{
  "authority": "linuxcnc-wasm-sim_kinematics_switch",
  "boundaries": {
    "nonfinite_joints": "wasm_xyzac_forward_-701",
    "nonfinite_pose": "wasm_xyzac_inverse_-701",
    "range": "wasm_xyzac_forward_-702",
    "xyzac_singularity": "closed_form_no_singular_branch"
  },
  "candidate_eligible": true,
  "case": {
    "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
    "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811"
  },
  "command_trace": [
    "WASM:IDENTITY_FORWARD_INVERSE",
    "WASM:XYZAC_FORWARD_INVERSE",
    "WASM:TOOL_ROTATION_AXIS_OFFSETS",
    "WASM:USERK_IDENTITY_TEMPLATE",
    "WASM:DYNAMIC_USERK_REJECT",
    "WORKER:MDI_M429_M428_M430",
    "WASM:G93_G2_P3_XYZAC_HELIX",
    "WORKER:PROGRAM_PAUSE_RESUME_ABORT_RESTART",
    "WORKER:CHECKPOINT_RECOVER"
  ],
  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
  "environment": {
    "functional_node": "v24",
    "wasm_ctest_harness": "HOST_EXCLUDED",
    "wasm_ctest_node": "v18"
  },
  "exclusions": [
    "xyzbc",
    "3axis",
    "other cases",
    "Safari",
    "physical power loss",
    "host hardware"
  ],
  "failure_samples": [
    {
      "classification": "HOST_EXCLUDED",
      "code": "wasm_ctest_node18_local_url",
      "detail": "CTest sim_api_test uses Node 18 fetch on a bare local .wasm path; real Node 24 Worker module and single-file WASM tests passed"
    }
  ],
  "first_divergent_tick": null,
  "helix": {
    "end": {
      "a": 30,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 10,
      "y": 0,
      "z": 5
    },
    "motion_type": 2,
    "turn": -3,
    "velocity": 6.538822170860375
  },
  "identity": {
    "pose": {
      "a": 30,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 12,
      "y": -5,
      "z": 20
    },
    "state_hash": "fnv1a64:1b181f155736dc31"
  },
  "inputs": [
    {
      "path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
      "sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69"
    },
    {
      "path": "linuxcnc/src/emc/kinematics/trtfuncs.c",
      "sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd"
    },
    {
      "path": "linuxcnc/src/emc/kinematics/switchkins.c",
      "sha256": "4de32a4a147e5ceee5346b9c6bf471dddf5c64ff58afe5044406c50bcd96b7f5"
    },
    {
      "path": "linuxcnc/src/emc/kinematics/userkfuncs.c",
      "sha256": "146238645955f8d4e2cb0cd34ff44db3a9dad01e149f81c08f8a53c19f1609bc"
    },
    {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
      "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811"
    },
    {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc",
      "sha256": "06cb755e33dc35d9a179b3c48e4203c8469632ab248d94379b10f2538dd0b54a"
    }
  ],
  "known_blockers": [],
  "lifecycle": {
    "abort": "STOPPED",
    "pause": "PAUSED",
    "recovery": "recovered",
    "restart": "loaded",
    "resume": "RUNNING"
  },
  "mapping": {
    "angular_units": "deg",
    "coordinates": "XYZAC",
    "limits": {
      "a": [
        -100,
        50
      ],
      "c": [
        -36000,
        36000
      ],
      "x": [
        -200,
        200
      ],
      "y": [
        -100,
        100
      ],
      "z": [
        -120,
        120
      ]
    },
    "linear_units": "mm"
  },
  "offsets": {
    "base": {
      "a": 30,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 50.44481813796586,
      "y": -20.265859980688887,
      "z": 32.32050807568878
    },
    "changed": {
      "a": 30,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 43.07044946720128,
      "y": -25.569160839588,
      "z": 35.6698729810778
    },
    "configured": {
      "tool_offset": 25,
      "x_rot_point": 5,
      "y_offset": 20,
      "z_offset": 10
    }
  },
  "recovery": {
    "active_type": 1,
    "state_hash": "fnv1a64:8c57efd84475776a"
  },
  "release_status": "STOP_RELEASE",
  "report_sha256": "c370004d8f2d962937b3b91abe2b0dd1632283f570e29d2d194731bc0fe0a083",
  "schema": "xyzac-rtcp-08-report.v1",
  "scope": "xyzac_only",
  "singularity_classification": {
    "reason": "xyzac-trt forward/inverse is closed-form and has no denominator singular branch; A=-90 degree boundary roundtrip is retained",
    "status": "not_applicable"
  },
  "status": "verified",
  "switchkins": [
    {
      "active_type": 0,
      "code": "M429",
      "state_hash": "fnv1a64:7614a240beddd8ba"
    },
    {
      "active_type": 1,
      "code": "M428",
      "state_hash": "fnv1a64:1463b940dede5cf0"
    },
    {
      "active_type": 2,
      "code": "M430",
      "state_hash": "fnv1a64:310f1bed69a45614"
    },
    {
      "active_type": 1,
      "code": "M428",
      "state_hash": "fnv1a64:6c90a42b0ca912d4"
    }
  ],
  "task_id": "RTCP-08",
  "tests": [
    {
      "command": [
        "node",
        "web/worker/test_xyzac_rtcp.mjs"
      ],
      "output_sha256": "3b4411bd1f640a689bde7a99e087965edd0694ca49696d1a936397113980e6c1",
      "returncode": 0,
      "status": "verified"
    }
  ],
  "tick_trace": [
    0,
    1,
    2
  ],
  "trt": {
    "joints": [
      49.99999999999999,
      10.000000000000004,
      30.000000000000007,
      30,
      45
    ],
    "pivot_boundary": {
      "a": -90,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 14.142135623730951,
      "y": -14.142135623730951,
      "z": -4.999999999999998
    },
    "pose": {
      "a": 30,
      "b": 0,
      "c": 45,
      "u": 0,
      "v": 0,
      "w": 0,
      "x": 50.44481813796586,
      "y": -20.265859980688887,
      "z": 32.32050807568878
    },
    "state_hash": "fnv1a64:928adf4a1feb90e9"
  },
  "userk": {
    "dynamic_module_error": -712,
    "native_type": "userk-identity-template"
  }
}