75 lines
1.9 KiB
JSON
75 lines
1.9 KiB
JSON
{
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"angles": {
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"constants": "full-precision DEG_TO_RAD/RAD_TO_DEG literals",
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"input_units": "degrees for rotary joints",
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"internal_units": "radians"
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},
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"boundary_matrix": [
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{
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"case": "NaN joint",
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"expected": "SIM_KIN_ERR_NONFINITE"
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},
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{
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"case": "+Inf pose",
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"expected": "SIM_KIN_ERR_NONFINITE"
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},
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{
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"case": "negative tolerance",
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"expected": "SIM_KIN_ERR_CONFIGURATION"
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},
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{
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"case": "iteration > 100000",
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"expected": "SIM_KIN_ERR_CONFIGURATION"
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},
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{
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"case": "XYZBC B=90 singular",
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"expected": "SIM_KIN_ERR_SINGULAR"
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},
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{
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"case": "enabled limit violation",
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"expected": "SIM_KIN_ERR_RANGE"
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}
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],
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"compiler": {
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"denormals": "host-independent finite checks before arithmetic",
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"fast_math": false,
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"fenv_access": "default",
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"fp_contract": "off"
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},
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"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
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"exact_fields": [
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"status",
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"error_code",
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"kinematics_type",
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"branch_id",
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"flags",
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"current_tick",
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"config_hash",
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"axis_joint_mapping",
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"event_order"
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],
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"inputs": {
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"abi_contract_sha256": "3177c4d28200c5136981d28489ac4578a84360f9688ee8614e23af8d7526b50b",
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"mapping_contract_sha256": "49bd93c716bd5b5eb6064f75ea2b8ba26dfa819c6166c22c5375ebeba927dd91"
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},
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"iterations": {
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"default": 0,
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"maximum": 100000,
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"nonconvergence": "stable error; never repaired by tolerance widening",
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"zero_means": "algorithm default"
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},
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"policy_sha256": "dcf2fdb6bf488f81ec55f43ebc3180f52665b54ba9cd9b4c6bbfb8dbd2a39560",
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"schema": "kinematics-numeric-policy.v1",
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"status": "verified",
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"tolerances": {
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"configuration_nonnegative": true,
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"golden_absolute_default": 1e-09,
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"golden_relative_default": 1e-09,
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"singularity_threshold": 1e-12,
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"state_hash_float_quantization": 1e-09,
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"tolerance_applies_only_to": [
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"finite numeric pose/joint fields"
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]
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}
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}
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