{
 "schema": "amr.rosie-sim-kit.ik-cases.v1",
 "model": "rosie_1000",
 "name": "Rosie 1000",
 "version": "2026-10-09",
 "url": "https://advancedmetalresearch.com/assets/sim/1000/ik_cases.json",
 "description": "Inverse kinematics reference cases for the Rosie 1000, solved by RosieOS's IK. Each case gives a seed pose, the straight Cartesian move RosieOS resolved from it, the target pose of tool0 and the joint solution RosieOS reached, plus every other solution inside the joint limits. Self-contained: the kinematic chain below is all you need to check them.",
 "units": {
  "length": "m",
  "angle": "rad (q_deg in degrees)"
 },
 "frames": {
  "base": "base_link (the J1 frame)",
  "tip": "tool0: the tool flange face, z out of the flange; link_6 turned 180 deg about x",
  "target": "tool0 pose in base_link: xyz, quaternion (w, x, y, z), rotation matrix (columns = tool0 axes in base_link)"
 },
 "chain": {
  "joints": [
   {
    "name": "J1",
    "origin_xyz": [
     0.0,
     0.0,
     0.0
    ],
    "axis": [
     0,
     0,
     1
    ],
    "lower": -2.96706,
    "upper": 2.96706
   },
   {
    "name": "J2",
    "origin_xyz": [
     0.05,
     0.0,
     0.165
    ],
    "axis": [
     0,
     1,
     0
    ],
    "lower": -1.919862,
    "upper": 1.919862
   },
   {
    "name": "J3",
    "origin_xyz": [
     0.0,
     0.0,
     0.47
    ],
    "axis": [
     0,
     1,
     0
    ],
    "lower": -2.617994,
    "upper": 2.617994
   },
   {
    "name": "J4",
    "origin_xyz": [
     0.081,
     0.0,
     0.065
    ],
    "axis": [
     1,
     0,
     0
    ],
    "lower": -3.141593,
    "upper": 3.141593
   },
   {
    "name": "J5",
    "origin_xyz": [
     0.399,
     0.0,
     0.0
    ],
    "axis": [
     0,
     1,
     0
    ],
    "lower": -2.181662,
    "upper": 2.181662
   },
   {
    "name": "J6",
    "origin_xyz": [
     0.0,
     0.0,
     -0.07725
    ],
    "axis": [
     0,
     0,
     1
    ],
    "lower": -3.141593,
    "upper": 3.141593
   }
  ],
  "tool0_rpy": [
   3.141592653589793,
   0,
   0
  ],
  "fk": "T = product over J1..J6 of Trans(origin_xyz) * Rot(axis, q); tool0 = T * RotX(pi). Link frames are parallel at q = 0, so every joint origin is a pure translation. Same as robot.json."
 },
 "solver": {
  "name": "RosieOS Cartesian resolver: robot-v4-cartesiand --resolve-only, operation \"move\"",
  "method": "A straight Cartesian move from seed_q: translate along a base or tool axis, or rotate about one keeping the TCP position fixed (tool axes frozen at the start pose). The line is cut into samples of at most 1 mm or 0.25 deg, and each sample is solved seeded from the previous one by damped least squares (lambda 0.02, finite-difference Jacobian, joint step at most 0.16 rad, at most 160 iterations, stopping under 5 um and 0.001 deg), polished by up to 4 Newton steps toward 1e-11, and each joint is put on the branch nearest its seed (no full-turn jumps). Every sample must stay inside the joint limits and away from singularities. expected.q is the last sample: the solution RosieOS reaches for the target.",
  "provenance": "RosieOS has no robot description of the Rosie 1000. These cases come from RosieOS's own IK solver binary, given this kit's kinematic chain: the same solver, seed rule, tolerances and frames RosieOS uses for its robots.",
  "source": {
   "repo": "RosieOS",
   "commit": "6d1fd9e4409bb67a22a0036025b0fcafdc374a32",
   "commit_date": "2026-10-08",
   "files": [
    "motion-server/v1/src/robot_v4_cartesian_cli.hpp",
    "motion-server/v1/src/cartesian_resolver.hpp",
    "motion-server/v1/src/robot_v4_cartesian_nats_protocol.hpp"
   ],
   "functions": [
    "resolve_cartesian_move",
    "solve_cartesian_line_sample",
    "cartesian_line_target",
    "solve_spreadsheet_tcp_position_ik",
    "urdf_forward_kinematics_j1_base"
   ],
   "note": "The binary was built from this commit; the solver sources are unchanged at the later commit 9be176fa."
