154 lines
4.2 KiB
JSON
154 lines
4.2 KiB
JSON
{
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"boundaries": {
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"missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests",
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"state_hash": "native/WASM identical",
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"xyzac_round_trip": "verified",
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"xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified",
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"xyzbc_round_trip": "verified"
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},
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"configuration_candidates": {
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"xyzac": {
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"joints": 5,
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"kinematics": "xyzac-trt-kins",
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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"scan": true,
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"sparm": "identityfirst"
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},
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"xyzbc": {
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"joints": 5,
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"kinematics": "xyzbc-trt-kins",
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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"scan": true,
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"sparm": "identityfirst"
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}
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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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"offsets": {
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"xyzac": {
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"tool_offset": 100.0,
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"x_rot_point": 20.0,
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"y_offset": 3.0
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},
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"xyzbc": {
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"tool_offset": 50.0,
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"x_offset": 5.0,
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"z_offset": 2.0
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}
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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": "504f1e29c8c7e3d0d96c4113106401d0c44c1b82044461e43d1b2f5cf48fdfcc",
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"rotation_chain": {
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"direction": "LinuxCNC opposite conventional rotary directions retained",
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"identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk",
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"xyzac": "C about Z then A about X with y/z/tool offsets",
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"xyzbc": "C about Z then B about Y with x/z/tool offsets"
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},
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"samples": {
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"byte_identical_json": true,
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"native": {
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"xyzac_trt": {
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"inverse": [
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"pose": [
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],
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"state_hash": 4869492769119734977
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},
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"xyzbc_trt": {
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"inverse": [
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"pose": [
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],
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"state_hash": 1734235358276017152
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}
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},
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"wasm": {
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"xyzac_trt": {
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"inverse": [
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100.0,
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50.0,
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],
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"pose": [
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142.826706376,
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9.689621386,
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],
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"state_hash": 4869492769119734977
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},
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"xyzbc_trt": {
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"inverse": [
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100.0,
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50.0,
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200.0,
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30.0,
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45.0
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],
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"pose": [
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],
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"state_hash": 1734235358276017152
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}
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}
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},
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"schema": "trt-kinematics-report.v1",
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"source_records": {
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"implementation": {
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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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"trt_source": {
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"path": "linuxcnc/src/emc/kinematics/trtfuncs.c",
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"sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd"
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},
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"xyzac_config": {
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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"sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1"
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},
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"xyzac_source": {
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"path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
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"sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69"
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},
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"xyzbc_config": {
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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"sha256": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78"
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},
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"xyzbc_source": {
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"path": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
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"sha256": "d79c06db82930ef685809a87c7207398f7893f56a6a0dfe382df2c81eaeb9562"
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}
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},
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"status": "partial"
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}
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