503 lines
12 KiB
JSON
503 lines
12 KiB
JSON
{
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"configuration_candidates": [
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{
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"coordinates": "XYZAC",
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"id": "xyzac-trt",
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"kind": "real",
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"parameters": [
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"offsets",
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"tool",
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"limits"
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],
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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"type": 2
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},
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{
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"coordinates": "XYZABC",
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"id": "genser-puma560",
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"kind": "real",
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"parameters": [
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"DH",
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"solver",
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"limits"
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],
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"path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
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"type": 13
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},
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{
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"coordinates": "XYZAB",
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"id": "pentapod",
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"kind": "real",
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"parameters": [
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"geometry",
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"tool",
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"solver",
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"limits"
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],
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"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
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"type": 18
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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_registry_test",
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"status": "passed",
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"wasm_command": "node build-wasm/sim_kinematics_registry_wasm_test.js"
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},
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"oracle": {
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"blocked_samples": [
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"18-entry registry",
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"capability requirements",
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"parameter masks",
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"real config validation",
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"unknown/path names"
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],
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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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"registry": {
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"abi_version": 1,
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"parameter_union": 255,
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"parameters": {
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"mapping": 1,
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"offsets": 4,
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"solver": 128,
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"tool": 8
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},
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"state_hash": 3966926008000628109,
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},
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"report_sha256": "e18289c5743e6b7c8acf608a43ebb6a2169f72929c8667da8ad3810be65f7dd2",
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"samples": {
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"byte_identical_json": true,
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"native": {
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"count": 18,
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"entries": [
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{
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"capabilities": 119,
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"max": 9,
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"min": 1,
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"name": "trivkins",
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"parameters": 3,
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"required": "",
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"type": 1
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 5,
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"name": "xyzac-trt-kins",
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"parameters": 15,
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"required": "XYZAC",
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"type": 2
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 5,
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"name": "xyzbc-trt-kins",
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"parameters": 15,
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"required": "XYZBC",
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"type": 3
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 6,
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"name": "xyzbcw",
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"parameters": 19,
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"required": "XYZBCW",
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"type": 4
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "corexykins",
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"parameters": 3,
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"required": "XYZ",
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"type": 5
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},
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{
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"capabilities": 19,
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"max": 3,
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"min": 3,
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"name": "rosekins",
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"parameters": 3,
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"required": "XYZ",
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"type": 6
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "maxkins",
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"parameters": 19,
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"required": "XYZ",
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"type": 7
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "rotatekins",
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"parameters": 3,
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"required": "XYZ",
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"type": 8
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 6,
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"name": "5axiskins",
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"required": "XYZBCW",
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"type": 9
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},
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{
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"capabilities": 19,
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"max": 6,
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"min": 6,
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"name": "scarakins",
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"parameters": 35,
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"required": "XYZCAB",
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"type": 10
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},
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{
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"capabilities": 19,
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"max": 6,
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"name": "pumakins",
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"parameters": 35,
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"required": "XYZABC",
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"type": 11
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},
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{
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"capabilities": 19,
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"max": 5,
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"name": "scorbot-kins",
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"parameters": 35,
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"required": "XYZAB",
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"type": 12
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},
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{
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"capabilities": 27,
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"name": "genserkins",
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{
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"capabilities": 51,
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"name": "lineardeltakins",
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"parameters": 35,
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"required": "XYZ",
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"type": 14
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "rotarydeltakins",
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"parameters": 35,
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"required": "XYZ",
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"type": 15
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "tripodkins",
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"parameters": 35,
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"required": "XYZ",
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"type": 16
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},
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{
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"capabilities": 27,
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"max": 6,
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"name": "genhexkins",
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"parameters": 171,
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"required": "XYZABC",
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{
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"capabilities": 27,
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"max": 5,
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"name": "pentakins",
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"parameters": 171,
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"required": "XYZAB",
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"type": 18
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}
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],
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"iterative_require": 0,
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"joint_error": -703,
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"lookup_status": 0,
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"parameter_error": -711,
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"parameter_union": 255,
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"path_name": -712,