  },
  "binary_sha256": "b3071459283d71a184f52e91c1a85de3a4da81c5037d77029834518d1a9feb04",
  "fk_check": "the binary's own forward kinematics on every seed equals the chain above within 2e-16 m"
 },
 "tolerance": {
  "position_m": 1e-09,
  "rotation": 1e-09,
  "note": "expected.q and every all_solutions entry, as rounded here (12 decimals), reproduce the target with the chain above within these (m, and rotation-matrix entries); compare your own solver within 1e-6."
 },
 "branches": {
  "shoulder": "front: J1 points the arm plane toward the wrist centre (cos(J1 - atan2(y_w, x_w)) > 0, wrist centre = J5 origin in base_link); back: the arm reaches over the J1 axis (J1 turned 180 deg from that).",
  "elbow": "up: sin(J3 - J3_straight) > 0, where J3_straight = -atan2(Lf, a3) is the J3 angle at which the forearm lines up with the upper arm (Lf = J4 origin x + J5 origin x, the J3 to wrist centre distance along the forearm; a3 = J4 origin z, the elbow offset; from joints[].origin_xyz); down: the other side.",
  "wrist": "nonflip: cos(J5) > 0; flip: cos(J5) < 0 (J4 + 180 deg, J5 -> 180 deg - J5, J6 + 180 deg). The wrist is singular at J5 = +/-90 deg, where the J4 and J6 axes line up.",
  "turns": "Every solution inside the joint limits is listed, including angles 360 deg apart where a joint's range allows both."
 },
 "all_solutions_note": "Every solution inside the joint limits, from the closed form (this arm's wrist centre lies in the plane through the J1 axis and J4-J6 meet at it). rosieos = true marks the one RosieOS returned.",
 "cases_note": "Seeds: home, work, the benchmark cycle poses A_low and B_high, then eight seeded poses away from singularities (|cos J5| >= 0.3, elbow at least 14 deg from straight, wrist centre at least 150 mm farther from the J1 axis than J2). Per seed, the first move RosieOS accepted from a fixed list.",
 "cases": [
  {
   "id": "home",
   "seed_q": [
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
   ],
   "move": {
    "frame": "base",
    "axis": "x",
    "amount": 0.1,
    "unit": "m",
    "samples": 100
   },
   "target": {
    "xyz": [
     0.63,
     0.0,
     0.62275
    ],
    "quat_wxyz": [
     0.0,
     1.0,
     0.0,
     0.0
    ],
    "rotation": [
     [
      1.0,
      0.0,
      0.0
     ],
     [
      0.0,
      -1.0,
      0.0
     ],
     [
      0.0,
      0.0,
      -1.0
     ]
    ]
   },
   "expected": {
    "q": [
     0.0,
     0.217972197121,
     -0.241179817731,
     0.0,
     0.02320762061,
     0.0
    ],
    "q_deg": [
     0.0,
     12.488887,
     -13.818586,
     0.0,
     1.329699,
     0.0
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.0,
      0.217972197121,
      -0.241179817731,
      0.0,
      0.02320762061,
      0.0
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    }
   ]
  },
  {
   "id": "work",
   "seed_q": [
    0.523598776,
    0.785398163,
    -0.174532925,
    0.0,
    -0.610865238,
    0.0
   ],
   "move": {
    "frame": "base",
    "axis": "z",
    "amount": -0.08,
    "unit": "m",
    "samples": 80
   },
   "target": {
    "xyz": [
     0.703918989804,
     0.406407818628,
     0.118018380805
    ],
    "quat_wxyz": [
     0.0,
     -0.965925826237,
     -0.258819045297,
     -0.0
    ],
    "rotation": [
     [
      0.866025403584,
      0.500000000348,
      0.0
     ],
     [
      0.500000000348,
      -0.866025403584,
      0.0
     ],
     [
      0.0,
      0.0,
      -1.0
     ]
    ]
   },
   "expected": {
    "q": [
     0.523598776,
     0.876089236532,
     -0.148715288823,
     0.0,
     -0.727373947708,
     0.0
    ],
    "q_deg": [
     30.0,
     50.196216,
     -8.520758,
     0.0,
     -41.675457,
     0.0
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.523598776,
      0.876089236532,
