// Golden test values generated from original C tableRecord.c code
// Geometry: lx=200, lz=300, sx=100, sy=50, sz=150, yang=0

// === SRI ===
// user_to_motor #0
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.341876692568690e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #1
  user: [2.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, -5.204465856329932e+00, -5.204465856329932e+00, 0.000000000000000e+00, 5.265383154420363e+00, 1.653598887989403e+00]
  roundtrip: [2.000000000000001e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.341876692568690e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #2
  user: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.892274743736692e+00, 0.000000000000000e+00, 0.000000000000000e+00, -3.926542246180973e+00, 0.000000000000000e+00, -5.140125366639836e-02]
  roundtrip: [0.000000000000000e+00, 1.499999999999996e+00, 0.000000000000000e+00, -1.110223024625157e-14, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #3
  user: [0.000000000000000e+00, 0.000000000000000e+00, -1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [8.573898375033053e-01, 1.752855885908787e+00, -1.737625401547916e+00, 8.726203218641756e-01, 7.615242180435189e-03, 0.000000000000000e+00]
  roundtrip: [1.372478793193544e-17, 1.607318644072144e-15, -1.000000000000000e+00, 4.107825191113079e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #4
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, 2.999999999999998e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #5
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 5.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.341876692568690e-15, 5.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #6
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.341876692568690e-15, 0.000000000000000e+00, 7.000000000000000e+00]

// user_to_motor #7
  user: [1.000000000000000e+00, -5.000000000000000e-01, 3.000000000000000e-01, 2.000000000000000e+00, 1.000000000000000e+00, -1.000000000000000e+00]
  motor: [4.240530355006058e-01, -2.148167220972560e+00, -1.070674555893262e+00, 3.047192101658052e+00, 3.626101682504157e+00, -1.536637935618046e-01]
  roundtrip: [1.000000000000001e+00, -5.000000000000027e-01, 3.000000000000005e-01, 1.999999999999993e+00, 1.000000000000000e+00, -1.000000000000000e+00]

// user_to_motor #8
  user: [3.000000000000000e+00, 2.000000000000000e+00, -1.000000000000000e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]
  motor: [4.030874746064924e+00, -2.842418394250295e+00, -6.693360167962638e+00, -6.362835760233637e+00, 1.092333309663479e+01, 3.849991028658991e+00]
  roundtrip: [3.000000000000000e+00, 2.000000000000009e+00, -1.000000000000001e+00, -1.999999999999978e+00, 3.000000000000000e+00, 1.500000000000000e+00]

// === GEOCARS ===
// user_to_motor #0
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #1
  user: [2.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 3.045864904521522e-02, 5.265383154420363e+00, 0.000000000000000e+00, -5.204465856329932e+00, 1.836350782260695e+00]
  roundtrip: [2.000000000000001e+00, -0.000000000000000e+00, -6.425168390553124e-17, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #2
  user: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.426750244427978e-02, 0.000000000000000e+00, 0.000000000000000e+00, 3.892274743736692e+00, 0.000000000000000e+00, 2.669096084453713e+00]
  roundtrip: [0.000000000000000e+00, 1.499999999999989e+00, 0.000000000000000e+00, 2.842170943040401e-14, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #3
  user: [0.000000000000000e+00, 0.000000000000000e+00, -1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [8.878508062250461e-01, -1.737625401547916e+00, 1.752855885908787e+00, 8.573898375033053e-01, 1.752855885908787e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, 2.714073328182201e-15, -1.000000000000000e+00, -1.421085471520200e-14, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #4
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #5
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 5.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #6
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]

// user_to_motor #7
  user: [1.000000000000000e+00, -5.000000000000000e-01, 3.000000000000000e-01, 2.000000000000000e+00, 1.000000000000000e+00, -1.000000000000000e+00]
  motor: [1.743390193547228e+00, 1.547086729575270e+00, 3.087355349964504e+00, 4.240530355006058e-01, -2.148167220972560e+00, -9.599216628112970e-01]
  roundtrip: [1.000000000000000e+00, -4.999999999999927e-01, 3.000000000000004e-01, 1.999999999999972e+00, 1.000000000000000e+00, -1.000000000000000e+00]

// user_to_motor #8
  user: [3.000000000000000e+00, 2.000000000000000e+00, -1.000000000000000e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]
  motor: [-1.051772750406755e+00, 1.152251020907990e+00, 1.284880398349096e+01, 4.030874746064924e+00, -2.842418394250295e+00, 7.836929211206836e+00]
  roundtrip: [3.000000000000000e+00, 2.000000000000009e+00, -1.000000000000000e+00, -2.000000000000028e+00, 3.000000000000000e+00, 1.499999999999972e+00]

