{
  "configuration_candidate": {
    "coordinates": "XYZ",
    "hal_library": "linuxcnc/lib/hallib/tripodsim.hal",
    "joints": 3,
    "kinematics": "tripodkins",
    "path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
    "scan": true
  },
  "geometry": {
    "base_A": [
      0.0,
      0.0,
      0.0
    ],
    "base_B": [
      10.0,
      0.0,
      0.0
    ],
    "base_C": [
      5.0,
      7.071,
      0.0
    ],
    "hal_parameters": {
      "Bx": 10.0,
      "Cx": 5.0,
      "Cy": 7.071
    },
    "joint_semantics": [
      "AD",
      "BD",
      "CD"
    ]
  },
  "implementation_status": "verified",
  "mapping": {
    "axis_joint_mapping": {
      "X": 0,
      "Y": 1,
      "Z": 2
    },
    "coordinates": "XYZ",
    "home_pose": [
      0.0,
      0.0,
      1.0
    ],
    "kinematics_joint_count": 3
  },
  "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 above-root",
      "alternate below-root",
      "triangle-inequality no-solution",
      "base-plane singular",
      "joint-limit",
      "degenerate base geometry"
    ],
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "e5fe7526d1dcff1f8327c1389809affb5ac4cf1913e4b428ec4420e6ae957070",
  "samples": {
    "byte_identical_json": true,
    "native": {
      "boundaries": {
        "alternate_branch": 1,
        "alternate_pose": [
          2.0,
          3.0,
          -4.0
        ],
        "alternate_status": 0,
        "branch": 0,
        "geometry_error": -703,
        "iterations": 0,
        "limit_error": -702,
        "no_solution": -702,
        "singular": -704
      },
      "tripod": {
        "inverse": [
          5.385164807,
          9.433981132,
          6.447715952
        ],
        "pose": [
          2.0,
          3.0,
          4.0
        ],
        "state_hash": 7469146853106540736
      }
    },
    "state_hash_identical": true,
    "wasm": {
      "boundaries": {
        "alternate_branch": 1,
        "alternate_pose": [
          2.0,
          3.0,
          -4.0
        ],
        "alternate_status": 0,
        "branch": 0,
        "geometry_error": -703,
        "iterations": 0,
        "limit_error": -702,
        "no_solution": -702,
        "singular": -704
      },
      "tripod": {
        "inverse": [
          5.385164807,
          9.433981132,
          6.447715952
        ],
        "pose": [
          2.0,
          3.0,
          4.0
        ],
        "state_hash": 7469146853106540736
      }
    }
  },
  "schema": "tripod-kinematics-report.v1",
  "solver": {
    "alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set",
    "convergence_tolerance": 0.0,
    "default_branch": "Dz>0",
    "forward": "analytic trilateration",
    "inverse": "three Euclidean strut lengths",
    "iterations": 0
  },
  "source_records": {
    "config": {
      "path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
      "sha256": "8da7280a981d80e9b7d4b608a357fc87dbb9d83535636794e1ae97d5ebcb8f01"
    },
    "hal": {
      "path": "linuxcnc/lib/hallib/tripodsim.hal",
      "sha256": "e8b341253823f5e2764b2e7c4cc630b557b89dad5e1f7698bbddc1d0b9679747"
    },
    "header": {
      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
    },
    "implementation": {
      "path": "wasm-core/src/sim_kinematics.c",
      "sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
    },
    "source": {
      "path": "linuxcnc/src/emc/kinematics/tripodkins.c",
      "sha256": "0fb0876d2ab190e3bde69d3fe1ce0cebbb54adee2ddb4b05b929d7ca5cb3f31f"
    },
    "test": {
      "path": "wasm-core/tests/sim_kinematics_test.c",
      "sha256": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
    }
  },
  "status": "partial",
  "workspace_and_boundaries": {
    "alternate_branch": 1,
    "alternate_pose": [
      2.0,
      3.0,
      -4.0
    ],
    "base_plane_singular_error": -704,
    "geometry_error": -703,
    "iterations": 0,
    "joint_limit_error": -702,
    "no_solution_error": -702,
    "nominal": {
      "inverse": [
        5.385164807,
        9.433981132,
        6.447715952
      ],
      "pose": [
        2.0,
        3.0,
        4.0
      ],
      "state_hash": 7469146853106540736
    },
    "root_branch": 0
  }
}