      -0.148715288826,
      -0.0,
      -0.727373947706,
      0.0
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      -2.61799387759,
      -1.088252273844,
      -2.31695190089,
      -3.14159265359,
      -0.263611521144,
      -0.0
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -2.61799387759,
      -1.088252273844,
      -2.31695190089,
      3.14159265359,
      -0.263611521144,
      -0.0
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "benchmark_A_low",
   "seed_q": [
    -0.41091063,
    0.277467563,
    0.995396839,
    0.0,
    -1.272864402,
    0.41091063
   ],
   "move": {
    "frame": "base",
    "axis": "y",
    "amount": 0.1,
    "unit": "m",
    "samples": 100
   },
   "target": {
    "xyz": [
     0.350000000052,
     -0.05249999994,
     0.099999999923
    ],
    "quat_wxyz": [
     0.0,
     1.0,
     0.0,
     -0.0
    ],
    "rotation": [
     [
      1.0,
      0.0,
      -0.0
     ],
     [
      0.0,
      -1.0,
      -0.0
     ],
     [
      0.0,
      0.0,
      -1.0
     ]
    ]
   },
   "expected": {
    "q": [
     -0.14888994742,
     0.238900113458,
     1.057352168883,
     -0.0,
     -1.296252282341,
     0.14888994742
    ],
    "q_deg": [
     -8.530766,
     13.687968,
     60.581817,
     -0.0,
     -74.269785,
     8.530766
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      -0.14888994742,
      0.238900113458,
      1.057352168883,
      -0.0,
      -1.296252282341,
      0.14888994742
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      -0.14888994742,
      0.238900113458,
      1.057352168883,
      -3.14159265359,
      -1.845340371249,
      -2.99270270617
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      -0.14888994742,
      0.238900113458,
      1.057352168883,
      3.14159265359,
      -1.845340371249,
      -2.99270270617
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "benchmark_B_high",
   "seed_q": [
    0.41091063,
    0.204905248,
    0.991237289,
    0.0,
    -1.196142537,
    -0.41091063
   ],
   "move": {
    "frame": "tool",
    "axis": "rz",
    "amount": 0.5,
    "unit": "rad",
    "samples": 115
   },
   "target": {
    "xyz": [
     0.350000000105,
     0.152499999963,
     0.125000000091
    ],
    "quat_wxyz": [
     0.0,
     -0.968912421711,
     0.247403959255,
     -0.0
    ],
    "rotation": [
     [
      0.87758256189,
      -0.479425538604,
      0.0
     ],
     [
      -0.479425538604,
      -0.87758256189,
      0.0
     ],
     [
      0.0,
      -0.0,
      -1.0
     ]
    ]
   },
   "expected": {
    "q": [
     0.41091063,
     0.204905248,
     0.991237289,
     0.0,
     -1.196142537,
     -0.91091063
    ],
    "q_deg": [
     23.543445,
     11.740206,
     56.793713,
     0.0,
     -68.533919,
     -52.191335
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.41091063,
      0.204905248,
      0.991237289,
      -0.0,
      -1.196142537,
      -0.91091063
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      0.41091063,
      0.204905248,
      0.991237289,
      -3.14159265359,
      -1.94545011659,
      2.23068202359
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      0.41091063,
      0.204905248,
      0.991237289,
      3.14159265359,
      -1.94545011659,
      2.23068202359
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "random_1",
   "seed_q": [
    0.101524419,
    0.318979255,
    -0.121718715,
    -1.491638534,
    0.100387937,
    -1.553021044
   ],
   "move": {
    "frame": "base",
    "axis": "rx",
    "amount": 0.2,
    "unit": "rad",
    "samples": 46
   },
   "target": {
    "xyz": [
     0.676343262904,
     -0.008114720389,
     0.576515959792
    ],
    "quat_wxyz": [
     0.479833124947,
     0.616146008816,
     -0.497702959992,
     0.377380486564
    ],
