{
  "revision": "local R3 five-direction scan",
  "manufacturer_source_commit": "62936f7ea1846a85f7350de2c4c18f39e6d19715",
  "inspection_exposures": 112,
  "top_exposures": 56,
  "side_exposures": 56,
  "kinematic_pose_knots": 178,
  "certified_joint_segments": 182,
  "certified_intervals": 1161,
  "full_model_clearance_between_samples_lower_bound_mm": 3,
  "kinematics_samples": 12312,
  "maximum_joint_rate_rad_s": 0.35,
  "maximum_joint_accel_rad_s2": 0.699987627516051,
  "minimum_margin_to_2degree_conservative_limits_deg": 10.470475907586575,
  "independent_DH_max_position_difference_mm": 0.0010728472863060668,
  "independent_DH_max_orientation_difference_deg": 0.0004209182994350915,
  "nominal_display_path_seconds": 263.2719765801229,
  "target_preview_duration_s": 20,
  "default_display_speed": 13.163598829006144,
  "nominal_WD_mm": 160,
  "nominal_FOV_mm": [
    44.94528,
    37.60128
  ],
  "TCP_m": [
    0.09,
    0.0,
    0.025
  ],
  "base_m": [
    -0.12,
    -0.21,
    0.766
  ],
  "raiser_height_mm": 120,
  "projection": {
    "top": {
      "tiles": 56,
      "projection_bounds_coverage": 1.0,
      "minimum_computed_overlap": 0.24766863692168373,
      "axis_horizontal": false
    },
    "px": {
      "tiles": 12,
      "projection_bounds_coverage": 1.0,
      "minimum_computed_overlap": 0.27739805641287973,
      "axis_horizontal": true
    },
    "py": {
      "tiles": 16,
      "projection_bounds_coverage": 1.0,
      "minimum_computed_overlap": 0.30719628697166534,
      "axis_horizontal": true
    },
    "nx": {
      "tiles": 12,
      "projection_bounds_coverage": 1.0,
      "minimum_computed_overlap": 0.27739805641287973,
      "axis_horizontal": true
    },
    "ny": {
      "tiles": 16,
      "projection_bounds_coverage": 1.0,
      "minimum_computed_overlap": 0.30719628697166534,
      "axis_horizontal": true
    }
  },
  "visible_union_area_percent": 60.1845601956899,
  "never_visible_area_percent": 39.815439804310095,
  "visibility_method": "Every work triangle centroid, area weighted; full work self-occlusion, fixture/frame and moving official robot/tool geometry ray-cast at 112 exposures. Centroid sampling is approximate; small triangles and subtriangle boundaries are not a continuous surface proof.",
  "raster_sample_max_position_departure_mm": 0.49442843913650447,
  "raster_sample_max_orientation_departure_deg": 0.03871340570831437,
  "raster_sample_scope": "quarter/mid/three-quarter joint-coordinate fractions per interpolation knot; sample bound, not analytic maximum",
  "clearance_scope": "Full visual nonadjacent robot links, camera/lens/light/tool-side reserved cable versus fixture/work/station, plus independent closed official OBJ containment. Adjacent joint contacts and inserted M6/adapter vs flange excluded. Final geometry rechecked over every accepted interpolation interval.",
  "limitations": [
    "Nominal open-loop geometry; no controller execution/calibration equivalence or collision-avoidance controller.",
    "Field is thin-lens geometry using uncalibrated principal plane, liquid-lens focus and distortion.",
    "Work coordinates assumed millimetres. Approximate centroid area sampling is not continuous complete surface/cavity coverage.",
    "Full robot joint cable dress, bend radius, fatigue and actual IPC/control harness remain unresolved.",
    "Payload centre-of-mass/moment, fixture stiffness, clamping force and real-machine/safety qualification remain unresolved."
