106 lines
3.0 KiB
JSON
106 lines
3.0 KiB
JSON
{
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"boundary": {
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"duplicate_axis_suffix": "verified",
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"missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
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"pivot_length": "250.0 verified",
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"round_trip": "verified",
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"state_hash": "native/WASM identical"
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},
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"configuration": {
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"coordinates": "xyzbcwy",
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"duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized",
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"joints": 7,
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"kinematics": "5axiskins",
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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"pivot_length_default": 250.0,
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"required_coordinates": "XYZBCW",
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"scan": {
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"joint_count": true,
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"kins_entry": true,
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"pivot_pin": true
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}
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},
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"formula": {
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"forward": "X=JX+r*sin(180-B)*cos(C), Y=JY+r*sin(180-B)*sin(C), Z=JZ+pivot+r*cos(180-B)",
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"inverse": "subtract the same spherical vector, then map pose to coordinates",
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"source_contains_required_coordinates": true,
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"source_spherical_helper": "s2r"
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},
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"implementation_status": "verified",
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"native_wasm": {
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"native_command": "build-native/sim_kinematics_test",
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"status": "passed",
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"wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
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},
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"oracle": {
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"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
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"status": "blocked"
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},
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"report_sha256": "d0af8c3785d87bedd869d235f45b9d522434589a26794113b1acf8526982dde0",
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"sample": {
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"byte_identical_json": true,
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"native": {
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"inverse": [
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10.0,
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20.0,
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30.0,
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35.0,
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40.0,
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-2.0,
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20.0
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],
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"pose": [
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118.967490359,
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111.434580971,
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76.850293016
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],
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"state_hash": 5053227094931014129
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},
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"wasm": {
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"inverse": [
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10.0,
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20.0,
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30.0,
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35.0,
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40.0,
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-2.0,
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20.0
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],
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"pose": [
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118.967490359,
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111.434580971,
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76.850293016
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],
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"state_hash": 5053227094931014129
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}
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},
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"schema": "fiveaxis-kinematics-report.v1",
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"source_records": {
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"config": {
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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"sha256": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf"
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},
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"hal": {
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal",
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"sha256": "a59e6b9432c0a898f6d8da46309b868733a906158733fb0942017d14eb97cd07"
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},
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"header": {
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"path": "wasm-core/include/sim_kinematics.h",
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"sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
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},
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"source": {
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"path": "linuxcnc/src/emc/kinematics/5axiskins.c",
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"sha256": "2e29fee21936cfbbafbb000290276e4b32eaba4831014e08d3fb833f2b3dac72"
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},
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"source_impl": {
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"path": "wasm-core/src/sim_kinematics.c",
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"sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
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},
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"test": {
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"path": "wasm-core/tests/sim_kinematics_test.c",
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"sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
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}
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},
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"status": "partial"
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}
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