按关节槽位驱动 13 个五轴案例的三维模型

关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性，
重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位
（max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存
GLB 与既有测试不受影响。

13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建，
可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个
关节，槽位数与运行目录的 joint_count 逐条一致。

新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键：
坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换
案例时自动装载对应模型，失败时保留内置模型并显式提示。

消除前端五关节截断：visual 适配器的 joints 改为数组并新增
jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的
machine id 查找机型。

管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部
可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径
不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的
限位保持 null 而不编造。

修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（
DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下
第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。

验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0；
typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、
双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。
证据在 coverage/glb-machine-manager/physical-drive/。

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

coverage/glb-machine-manager/machine-type/browser.report.json

@@ -1,6 +1,6 @@
 {
   "report_id": "GLB-MGR-E15",
-  "url": "http://127.0.0.1:5180/",
+  "url": "http://127.0.0.1:5180",
   "status": "verified",
   "checks": [
     "dialog selects BC while controller stays AC; switching drops incompatible tilt only; undo/redo restores type and bindings; saved GLB contains BC metadata",

coverage/glb-machine-manager/material-rendering/after/browser.report.json

@@ -0,0 +1,16 @@
+{
+  "status": "verified",
+  "baseline": false,
+  "checks": [
+    "manager export retains source PBR colors, roughness, metalness and normal maps",
+    "real m1 and saturated RGB / white / metal / dark material probes render without browser exceptions",
+    "control panel uses the same AgX neutral studio for imported GLBs"
+  ],
+  "errors": [],
+  "manager": {
+    "lighting": "neutral-studio-pmrem",
+    "toneMapping": "AgX",
+    "exposure": "1",
+    "meshes": 41
+  }
+}

coverage/glb-machine-manager/material-rendering/before/browser.report.json

@@ -0,0 +1,13 @@
+{
+  "status": "verified",
+  "baseline": true,
+  "checks": [
+    "real m1 and saturated RGB / white / metal / dark material probes render without browser exceptions"
+  ],
+  "errors": [],
+  "manager": {
+    "lighting": "studio-pmrem",
+    "exposure": "1.45",
+    "meshes": 41
+  }
+}

coverage/glb-machine-manager/model-selection/browser.report.json

@@ -0,0 +1,13 @@
+{
+  "status": "verified",
+  "checks": [
+    "same filenames retain unique selection; model selection clears search and highlights preview",
+    "viewport click picks correct import; orbit drag returning to start does not select",
+    "delete unselected/selected import by ID; undo restores and selects it; redo repairs selection",
+    "deleting parent import preserves separately imported child; undo restores parent link",
+    "last deletion clears preview; undo restores selection from empty state",
+    "real m1 deletion/undo preserves all five bindings; live follow locks deletion",
+    "selection and deletion reachable on short and narrow viewports"
+  ],
+  "errors": []
+}

coverage/glb-machine-manager/physical-cases/browser.report.json

@@ -0,0 +1,85 @@
+{
+  "schema": "physical-case-glb-browser.v1",
+  "status": "verified",
+  "cases": [
+    {
+      "id": "xyzac-trt",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "xyzbc-trt",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "xyzab-tdr",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "bridge-mill-5axiskins",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "max5-maxkins",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "hexapod-genhexkins",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "pentapod-pentakins",
+      "tree_nodes": 19,
+      "scene_objects": "22",
+      "rendered": "true"
+    },
+    {
+      "id": "puma-pumakins",
+      "tree_nodes": 19,
+      "scene_objects": "22",
+      "rendered": "true"
+    },
+    {
+      "id": "puma-genserkins",
+      "tree_nodes": 19,
+      "scene_objects": "22",
+      "rendered": "true"
+    },
+    {
+      "id": "trivkins-xyzab",
+      "tree_nodes": 21,
+      "scene_objects": "24",
+      "rendered": "true"
+    },
+    {
+      "id": "trivkins-xyzcw",
+      "tree_nodes": 22,
+      "scene_objects": "25",
+      "rendered": "true"
+    },
+    {
+      "id": "trivkins-xyzya",
+      "tree_nodes": 22,
+      "scene_objects": "25",
+      "rendered": "true"
+    },
+    {
+      "id": "scorbot-kins",
+      "tree_nodes": 17,
+      "scene_objects": "20",
+      "rendered": "true"
+    }
+  ],
+  "browser_errors": []
+}