// === NEWPORT ===
// user_to_motor #0
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #1
  user: [2.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, -5.207638208821071e+00, 3.047721494109055e-02, 0.000000000000000e+00, 5.268592638703252e+00, 1.837470119410648e+00]
  roundtrip: [2.000000000000001e+00, -1.201757375809365e-17, 3.441382859828896e-16, 3.164499123031242e-17, 3.387867764104158e-15, 0.000000000000000e+00]

// user_to_motor #2
  user: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.892274743736692e+00, 0.000000000000000e+00, 0.000000000000000e+00, -3.960809748625252e+00, 0.000000000000000e+00, 2.566293577120916e+00]
  roundtrip: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #3
  user: [0.000000000000000e+00, 0.000000000000000e+00, -1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [8.879860508016516e-01, 1.753122895017139e+00, -1.737890090626378e+00, 8.879860508016516e-01, 1.753122895017139e+00, 0.000000000000000e+00]
  roundtrip: [1.373999622392239e-16, -0.000000000000000e+00, -9.999999999999990e-01, 2.220446049250313e-16, -8.932380760976835e-15, -4.203491680913012e-18]

// user_to_motor #4
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #5
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 5.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #6
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]

// user_to_motor #7
  user: [1.000000000000000e+00, -5.000000000000000e-01, 3.000000000000000e-01, 2.000000000000000e+00, 1.000000000000000e+00, -1.000000000000000e+00]
  motor: [4.353022095460802e-01, -2.148525612105483e+00, 1.547344838981432e+00, 3.025846322745595e+00, 3.087870431272331e+00, -9.630033568368596e-01]
  roundtrip: [1.000000000000000e+00, -5.000000000000008e-01, 3.000000000000010e-01, 2.000000000000000e+00, 1.000000000000003e+00, -1.000000000000000e+00]

// user_to_motor #8
  user: [3.000000000000000e+00, 2.000000000000000e+00, -1.000000000000000e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]
  motor: [3.981220740171423e+00, -2.846843636621184e+00, 1.154044912352661e+00, -6.214519416654817e+00, 1.286880774926943e+01, 7.924514374289184e+00]
  roundtrip: [3.000000000000000e+00, 2.000000000000001e+00, -1.000000000000001e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]

// === PNC ===
// user_to_motor #0
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, 8.945310041616140e-16, 0.000000000000000e+00, 2.341876692568690e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #1
  user: [2.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, -5.204465856329932e+00, -5.204465856329932e+00, 0.000000000000000e+00, 5.265383154420363e+00, 1.653598887989403e+00]
  roundtrip: [2.000000000000001e+00, 8.945310041616140e-16, 0.000000000000000e+00, 2.341876692568690e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #2
  user: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.960809748625252e+00, 0.000000000000000e+00, 0.000000000000000e+00, -3.926542246180973e+00, 0.000000000000000e+00, -5.140125366639836e-02]
  roundtrip: [0.000000000000000e+00, 1.499999999999992e+00, 0.000000000000000e+00, -2.131628207280301e-14, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #3
  user: [0.000000000000000e+00, 0.000000000000000e+00, -1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [8.878508062250461e-01, -1.737625401547916e+00, 1.752855885908787e+00, 8.726203218641756e-01, 7.615242180435189e-03, 0.000000000000000e+00]
  roundtrip: [-1.372478793193544e-17, -1.607318644072144e-15, -1.000000000000000e+00, -4.329869796038111e-15, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #4
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, 8.945310041616140e-16, 0.000000000000000e+00, 3.000000000000002e+00, 0.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #5
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 5.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, 8.945310041616140e-16, 0.000000000000000e+00, 2.341876692568690e-15, 5.000000000000000e+00, 0.000000000000000e+00]

// user_to_motor #6
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, 8.945310041616140e-16, 0.000000000000000e+00, 2.341876692568690e-15, 0.000000000000000e+00, 7.000000000000000e+00]

// user_to_motor #7
  user: [1.000000000000000e+00, -5.000000000000000e-01, 3.000000000000000e-01, 2.000000000000000e+00, 1.000000000000000e+00, -1.000000000000000e+00]
  motor: [4.344098687911355e-01, -1.070674555893262e+00, -2.148167220972560e+00, 3.047192101658052e+00, 3.626101682504157e+00, -1.536637935618046e-01]
  roundtrip: [1.000000000000001e+00, -5.000000000000121e-01, 3.000000000000005e-01, 1.999999999999969e+00, 1.000000000000000e+00, -1.000000000000000e+00]

// user_to_motor #8
  user: [3.000000000000000e+00, 2.000000000000000e+00, -1.000000000000000e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]
  motor: [4.183151754968392e+00, -6.693360167962638e+00, -2.842418394250295e+00, -6.362835760233637e+00, 1.092333309663479e+01, 3.849991028658991e+00]
  roundtrip: [3.000000000000000e+00, 2.000000000000004e+00, -1.000000000000001e+00, -1.999999999999990e+00, 3.000000000000000e+00, 1.500000000000000e+00]

