
    },
    "source": {
      "path": "linuxcnc/src/emc/kinematics/5axiskins.c",
      "sha256": "2e29fee21936cfbbafbb000290276e4b32eaba4831014e08d3fb833f2b3dac72"
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    "source_impl": {
      "path": "wasm-core/src/sim_kinematics.c",
      "sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
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    "test": {
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      "sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
    }
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  "status": "partial"
}