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"range_error": -702,
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"registry_hash": 3966926008000628109,
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"schema": "kinematics-registry-samples.v1",
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"type_mismatch": -703,
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"unknown_name": -705,
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"verified": 18
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},
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"state_hash_identical": true,
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"wasm": {
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"capability_union": 127,
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"coordinate_error": -703,
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"count": 18,
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"entries": [
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{
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"capabilities": 119,
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"max": 9,
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"min": 1,
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"name": "trivkins",
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"parameters": 3,
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"required": "",
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"type": 1
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 5,
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"name": "xyzac-trt-kins",
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"required": "XYZAC",
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"type": 2
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 5,
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"name": "xyzbc-trt-kins",
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"type": 3
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},
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{
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"capabilities": 51,
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"name": "xyzbcw",
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"type": 4
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "corexykins",
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"parameters": 3,
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"required": "XYZ",
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"type": 5
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},
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{
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"capabilities": 19,
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"max": 3,
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"min": 3,
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"name": "rosekins",
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"parameters": 3,
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"required": "XYZ",
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"type": 6
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "maxkins",
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"parameters": 19,
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"required": "XYZ",
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"type": 7
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "rotatekins",
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"parameters": 3,
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"required": "XYZ",
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"type": 8
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},
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{
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"capabilities": 115,
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"max": 9,
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"min": 6,
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"name": "5axiskins",
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"parameters": 19,
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"required": "XYZBCW",
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"type": 9
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},
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{
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"capabilities": 19,
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"max": 6,
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"min": 6,
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"name": "scarakins",
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"parameters": 35,
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"required": "XYZCAB",
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"type": 10
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},
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{
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"capabilities": 19,
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"max": 6,
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"min": 6,
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"name": "pumakins",
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"parameters": 35,
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"required": "XYZABC",
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"type": 11
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},
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{
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"capabilities": 19,
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"max": 5,
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"min": 5,
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"name": "scorbot-kins",
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"parameters": 35,
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"required": "XYZAB",
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"type": 12
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},
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{
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"capabilities": 27,
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"max": 6,
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"min": 6,
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"name": "genserkins",
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"parameters": 195,
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"required": "XYZABC",
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"type": 13
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "lineardeltakins",
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"parameters": 35,
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"required": "XYZ",
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"type": 14
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "rotarydeltakins",
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"parameters": 35,
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"required": "XYZ",
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"type": 15
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},
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{
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"capabilities": 51,
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"max": 9,
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"min": 3,
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"name": "tripodkins",
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"parameters": 35,
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"required": "XYZ",
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"type": 16
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},
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{
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"capabilities": 27,
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"name": "genhexkins",
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{
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"name": "pentakins",
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],
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"verified": 18
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}
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},
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"schema": "kinematics-registry-report.v1",
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"source_records": {
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"config_genser": {
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"path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
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"sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c"
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},
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"config_pentapod": {
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"path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
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"sha256": "0fb210122ab482087d3a95e5e7487baecb84c3260dca1769970f4c19b2ad0618"
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},
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"config_xyzac": {
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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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"implementation": {
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"path": "wasm-core/src/sim_kinematics_registry.c",
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"sha256": "fa852e370b5fa52006afb9c04bd6bc4ebba798d9b1ab7f060d52ecf98326d97d"
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},
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"kinematics_implementation": {
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"path": "wasm-core/src/sim_kinematics.c",
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"sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600"
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},
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"linuxcnc_header": {
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"path": "linuxcnc/src/emc/kinematics/kinematics.h",
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"sha256": "33b3744b9ceeeef3d992e9ca9cda89d93a3357d2d0a2af2023ca728e4be8e428"
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},
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"sim_header": {
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"path": "wasm-core/include/sim_kinematics.h",
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"sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec"
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},
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"test": {
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"path": "wasm-core/tests/sim_kinematics_registry_test.c",
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"sha256": "42d0952fdb94340e33b4a86a5f0707aa3330302ae3c5e2573785bf29ee8ac243"
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}
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},
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"status": "partial",
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"validation": {
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"capability_error": -711,
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"coordinate_error": -703,
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"iterative_genser_and_DH_status": 0,
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"joint_error": -703,
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"lookup_status": 0,
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"parameter_error": -711,
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"path_name": -712,
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"range_error": -702,
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"type_mismatch": -703,
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"unknown_name": -705
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}
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}
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