// === SRI with YANG=30 ===
// user_to_motor #0 (yang=30)
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.028124708295165e-15, 0.000000000000000e+00, -1.170938346284345e-15]

// user_to_motor #1 (yang=30)
  user: [2.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [8.573898375033053e-01, -2.758908210602897e+00, -6.247794727408483e+00, 8.726203218641754e-01, 4.564264128072779e+00, 1.442505392476704e+00]
  roundtrip: [1.999999999999999e+00, 4.787873325535661e-15, -1.761482671256913e-15, 1.009555410351371e-14, 0.000000000000000e+00, 5.828670879282071e-15]

// user_to_motor #2 (yang=30)
  user: [0.000000000000000e+00, 1.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [3.892274743736692e+00, 0.000000000000000e+00, 0.000000000000000e+00, -3.926542246180973e+00, 0.000000000000000e+00, -5.140125366639836e-02]
  roundtrip: [0.000000000000000e+00, 1.499999999999996e+00, 0.000000000000000e+00, -9.614813431917821e-15, 0.000000000000000e+00, -5.551115123125782e-15]

// user_to_motor #3 (yang=30)
  user: [0.000000000000000e+00, 0.000000000000000e+00, -1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [7.442980228465785e-01, 2.827979788095959e+00, -1.947889441883532e-01, 7.557209586095223e-01, -1.301365227558378e+00, -4.419884739657789e-01]
  roundtrip: [6.810079829184314e-16, -5.644299355257259e-15, -1.000000000000002e+00, -1.403762761060002e-14, 0.000000000000000e+00, -8.104628079763641e-15]

// user_to_motor #4 (yang=30)
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00]
  motor: [2.598076211353316e+00, 0.000000000000000e+00, 0.000000000000000e+00, 2.598076211353316e+00, 0.000000000000000e+00, -1.500000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, 2.999999999999998e+00, 0.000000000000000e+00, -1.254445226103924e-15]

// user_to_motor #5 (yang=30)
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  motor: [0.000000000000000e+00, 5.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00, 5.000000000000000e+00, 0.000000000000000e+00]
  roundtrip: [0.000000000000000e+00, -8.945310041616140e-16, 0.000000000000000e+00, -2.028124708295165e-15, 5.000000000000000e+00, -1.170938346284345e-15]

// user_to_motor #6 (yang=30)
  user: [0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 7.000000000000000e+00]
  motor: [3.500000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00, 3.500000000000000e+00, 0.000000000000000e+00, 6.062177826491080e+00]
  roundtrip: [0.000000000000000e+00, 2.752505030583218e-15, 0.000000000000000e+00, 1.605551716806355e-15, 0.000000000000000e+00, 7.000000000000012e+00]

// user_to_motor #7 (yang=30)
  user: [1.000000000000000e+00, -5.000000000000000e-01, 3.000000000000000e-01, 2.000000000000000e+00, 1.000000000000000e+00, -1.000000000000000e+00]
  motor: [1.279829161379098e-01, -1.247765652272335e+00, -2.055113327510050e+00, 2.750629929667285e+00, 3.667975718941413e+00, -1.010553527862072e+00]
  roundtrip: [9.999999999999991e-01, -5.000000000000132e-01, 2.999999999999990e-01, 1.999999999999974e+00, 1.000000000000000e+00, -1.000000000000026e+00]

// user_to_motor #8 (yang=30)
  user: [3.000000000000000e+00, 2.000000000000000e+00, -1.000000000000000e+00, -2.000000000000000e+00, 3.000000000000000e+00, 1.500000000000000e+00]
  motor: [6.169659339879800e+00, 1.843786315304051e+00, -6.662635570021543e+00, -4.154072844876737e+00, 8.566931234521761e+00, 4.008104005764238e+00]
  roundtrip: [3.000000000000000e+00, 1.999999999999986e+00, -9.999999999999988e-01, -2.000000000000029e+00, 3.000000000000000e+00, 1.499999999999983e+00]

// === SRI with offset ax0=[5,0,0,0,0,0] ===
// user=[0,0,0,0,0,0] with ax0=[5,0,0,0,0,0]
  motor: [0.000000000000000e+00, -1.288309631673601e+01, -1.288309631673601e+01, 0.000000000000000e+00, 1.326362650756145e+01, 3.786991851144734e+00]
  roundtrip: [1.776356839400250e-15, -8.655084426932594e-15, 0.000000000000000e+00, -2.265895804320905e-14, 0.000000000000000e+00, 0.000000000000000e+00]
