{
 "schema": "amr.rosie-sim-kit.ik-cases.v1",
 "model": "rosie_600",
 "name": "Rosie 600",
 "version": "2026-10-09",
 "url": "https://advancedmetalresearch.com/assets/sim/600/ik_cases.json",
 "description": "Inverse kinematics reference cases for the Rosie 600, 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,
     0.27
    ],
    "axis": [
     0,
     1,
     0
    ],
    "lower": -2.617994,
    "upper": 2.617994
   },
   {
    "name": "J4",
    "origin_xyz": [
     0.075,
     0.0,
     0.065
    ],
    "axis": [
     1,
     0,
     0
    ],
    "lower": -3.141593,
    "upper": 3.141593
   },
   {
    "name": "J5",
    "origin_xyz": [
     0.205,
     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 600. 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 3e-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": [
     0.43,
     0.0,
     0.42275
    ],
    "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,
     0.403143163889,
     -0.481234414109,
     0.0,
     0.078091250219,
     0.0
    ],
    "q_deg": [
     0.0,
     23.098402,
     -27.572701,
     0.0,
     4.474299,
     0.0
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.0,
      0.403143163889,
      -0.481234414109,
      0.0,
      0.078091250219,
      0.0
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      0.0,
      1.293361483757,
      -2.204152982921,
      0.0,
      0.910791499165,
      0.0
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "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": [
     0.439563206772,
     0.253781935991,
     0.09131231175
    ],
    "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,
     0.932978611019,
     -0.126204770741,
     0.0,
     -0.806773840279,
     0.0
    ],
    "q_deg": [
     30.0,
     53.455737,
     -7.231001,
     0.0,
     -46.224736,
     0.0
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.523598776,
      0.932978611019,
      -0.126204770741,
      -0.0,
      -0.806773840279,
      -0.0
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    }
   ]
  },
  {
   "id": "benchmark_A_low",
   "seed_q": [
    -0.41091063,
    0.558184445,
    0.524233318,
    0.0,
    -1.082417763,
    0.41091063
   ],
   "move": {
    "frame": "base",
    "axis": "y",
    "amount": 0.1,
    "unit": "m",
    "samples": 100
   },
   "target": {
    "xyz": [
     0.350000000069,
     -0.052499999947,
     0.100000000026
    ],
    "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": [
     -0.148889947433,
     0.488001210574,
     0.646109619727,
     0.0,
     -1.134110830301,
     0.148889947433
    ],
    "q_deg": [
     -8.530766,
     27.96041,
     37.019354,
     0.0,
     -64.979764,
     8.530766
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      -0.148889947433,
      0.488001210574,
      0.646109619727,
      -0.0,
      -1.134110830301,
      0.148889947433
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      -0.148889947433,
      0.488001210574,
      0.646109619727,
      -3.14159265359,
      -2.007481823289,
      -2.992702706157
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      -0.148889947433,
      0.488001210574,
      0.646109619727,
      3.14159265359,
      -2.007481823289,
      -2.992702706157
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "benchmark_B_high",
   "seed_q": [
    0.41091063,
    0.487812454,
    0.515908459,
    0.0,
    -1.003720913,
    -0.41091063
   ],
   "move": {
    "frame": "tool",
    "axis": "rz",
    "amount": 0.5,
    "unit": "rad",
    "samples": 115
   },
   "target": {
    "xyz": [
     0.349999999953,
     0.152499999897,
     0.125000000059
    ],
    "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,
     0.487812454,
     0.515908459,
     0.0,
     -1.003720913,
     -0.91091063
    ],
    "q_deg": [
     23.543445,
     27.949595,
     29.559377,
     0.0,
     -57.508972,
     -52.191335
    ],
    "branch": {
     "shoulder": "front",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      0.41091063,
      0.487812454,
      0.515908459,
      -0.0,
      -1.003720913,
      -0.91091063
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      0.41091063,
      0.487812454,
      0.515908459,
      -3.14159265359,
      -2.13787174059,
      2.23068202359
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      0.41091063,
      0.487812454,
      0.515908459,
      3.14159265359,
      -2.13787174059,
      2.23068202359
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "random_1",
   "seed_q": [
    -0.556230707,
    -0.772842766,
    -1.776811123,
    2.021616686,
