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        500.0
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        "fk_xyz_mm": [
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          500.0
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          0.0,
          -1.6961,
          0.0
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        "fk_xyz_mm": [
          800.0,
          -0.0,
          500.0
        ]
      },
      "comparison": {
        "pos_err_mm": 0.0005,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
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        800.0,
        300.0,
        500.0
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          -31.2987,
          -44.3443,
          0.0,
          -76.9544,
          159.444
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        "fk_xyz_mm": [
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          300.0,
          500.0
        ],
        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
        "joints_deg": [
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          -14.4785,
          -0.0106,
          -1.6498,
          0.0
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        "fk_xyz_mm": [
          799.999,
          300.0,
          499.999
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      },
      "comparison": {
        "pos_err_mm": 0.0015,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
      "name": "C_좌측",
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        800.0,
        -300.0,
        500.0
      ],
      "robodk": {
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          -31.2987,
          -44.3443,
          -0.0,
          -76.9544,
          -159.444
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        "fk_xyz_mm": [
          800.0,
          -300.0,
          500.0
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        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
        "joints_deg": [
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          -4.8776,
          -14.904,
          0.0095,
          -1.7008,
          0.0
        ],
        "fk_xyz_mm": [
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          -299.999,
          499.996
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      },
      "comparison": {
        "pos_err_mm": 0.0065,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
      "name": "D_위쪽",
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        700.0,
        0.0,
        700.0
      ],
      "robodk": {
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          -43.3894,
          -40.852,
          -0.0,
          -92.5375,
          -180.0
        ],
        "fk_xyz_mm": [
          700.0,
          0.0,
          700.0
        ],
        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
        "joints_deg": [
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          -7.8198,
          -12.9899,
          -0.0011,
          -1.5732,
          0.0
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        "fk_xyz_mm": [
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          -0.0,
          699.999
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      },
      "comparison": {
        "pos_err_mm": 0.0025,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
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        900.0,
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        300.0
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          -24.1058,
          -50.0606,
          -0.0,
          -64.0452,
          -180.0
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        "fk_xyz_mm": [
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          0.0,
          300.0
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        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
        "joints_deg": [
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          -17.5339,
          -0.0011,
          -1.9187,
          0.0
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        "fk_xyz_mm": [
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          -0.0,
          299.998
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      },
      "comparison": {
        "pos_err_mm": 0.0039,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
      "name": "F_전방",
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        1000.0,
        0.0,
        400.0
      ],
      "robodk": {
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          -17.3798,
          -39.6678,
          -0.0,
          -67.7121,
          -180.0
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        "fk_xyz_mm": [
          1000.0,
          0.0,
          400.0
        ],
        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
        "joints_deg": [
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          -1.9378,
          -14.1338,
          -0.0011,
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          0.0
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        "fk_xyz_mm": [
          1000.0,
          -0.0,
          400.0
        ]
      },
      "comparison": {
        "pos_err_mm": 0.0002,
        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
      "name": "G_대각1",
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        800.0,
        200.0,
        600.0
      ],
      "robodk": {
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          -33.4405,
          -40.588,
          11.0715,
          -86.0029,
          163.5538
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        "fk_xyz_mm": [
          800.0,
          200.0,
          600.0
        ],
        "branch": "[0.0, 0.0, 0.0, 0.0]"
      },
      "klampt": {
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          -5.9773,
          -13.4478,
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          -1.5766,
          0.0
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        "fk_xyz_mm": [
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          200.0,
          599.999
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      },
      "comparison": {
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        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    },
    {
      "name": "H_대각2",
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        750.0,
        -200.0,
        650.0
      ],
      "robodk": {
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          -37.6371,
          -40.3712,
          -0.0,
          -87.2659,
          -173.6629
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        "fk_xyz_mm": [
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          -200.0,
          650.0
        ],
        "branch": "[0.0, 0.0, 0.0, 0.0]"
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      "klampt": {
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          -7.1362,
          -13.368,
          0.0058,
          -1.5972,
          0.0
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        "fk_xyz_mm": [
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          649.998
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        "orient_err_deg": null,
        "note": "orient_err 미구현 — robodk_ref_joints에 R_mat 추가 후 확장"
      },
      "ok": true
    }
  ]
}