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>

scripts/test_physical_case_glb_browser.mjs

@@ -0,0 +1,52 @@
+import assert from 'node:assert/strict';
+import { mkdir, readFile, writeFile } from 'node:fs/promises';
+import { pathToFileURL } from 'node:url';
+
+const imported = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE ?? '/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js'));
+const playwright = imported.default ?? imported;
+const browser = await playwright.chromium.launch({ headless: true, executablePath: '/usr/bin/google-chrome', args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] });
+const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
+const errors = [];
+page.on('pageerror', (error) => errors.push(`pageerror:${error.message}`));
+page.on('console', (message) => { if (message.type() === 'error') errors.push(`console:${message.text()}`); });
+const control = (id) => page.locator(`[data-axis-control="${id}"]`);
+const cases = [
+  ['xyzac-trt', 7], ['xyzbc-trt', 7], ['xyzab-tdr', 7], ['bridge-mill-5axiskins', 10], ['max5-maxkins', 7],
+  ['hexapod-genhexkins', 10], ['pentapod-pentakins', 9], ['puma-pumakins', 8], ['puma-genserkins', 8],
+  ['trivkins-xyzab', 7], ['trivkins-xyzcw', 7], ['trivkins-xyzya', 7], ['scorbot-kins', 7],
+];
+const report = { schema: 'physical-case-glb-browser.v1', status: 'running', cases: [], browser_errors: errors };
+const out = new URL('../coverage/glb-machine-manager/physical-cases/', import.meta.url);
+await mkdir(out, { recursive: true });
+try {
+  await page.goto(process.env.PHYSICAL_CASE_URL ?? 'http://127.0.0.1:5174/', { waitUntil: 'domcontentloaded', timeout: 30000 });
+  await page.waitForFunction(() => document.querySelector('main.axis-app')?.dataset.axisStateSource === 'linuxcnc-wasm', null, { timeout: 60000 });
+  await control('machine-manager-settings').click();
+  for (const [id, minimumNodes] of cases) {
+    await control('machine-document-new').click();
+    const chooser = page.waitForEvent('filechooser');
+    await control('machine-manager-import').click();
+    const fileChooser = await chooser;
+    await fileChooser.setFiles({ name: `${id}.glb`, mimeType: 'model/gltf-binary', buffer: await readFile(new URL(`../web/react/public/machine-cases/physical/${id}.glb`, import.meta.url)) });
+    await page.waitForFunction(() => document.querySelector('.machine-manager-workbench')?.getAttribute('aria-busy') === 'false', null, { timeout: 30000 });
+    const nodes = page.locator('[data-axis-control="machine-tree-node"]');
+    await page.waitForFunction((minimum) => document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= minimum, minimumNodes, { timeout: 30000 });
+    assert.ok(await nodes.count() >= minimumNodes, id);
+    const preview = page.locator('[data-machine-manager-preview]');
+    assert.equal(await preview.getAttribute('data-machine-manager-render-state'), 'rendered', id);
+    await page.screenshot({ path: new URL(`${id}.png`, out).pathname, fullPage: true });
+    report.cases.push({ id, tree_nodes: await nodes.count(), scene_objects: await preview.getAttribute('data-machine-manager-scene-objects'), rendered: await preview.getAttribute('data-machine-manager-rendered') });
+  }
+  assert.deepEqual(errors, []);
+  report.status = 'verified';
+} catch (error) {
+  report.status = 'failed';
+  report.error = error instanceof Error ? error.stack : String(error);
+  await page.screenshot({ path: new URL('failure.png', out).pathname, fullPage: true }).catch(() => {});
+  throw error;
+} finally {
+  report.browser_errors = errors;
+  await writeFile(new URL('browser.report.json', out), `${JSON.stringify(report, null, 2)}\n`);
+  await browser.close();
+}
+console.log(JSON.stringify(report));