{
  "abi_version": 1,
  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
  "contract_sha256": "3c338760a86122d25b76e5a27e26b9c79d8579e1ca96638ed932b8ca8e41283a",
  "declared_functions": [
    "sim_kinematics_forward",
    "sim_kinematics_forward_ex",
    "sim_kinematics_home",
    "sim_kinematics_init",
    "sim_kinematics_inverse",
    "sim_kinematics_inverse_ex",
    "sim_kinematics_state_hash",
    "sim_kinematics_validate_pose"
  ],
  "enums": {
    "sim_kinematics_mode": [
      {
        "name": "SIM_KIN_MODE_DEFAULT",
        "value": 0
      },
      {
        "name": "SIM_KIN_MODE_IDENTITY",
        "value": 1
      },
      {
        "name": "SIM_KIN_MODE_FORWARD_ONLY",
        "value": 2
      },
      {
        "name": "SIM_KIN_MODE_INVERSE_ONLY",
        "value": 3
      },
      {
        "name": "SIM_KIN_MODE_BOTH",
        "value": 4
      }
    ],
    "sim_kinematics_result": [
      {
        "name": "SIM_KIN_OK",
        "value": 0
      },
      {
        "name": "SIM_KIN_ERR_ARGUMENT",
        "value": -700
      },
      {
        "name": "SIM_KIN_ERR_NONFINITE",
        "value": -701
      },
      {
        "name": "SIM_KIN_ERR_RANGE",
        "value": -702
      },
      {
        "name": "SIM_KIN_ERR_CONFIGURATION",
        "value": -703
      },
      {
        "name": "SIM_KIN_ERR_SINGULAR",
        "value": -704
      },
      {
        "name": "SIM_KIN_ERR_UNKNOWN_TYPE",
        "value": -705
      },
      {
        "name": "SIM_KIN_ERR_UNSUPPORTED",
        "value": -706
      }
    ],
    "sim_kinematics_type": [
      {
        "name": "SIM_KIN_TRIVKINS",
        "value": 1
      },
      {
        "name": "SIM_KIN_XYZAC_TRT",
        "value": 2
      },
      {
        "name": "SIM_KIN_XYZBC_TRT",
        "value": 3
      },
      {
        "name": "SIM_KIN_XYZBCW",
        "value": 4
      },
      {
        "name": "SIM_KIN_COREXY",
        "value": 5
      },
      {
        "name": "SIM_KIN_ROSE",
        "value": 6
      },
      {
        "name": "SIM_KIN_MAXKINS",
        "value": 7
      },
      {
        "name": "SIM_KIN_ROTATEKINS",
        "value": 8
      },
      {
        "name": "SIM_KIN_5AXISKINS",
        "value": 9
      },
      {
        "name": "SIM_KIN_SCARA",
        "value": 10
      },
      {
        "name": "SIM_KIN_PUMA",
        "value": 11
      },
      {
        "name": "SIM_KIN_SCORBOT",
        "value": 12
      },
      {
        "name": "SIM_KIN_GENSER",
        "value": 13
      }
    ]
  },
  "errors": {
    "SIM_KIN_ERR_ARGUMENT": -700,
    "SIM_KIN_ERR_CONFIGURATION": -703,
    "SIM_KIN_ERR_NONFINITE": -701,
    "SIM_KIN_ERR_RANGE": -702,
    "SIM_KIN_ERR_SINGULAR": -704,
    "SIM_KIN_ERR_UNKNOWN_TYPE": -705,
    "SIM_KIN_ERR_UNSUPPORTED": -706,
    "SIM_KIN_OK": 0
  },
  "exported_functions": [
    "sim_kinematics_forward",
    "sim_kinematics_forward_ex",
    "sim_kinematics_home",
    "sim_kinematics_init",
    "sim_kinematics_inverse",
    "sim_kinematics_inverse_ex",
    "sim_kinematics_state_hash",
    "sim_kinematics_validate_pose"
  ],
  "inputs": {
    "cmake": "wasm-core/CMakeLists.txt",
    "cmake_sha256": "e9296a3983a531e4e6864d05e2e97c8dbf29e0dc9e45942ecc1a0a7222b3a660",
    "header": "wasm-core/include/sim_kinematics.h",
    "header_sha256": "5fd01043d705486b0d365e36109c3b0e0d39f220c2cec313b5b747dca06148bc"
  },
  "missing_required_exports": [],
  "numeric_policy": {
    "fast_math": false,
    "fp_contract": "off",
    "iteration_limit": 100000,
    "nonfinite": "SIM_KIN_ERR_NONFINITE",
    "state_hash": "FNV-1a-64"
  },
  "required_functions": [
    "sim_kinematics_init",
    "sim_kinematics_forward",
    "sim_kinematics_forward_ex",
    "sim_kinematics_inverse",
    "sim_kinematics_inverse_ex",
    "sim_kinematics_home",
    "sim_kinematics_validate_pose",
    "sim_kinematics_state_hash"
  ],
  "schema": "kinematics-abi-contract.v1",
  "status": "verified",
  "structs": {
    "sim_kinematics": [
      "sim_kinematics_config config;",
      "int axis_joint[SIM_KIN_MAX_JOINTS];",
      "uint32_t configured;",
      "uint64_t forward_flags;",
      "uint64_t inverse_flags;",
      "sim_posemath_pose last_pose;",
      "double last_residual;",
      "uint32_t last_iterations;",
      "uint32_t branch_id;",
      "int32_t revolution_count;",
      "uint32_t previous_quadrant;"
    ],
    "sim_kinematics_config": [
      "int type;",
      "int mode;",
      "uint32_t joint_count;",
      "uint32_t kinematics_joint_count;",
      "uint32_t extra_joint_count;",
      "char coordinates[16];",
      "double x_rot_point;",
      "double y_rot_point;",
      "double z_rot_point;",
      "double x_offset;",
      "double y_offset;",
      "double z_offset;",
      "double tool_offset;",
      "double pivot_length;",
      "double scara_d1;",
      "double scara_d2;",
      "double scara_d3;",
      "double scara_d4;",
      "double scara_d5;",
      "double scara_d6;",
      "double puma_a2;",
      "double puma_a3;",
      "double puma_d3;",
      "double puma_d4;",
      "double puma_d6;",
      "uint32_t dh_joint_count;",
      "double dh_a[SIM_KIN_MAX_JOINTS];",
      "double dh_alpha[SIM_KIN_MAX_JOINTS];",
      "double dh_d[SIM_KIN_MAX_JOINTS];",
      "uint32_t max_iterations;",
      "double convergence_tolerance;",
      "uint8_t limit_enabled[SIM_KIN_MAX_JOINTS];",
      "double joint_min[SIM_KIN_MAX_JOINTS];",
      "double joint_max[SIM_KIN_MAX_JOINTS];"
    ],
    "sim_kinematics_result_info": [
      "uint64_t forward_flags;",
      "uint64_t inverse_flags;",
      "double residual;",
      "uint32_t iterations;",
      "uint32_t branch_id;"
    ]
  }
}