198 lines
4.4 KiB
JSON
198 lines
4.4 KiB
JSON
{
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"configuration_candidate": {
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"coordinates": "XYZ",
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"hal_library": "linuxcnc/lib/hallib/tripodsim.hal",
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"joints": 3,
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"kinematics": "tripodkins",
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"path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
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"scan": true
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},
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"geometry": {
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"base_A": [
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0.0,
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0.0,
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0.0
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],
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"base_B": [
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10.0,
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0.0,
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0.0
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],
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"base_C": [
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5.0,
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7.071,
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0.0
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],
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"hal_parameters": {
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"Bx": 10.0,
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"Cx": 5.0,
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"Cy": 7.071
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},
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"joint_semantics": [
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"AD",
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"BD",
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"CD"
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]
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},
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"implementation_status": "verified",
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"mapping": {
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"axis_joint_mapping": {
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"X": 0,
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"Y": 1,
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"Z": 2
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},
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"coordinates": "XYZ",
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"home_pose": [
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0.0,
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0.0,
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1.0
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],
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"kinematics_joint_count": 3
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},
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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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"blocked_samples": [
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"nominal above-root",
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"alternate below-root",
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"triangle-inequality no-solution",
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"base-plane singular",
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"joint-limit",
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"degenerate base geometry"
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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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"report_sha256": "e5fe7526d1dcff1f8327c1389809affb5ac4cf1913e4b428ec4420e6ae957070",
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"samples": {
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"byte_identical_json": true,
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"native": {
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"boundaries": {
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"alternate_branch": 1,
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"alternate_pose": [
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2.0,
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3.0,
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-4.0
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],
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"alternate_status": 0,
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"branch": 0,
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"geometry_error": -703,
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"iterations": 0,
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"limit_error": -702,
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"no_solution": -702,
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"singular": -704
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},
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"tripod": {
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"inverse": [
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5.385164807,
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9.433981132,
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6.447715952
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],
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"pose": [
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2.0,
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3.0,
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4.0
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],
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"state_hash": 7469146853106540736
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}
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},
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"state_hash_identical": true,
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"wasm": {
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"boundaries": {
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"alternate_branch": 1,
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"alternate_pose": [
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2.0,
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3.0,
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-4.0
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],
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"alternate_status": 0,
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"branch": 0,
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"geometry_error": -703,
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"iterations": 0,
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"limit_error": -702,
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"no_solution": -702,
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"singular": -704
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},
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"tripod": {
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"inverse": [
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5.385164807,
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9.433981132,
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6.447715952
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],
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"pose": [
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2.0,
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3.0,
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4.0
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],
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"state_hash": 7469146853106540736
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}
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}
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},
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"schema": "tripod-kinematics-report.v1",
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"solver": {
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"alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set",
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"convergence_tolerance": 0.0,
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"default_branch": "Dz>0",
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"forward": "analytic trilateration",
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"inverse": "three Euclidean strut lengths",
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"iterations": 0
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},
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"source_records": {
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"config": {
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"path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
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"sha256": "8da7280a981d80e9b7d4b608a357fc87dbb9d83535636794e1ae97d5ebcb8f01"
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},
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"hal": {
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"path": "linuxcnc/lib/hallib/tripodsim.hal",
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"sha256": "e8b341253823f5e2764b2e7c4cc630b557b89dad5e1f7698bbddc1d0b9679747"
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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": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
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},
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"implementation": {
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"path": "wasm-core/src/sim_kinematics.c",
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"sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
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},
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"source": {
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"path": "linuxcnc/src/emc/kinematics/tripodkins.c",
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"sha256": "0fb0876d2ab190e3bde69d3fe1ce0cebbb54adee2ddb4b05b929d7ca5cb3f31f"
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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": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
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}
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},
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"status": "partial",
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"workspace_and_boundaries": {
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"alternate_branch": 1,
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"alternate_pose": [
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2.0,
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3.0,
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-4.0
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],
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"base_plane_singular_error": -704,
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"geometry_error": -703,
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"iterations": 0,
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"joint_limit_error": -702,
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"no_solution_error": -702,
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"nominal": {
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"inverse": [
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5.385164807,
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9.433981132,
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6.447715952
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],
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"pose": [
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2.0,
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3.0,
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4.0
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],
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"state_hash": 7469146853106540736
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},
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"root_branch": 0
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}
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}
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