{
  "boundaries": {
    "missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests",
    "state_hash": "native/WASM identical",
    "xyzac_round_trip": "verified",
    "xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified",
    "xyzbc_round_trip": "verified"
  },
  "configuration_candidates": {
    "xyzac": {
      "joints": 5,
      "kinematics": "xyzac-trt-kins",
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
      "scan": true,
      "sparm": "identityfirst"
    },
    "xyzbc": {
      "joints": 5,
      "kinematics": "xyzbc-trt-kins",
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
      "scan": true,
      "sparm": "identityfirst"
    }
  },
  "implementation_status": "verified",
  "native_wasm": {
    "native_command": "build-native/sim_kinematics_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
  },
  "offsets": {
    "xyzac": {
      "tool_offset": 100.0,
      "x_rot_point": 20.0,
      "y_offset": 3.0
    },
    "xyzbc": {
      "tool_offset": 50.0,
      "x_offset": 5.0,
      "z_offset": 2.0
    }
  },
  "oracle": {
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "504f1e29c8c7e3d0d96c4113106401d0c44c1b82044461e43d1b2f5cf48fdfcc",
  "rotation_chain": {
    "direction": "LinuxCNC opposite conventional rotary directions retained",
    "identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk",
    "xyzac": "C about Z then A about X with y/z/tool offsets",
    "xyzbc": "C about Z then B about Y with x/z/tool offsets"
  },
  "samples": {
    "byte_identical_json": true,
    "native": {
      "xyzac_trt": {
        "inverse": [
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          50.0,
          200.0,
          30.0,
          45.0
        ],
        "pose": [
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        ],
        "state_hash": 4869492769119734977
      },
      "xyzbc_trt": {
        "inverse": [
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          30.0,
          45.0
        ],
        "pose": [
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        ],
        "state_hash": 1734235358276017152
      }
    },
    "wasm": {
      "xyzac_trt": {
        "inverse": [
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          200.0,
          30.0,
          45.0
        ],
        "pose": [
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        ],
        "state_hash": 4869492769119734977
      },
      "xyzbc_trt": {
        "inverse": [
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          30.0,
          45.0
        ],
        "pose": [
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          25.97032557,
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        ],
        "state_hash": 1734235358276017152
      }
    }
  },
  "schema": "trt-kinematics-report.v1",
  "source_records": {
    "implementation": {
      "path": "wasm-core/src/sim_kinematics.c",
      "sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
    },
    "test": {
      "path": "wasm-core/tests/sim_kinematics_test.c",
      "sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
    },
    "trt_source": {
      "path": "linuxcnc/src/emc/kinematics/trtfuncs.c",
      "sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd"
    },
    "xyzac_config": {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
      "sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1"
    },
    "xyzac_source": {
      "path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
      "sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69"
    },
    "xyzbc_config": {
      "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
      "sha256": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78"
    },
    "xyzbc_source": {
      "path": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
      "sha256": "d79c06db82930ef685809a87c7207398f7893f56a6a0dfe382df2c81eaeb9562"
    }
  },
  "status": "partial"
}