    0.007729251,
    1.265668276
   ],
   "move": {
    "frame": "base",
    "axis": "rx",
    "amount": 0.2,
    "unit": "rad",
    "samples": 46
   },
   "target": {
    "xyz": [
     -0.324577515335,
     0.283665384378,
     0.432327846604
    ],
    "quat_wxyz": [
     0.263580274468,
     -0.108919192217,
     0.760976077545,
     0.582732749966
    ],
    "rotation": [
     [
      -0.837324096956,
      -0.472963515681,
      0.274215005957
     ],
     [
      0.14142391703,
      0.297118303368,
      0.94430926581
     ],
     [
      -0.528098127576,
      0.829473463493,
      -0.181895962057
     ]
    ]
   },
   "expected": {
    "q": [
     -0.547325744112,
     -0.722147101875,
     -1.913741150708,
     1.861319548832,
     -0.137382141289,
     1.117197226876
    ],
    "q_deg": [
     -31.359455,
     -41.375981,
     -109.649291,
     106.645754,
     -7.871417,
     64.010686
    ],
    "branch": {
     "shoulder": "back",
     "elbow": "down",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      2.594266909478,
      0.255244195297,
      -0.097218611644,
      -1.425222209548,
      -0.2865925722,
      0.454378928306
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      2.594266909478,
      1.545655454697,
      -2.588168785386,
      -1.251396200033,
      0.02742686436,
      1.629459291833
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -0.547325744112,
      -1.311567385365,
      -0.771646246322,
      1.889745641751,
      0.032405343923,
      1.644530409743
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -0.547325744112,
      -0.722147101875,
      -1.913741150708,
      1.861319548832,
      -0.137382141289,
      1.117197226876
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": true
    }
   ]
  },
  {
   "id": "random_2",
   "seed_q": [
    1.982125503,
    -1.435195416,
    -0.548014039,
    -1.509624808,
    -1.060356235,
    1.57116554
   ],
   "move": {
    "frame": "tool",
    "axis": "z",
    "amount": 0.05,
    "unit": "m",
    "samples": 50
   },
   "target": {
    "xyz": [
     0.228932310008,
     -0.369618862765,
     0.535214156936
    ],
    "quat_wxyz": [
     0.452149447512,
     0.29131285044,
     0.097284944143,
     0.837396763743
    ],
    "rotation": [
     [
      -0.421395400567,
      -0.700576259382,
      0.575863543881
     ],
     [
      0.813937676915,
      -0.572193033516,
      -0.100501693987
     ],
     [
      0.3999142089,
      0.426366083531,
      0.811344925623
     ]
    ]
   },
   "expected": {
    "q": [
     2.042194197204,
     -1.144867754232,
     -1.018390727063,
     -1.237486093765,
     -1.053377818029,
     1.943340151935
    ],
    "q_deg": [
     117.009108,
     -65.59609,
     -58.349491,
     -70.90273,
     -60.354103,
     111.345189
    ],
    "branch": {
     "shoulder": "back",
     "elbow": "up",
     "wrist": "nonflip"
    }
   },
   "all_solutions": [
    {
     "q": [
      -1.099398456386,
      0.272463001973,
      -0.210362674169,
      2.629515062792,
      -0.304723519369,
      2.967960002377
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -1.099398456386,
      1.444570107878,
      -2.475024722861,
      1.814730145319,
      -1.068230853806,
      1.84095628882
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    },
    {
     "q": [
      -1.099398456386,
      1.444570107878,
      -2.475024722861,
      -1.326862508271,
      -2.073361799784,
      -1.30063636477
     ],
     "branch": {
      "shoulder": "front",
      "elbow": "down",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      2.042194197204,
      -1.144867754232,
      -1.018390727063,
      -1.237486093765,
      -1.053377818029,
      1.943340151935
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "up",
      "wrist": "nonflip"
     },
     "rosieos": true
    },
    {
     "q": [
      2.042194197204,
      -1.144867754232,
      -1.018390727063,
      1.904106559824,
      -2.088214835561,
      -1.198252501655
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "up",
      "wrist": "flip"
     },
     "rosieos": false
    },
    {
     "q": [
      2.042194197204,
      -0.810325688795,
      -1.666996669967,
      -0.835940298695,
      -0.889240747792,
      2.425135226441
     ],
     "branch": {
      "shoulder": "back",
      "elbow": "down",
      "wrist": "nonflip"
     },
     "rosieos": false
    }
   ]
  },
  {
   "id": "random_3",
   "seed_q": [
    -0.849400017,
    0.995500694,
    -0.106822345,
    1.734149861,
    -1.19660081,
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