    "rotation": [
     [
      0.219751463952,
      -0.975474701074,
      -0.012585771974
     ],
     [
      -0.251156068424,
      -0.044103871638,
      -0.96694130008
     ],
     [
      0.94267169438,
      0.215647759255,
      -0.254688281127
     ]
    ]
   },
   "expected": {
    "q": [
     0.09798722042,
     0.316859386739,
     -0.150437878814,
     -1.29796653334,
     0.063494162931,
     -1.535430851071
    ],
    "q_deg": [
     5.614254,
     18.154706,
     -8.619456,
     -74.368004,
     3.637948,
     -87.973708
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.09798722042,
      0.316859386743,
      -0.150437878819,
      -1.297966533343,
      0.063494162936,
      -1.535430851071
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    }
   ]
  },
  {
   "id": "random_2",
   "seed_q": [
    -1.037067611,
    0.779253787,
    0.216442232,
    1.828266562,
    1.06595014,
    -1.264816948
   ],
   "move": {
    "frame": "tool",
    "axis": "z",
    "amount": 0.05,
    "unit": "m",
    "samples": 50
   },
   "target": {
    "xyz": [
     0.381157245542,
     -0.528014550564,
     0.233928216727
    ],
    "quat_wxyz": [
     0.72692028389,
     -0.153335781935,
     0.275256997092,
     0.610170979643
    ],
    "rotation": [
     [
      0.103849922306,
      -0.971504817252,
      0.213057700384
     ],
     [
      0.802677829724,
      0.208359027159,
      0.558833443408
     ],
     [
      -0.587301877493,
      0.11298188287,
      0.80144344706
     ]
    ]
   },
   "expected": {
    "q": [
     -1.00255137876,
     0.689231697603,
     0.270054840723,
     1.907891861919,
     1.03682277808,
     -1.323557432423
    ],
    "q_deg": [
     -57.441963,
     39.490067,
     15.473003,
     109.314151,
     59.405569,
     -75.834255
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      -1.00255137876,
      0.689231697603,
      0.270054840723,
      1.907891861919,
      1.03682277808,
      -1.323557432423
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      -1.00255137876,
      0.689231697603,
      0.270054840723,
      -1.233700791671,
      2.10476987551,
      1.818035221167
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "random_3",
   "seed_q": [
    -0.379040916,
    0.946162476,
    -2.054569819,
    -0.230800054,
    0.204856225,
    -2.498754266
   ],
   "move": {
    "frame": "base",
    "axis": "ry",
    "amount": -0.2,
    "unit": "rad",
    "samples": 46
   },
   "target": {
    "xyz": [
     0.593826614811,
     -0.255145621126,
     0.851537189365
    ],
    "quat_wxyz": [
     0.421379631291,
     -0.018503970853,
     0.85738674937,
     -0.294931808051
    ],
    "rotation": [
     [
      -0.644193618791,
      0.216826394225,
      0.733485443807
     ],
     [
      -0.280286631905,
      0.825345663325,
      -0.49014685555
     ],
     [
      -0.711655805488,
      -0.521335641212,
      -0.470908869865
     ]
    ]
   },
   "expected": {
    "q": [
     -0.38437740029,
     0.98910248663,
     -2.139100527533,
     -0.180856216717,
     0.077067541465,
     -2.592727503618
    ],
    "q_deg": [
     -22.023203,
     56.671398,
     -122.561432,
     -10.362298,
     4.415645,
     -148.552343
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "down",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      -0.38437740029,
      0.275150069375,
      -0.733296297788,
      -0.219365313186,
      -0.602140758722,
      -2.73242223901
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -0.38437740029,
      0.989102486607,
      -2.139100527481,
      -0.180856216716,
      0.077067541435,
      -2.592727503624
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": true
    }
   ]
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