  ],
  "deployment": "local only; R1 production and R2 preserved",
  "IK_residuals": [
    {
      "id": "park",
      "position_error_mm": 1.5068852473140943e-10,
      "rotation_error_deg": 8.640835945372894e-11
    },
    {
      "id": "top-r0-c0",
      "position_error_mm": 1.564245242749638e-11,
      "rotation_error_deg": 1.0081236925083379e-11
    },
    {
      "id": "top-r0-c1",
      "position_error_mm": 2.727594704091046e-10,
      "rotation_error_deg": 1.1898123958879614e-10
    },
    {
      "id": "top-r0-c2",
      "position_error_mm": 6.572509903292391e-12,
      "rotation_error_deg": 1.47081674498242e-12
    },
    {
      "id": "top-r0-c3",
      "position_error_mm": 1.1690543344027224e-12,
      "rotation_error_deg": 7.964857626086363e-13
    },
    {
      "id": "top-r0-c4",
      "position_error_mm": 1.5515838457795457e-13,
      "rotation_error_deg": 3.2411008358153604e-14
    },
    {
      "id": "top-r0-c5",
      "position_error_mm": 1.3668035872266427e-13,
      "rotation_error_deg": 2.8700209815478385e-14
    },
    {
      "id": "top-r0-c6",
      "position_error_mm": 1.1443916996305594e-13,
      "rotation_error_deg": 6.2041915940247455e-15
    },
    {
      "id": "top-r0-c7",
      "position_error_mm": 2.2761264355043343e-13,
      "rotation_error_deg": 5.334261354177727e-15
    },
    {
      "id": "top-r1-c0",
      "position_error_mm": 5.003707553108401e-14,
      "rotation_error_deg": 1.6219644126838566e-14
    },
    {
      "id": "top-r1-c1",
      "position_error_mm": 1.482051324395447e-10,
      "rotation_error_deg": 6.481731453469931e-11
    },
    {
      "id": "top-r1-c2",
      "position_error_mm": 4.6482714688185284e-10,
      "rotation_error_deg": 2.0087459849650966e-10
    },
    {
      "id": "top-r1-c3",
      "position_error_mm": 9.003064280037115e-10,
      "rotation_error_deg": 3.951643361987785e-10
    },
    {
      "id": "top-r1-c4",
      "position_error_mm": 5.194976217295472e-10,
      "rotation_error_deg": 2.1023274786658594e-10
    },
    {
      "id": "top-r1-c5",
      "position_error_mm": 2.2471468368860054e-11,
      "rotation_error_deg": 3.403419534711805e-11
    },
    {
      "id": "top-r1-c6",
      "position_error_mm": 3.239898485788161e-11,
      "rotation_error_deg": 4.925133938654263e-11
    },
    {
      "id": "top-r1-c7",
      "position_error_mm": 6.983240082227101e-11,
      "rotation_error_deg": 2.154134275044239e-11
    },
    {
      "id": "top-r2-c0",
      "position_error_mm": 1.2174545926647189e-12,
      "rotation_error_deg": 2.3211584834334833e-13
    },
    {
      "id": "top-r2-c1",
      "position_error_mm": 1.847153888953605e-12,
      "rotation_error_deg": 2.4813969398244065e-13
    },
    {
      "id": "top-r2-c2",
      "position_error_mm": 1.4237419943471382e-13,
      "rotation_error_deg": 2.212644846774539e-14
    },
    {
      "id": "top-r2-c3",
      "position_error_mm": 5.928593550334434e-14,
      "rotation_error_deg": 5.3255264533704345e-15
    },
    {
      "id": "top-r2-c4",
      "position_error_mm": 4.3885418357208765e-14,
      "rotation_error_deg": 1.3974862403757537e-14
    },
    {
      "id": "top-r2-c5",
      "position_error_mm": 2.342840229615247e-13,
      "rotation_error_deg": 2.5012660757632924e-15
    },
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      "id": "top-r2-c6",
      "position_error_mm": 2.305551267378102e-13,
      "rotation_error_deg": 8.55593224302929e-15
    },
    {
      "id": "top-r2-c7",
      "position_error_mm": 2.486410087150353e-13,
      "rotation_error_deg": 1.0155987723500607e-14
    },
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      "id": "top-r3-c0",
      "position_error_mm": 2.8609792490763985e-14,
      "rotation_error_deg": 8.35800184393147e-15
    },
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      "id": "top-r3-c1",
      "position_error_mm": 1.0213382427622774e-12,
      "rotation_error_deg": 2.817424420196488e-13
    },
    {
      "id": "top-r3-c2",
      "position_error_mm": 4.1938711493221195e-13,
      "rotation_error_deg": 1.4887299241600378e-13
    },
    {
      "id": "top-r3-c3",
      "position_error_mm": 1.5853512473345908e-13,
      "rotation_error_deg": 2.0086558644892932e-14
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    {
      "id": "top-r3-c4",
      "position_error_mm": 1.5328517645723045e-13,
      "rotation_error_deg": 8.267233546928286e-14
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      "id": "top-r3-c5",
      "position_error_mm": 4.4544240090105363e-13,
      "rotation_error_deg": 4.078133964345389e-14
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      "id": "top-r3-c6",
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      "rotation_error_deg": 2.5993998267448183e-14
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      "rotation_error_deg": 2.626983520919247e-14
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    {
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      "rotation_error_deg": 5.549853970857803e-15
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      "id": "top-r5-c1",
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      "rotation_error_deg": 6.596265856778122e-15
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