{
  "axis_order": {
    "A": 3,
    "B": 4,
    "C": 5,
    "U": 6,
    "V": 7,
    "W": 8,
    "X": 0,
    "Y": 1,
    "Z": 2
  },
  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
  "contract_sha256": "f79ad4af7f460b0d544d835fa63fe331d7c39907d7394edba1c7a3cbef612874",
  "error_cases": [
    "null_config",
    "null_pose",
    "nonfinite_joint",
    "nonfinite_pose",
    "joint_count_mismatch",
    "enabled_limit_violation",
    "invalid_coordinate",
    "inverse_only_forward",
    "forward_only_inverse"
  ],
  "inputs": {
    "header": "/home/mes006/linuxcncWebWASM/wasm-core/include/sim_kinematics.h",
    "header_sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8",
    "source": "/home/mes006/linuxcncWebWASM/wasm-core/src/sim_kinematics.c",
    "source_sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
  },
  "sample_mappings": [
    {
      "axis_joint": {
        "X": 0,
        "Y": 1,
        "Z": 2
      },
      "coordinates": "XYZ"
    },
    {
      "axis_joint": {
        "X": 0,
        "Y": 1,
        "Z": 3
      },
      "coordinates": "XYYZ",
      "duplicate": {
        "axis": "Y",
        "copies": [
          2
        ],
        "owner": 1
      }
    },
    {
      "axis_joint": {
        "X": 0,
        "Y": 1,
        "Z": 3
      },
      "case_fold": true,
      "coordinates": "xyyz"
    },
    {
      "axis_joint": {
        "A": 3,
        "B": 4,
        "C": 5,
        "U": 6,
        "V": 7,
        "W": 8,
        "X": 0,
        "Y": 1,
        "Z": 2
      },
      "coordinates": "XYZABCUVW"
    }
  ],
  "schema": "kinematics-mapping-contract.v1",
  "semantics": {
    "coordinate_case": "ASCII case-fold to uppercase",
    "duplicate_axis": "first occurrence owns axis; later duplicates copy the first joint during inverse",
    "extra_joints": "coordinates may repeat and joint_count remains authoritative",
    "forward": "joint-to-pose uses mapped first joint for each axis",
    "home": "zeroes all configured joints, then computes forward pose",
    "inverse": "pose-to-joint initializes all joints then fills duplicates deterministically",
    "limits": "enabled inclusive min/max; violation returns SIM_KIN_ERR_RANGE",
    "state_hash": "includes config bytes, configured joint prefix and pose bytes"
  },
  "status": "verified"
}