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Add AC/BC RTCP programs and 3D machine manager

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wangdequan
2026-09-20 12:31:12 +08:00
parent 1c1e5f9672
commit 8aab531b02
363 changed files with 53213 additions and 58 deletions
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45
web/react/public/machines/demo-ac-gantry.urdf Normal file
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<?xml version="1.0"?>
<robot name="demo_ac_gantry" xmlns:cnc="urn:linuxcnc:web:machine:1">
<cnc:machine profile="trt-xyz-gantry/1" base="base" tool="z_slide" work="work_frame"/>
<link name="base"/>
<link name="x_slide"/>
<link name="y_slide"/>
<link name="z_slide"/>
<link name="tilt_table"/>
<link name="c_table"/>
<link name="work_frame"/>
<joint name="x_joint" type="prismatic">
<parent link="base"/><child link="x_slide"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/><cnc:axis coordinate="X"/>
<limit lower="-0.2" upper="0.2" velocity="0.02" effort="1000"/>
</joint>
<joint name="y_joint" type="prismatic">
<parent link="x_slide"/><child link="y_slide"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/><cnc:axis coordinate="Y"/>
<limit lower="-0.1" upper="0.1" velocity="0.02" effort="1000"/>
</joint>
<joint name="z_joint" type="prismatic">
<parent link="y_slide"/><child link="z_slide"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/><cnc:axis coordinate="Z"/>
<limit lower="-0.12" upper="0.12" velocity="0.02" effort="1000"/>
</joint>
<joint name="tilt_joint" type="revolute">
<parent link="base"/><child link="tilt_table"/>
<origin xyz="0.024 0.005999999999999998 -0.037" rpy="0 0 0"/>
<axis xyz="1 0 0"/><cnc:axis coordinate="A"/>
<limit lower="-1.7453292519943295" upper="0.8726646259971648" velocity="0.5235987755982988" effort="1000"/>
</joint>
<joint name="c_joint" type="revolute">
<parent link="tilt_table"/><child link="c_table"/>
<origin xyz="0 -0.018 0.045" rpy="0 0 0"/>
<axis xyz="0 0 1"/><cnc:axis coordinate="C"/>
<limit lower="-628.3185307179587" upper="628.3185307179587" velocity="0.5235987755982988" effort="1000"/>
</joint>
<joint name="work_mount" type="fixed">
<parent link="c_table"/><child link="work_frame"/>
<origin xyz="-0.024 0.012 -0.008" rpy="0 0 0"/>
</joint>
</robot>