linuxcncWebWASM/coverage/robot-kinematics.report.json

{
  "boundaries": {
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    "scara_unreachable": "SIM_KIN_ERR_RANGE verified",
    "scorbot_unreachable": "SIM_KIN_ERR_RANGE verified",
    "state_hash": "native/WASM identical after 1e-9 hash quantization"
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  "configuration_candidates": {
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      "joints": 6,
      "kinematics": "pumakins",
      "origin": "shipped",
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
      "scan": true
    },
    "scara": {
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      "joints": 6,
      "kinematics": "scarakins",
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      "path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini",
      "scan": true
    },
    "scorbot": {
      "coordinates": "XYZAB",
      "joints": 5,
      "kinematics": "scorbot-kins",
      "origin": "workspace_derived_fixture; source has no shipped sim INI",
      "path": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
      "scan": true
    }
  },
  "geometry": {
    "puma": {
      "branches": [
        "shoulder",
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        "wrist flip"
      ],
      "parameters": {
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        "A3": 50.0,
        "D3": 100.0,
        "D4": 400.0,
        "D6": 95.0
      },
      "singularity": "wrist t1/t2 threshold"
    },
    "scara": {
      "branch": "elbow flag selects q1 sign",
      "defaults": {
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        "D2": 340.0,
        "D3": 50.0,
        "D4": 250.0,
        "D5": 50.0,
        "D6": 50.0
      },
      "orientation": "C=a0+a1+a3"
    },
    "scorbot": {
      "branch": "fixed elbow solution from source",
      "controlled_point": "wrist J3/J4",
      "links_mm": {
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        "L0_vertical": 140.0,
        "L1": 221.0,
        "L2": 221.0
      }
    }
  },
  "implementation_status": "verified",
  "native_wasm": {
    "native_command": "build-native/sim_kinematics_test",
    "status": "passed",
    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
  },
  "oracle": {
    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
    "status": "blocked"
  },
  "report_sha256": "fad0d9058ca41776a07fd7b88d467b0d8f96135e036f0e887c9583c78a4f97ea",
  "samples": {
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      "scorbot": {
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        "state_hash": 16037922903473574131
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        "state_hash": 16037922903473574131
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    }
  },
  "schema": "robot-kinematics-report.v1",
  "source_records": {
    "header": {
      "path": "wasm-core/include/sim_kinematics.h",
      "sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
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    "implementation": {
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    "puma_config": {
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      "sha256": "26ee23af27aa03d2da89b842992802ece2423195a5ac0960b28bb751871d74f6"
    },
    "puma_params": {
      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma_dh.hal",
      "sha256": "b57992601bf614c26e53c8add3c3aac0a0df79929dd64f897a19630437d1c181"
    },
    "puma_source": {
      "path": "linuxcnc/src/emc/kinematics/pumakins.c",
      "sha256": "5d473d34beacd696fc34719658e1622a1228494fe6596e277f4c34a51dfb91b2"
    },
    "scara_config": {
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    },
    "scara_source": {
      "path": "linuxcnc/src/emc/kinematics/scarakins.c",
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    "scorbot_config": {
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    "scorbot_source": {
      "path": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
      "sha256": "89badd55ec168139143c58f67c64dbdb9e5b411c3b847404beaf79ba8c591b5d"
    },
    "test": {
      "path": "wasm-core/tests/sim_kinematics_test.c",
      "sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
    }
  },
  "status": "partial"
}