coverage/glb-machine-manager/physical-drive/browser.report.json

@@ -0,0 +1,266 @@
+{
+  "schema": "five-axis-live-models.v1",
+  "url": "http://127.0.0.1:5174/",
+  "cases": [
+    {
+      "id": "xyzac-trt",
+      "coordinates": "XYZAC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "C"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "C"
+      ]
+    },
+    {
+      "id": "xyzbc-trt",
+      "coordinates": "XYZBC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C"
+      ]
+    },
+    {
+      "id": "xyzab-tdr",
+      "coordinates": "XYZAB",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "B"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "B"
+      ]
+    },
+    {
+      "id": "bridge-mill-5axiskins",
+      "coordinates": "XYZBCWY",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C",
+        "W",
+        "Y#2"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C",
+        "W",
+        "Y#2"
+      ]
+    },
+    {
+      "id": "max5-maxkins",
+      "coordinates": "XYZBC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C",
+        "J5"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "B",
+        "C",
+        "J5"
+      ]
+    },
+    {
+      "id": "hexapod-genhexkins",
+      "coordinates": "XYZABC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ],
+      "expectedKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ]
+    },
+    {
+      "id": "pentapod-pentakins",
+      "coordinates": "XYZAB",
+      "glbLoaded": true,
+      "slotKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4"
+      ],
+      "expectedKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4"
+      ]
+    },
+    {
+      "id": "puma-pumakins",
+      "coordinates": "XYZABC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ],
+      "expectedKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ]
+    },
+    {
+      "id": "puma-genserkins",
+      "coordinates": "XYZABC",
+      "glbLoaded": true,
+      "slotKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ],
+      "expectedKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4",
+        "J5"
+      ]
+    },
+    {
+      "id": "trivkins-xyzab",
+      "coordinates": "XYZAB",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "B"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "A",
+        "B"
+      ]
+    },
+    {
+      "id": "trivkins-xyzcw",
+      "coordinates": "XYZCW",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "C",
+        "W"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "C",
+        "W"
+      ]
+    },
+    {
+      "id": "trivkins-xyzya",
+      "coordinates": "XYZYA",
+      "glbLoaded": true,
+      "slotKeys": [
+        "X",
+        "Y",
+        "Z",
+        "Y#2",
+        "A"
+      ],
+      "expectedKeys": [
+        "X",
+        "Y",
+        "Z",
+        "Y#2",
+        "A"
+      ]
+    },
+    {
+      "id": "scorbot-kins",
+      "coordinates": "XYZAB",
+      "glbLoaded": true,
+      "slotKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4"
+      ],
+      "expectedKeys": [
+        "J0",
+        "J1",
+        "J2",
+        "J3",
+        "J4"
+      ]
+    }
+  ],
+  "browser_errors": []
+}

coverage/glb-machine-manager/program-catalog/browser.report.json

@@ -0,0 +1,20 @@
+{
+  "schema": "rtcp-program-library-browser.v1",
+  "status": "verified",
+  "checks": [
+    "AC machine defaults to 15 XYZAC/common programs",
+    "all-source scope retains 32 upstream programs plus 13 case-specific dry-run programs",
+    "support remap is source-readable and execution-disabled",
+    "mismatched XYZAB program is visible and execution-disabled",
+    "XYZAC switchkins test loaded through WASM with canonical source hash and preview",
+    "generated XYZAC native dry-run loaded and completed in the Web control panel",
+    "native Hexapod program switches to its generic WASM machine profile and loads"
+  ],
+  "browser_errors": [],
+  "final": {
+    "coordinates": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
+    "program_path": "machine-cases/hexapod-genhexkins.ngc",
+    "program_status": "loaded",
+    "source_hash": "fnv1a64:33cc9e04e06ae391"
+  }
+}