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>

web/react/public/machine-cases/bridge-mill-5axiskins.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: bridge-mill-5axiskins)
+(CONTROL_PROFILE: XYZBCWY)
+(KINEMATICS: 5axiskins)
+(STATUS: adapter-required)
+(NOTE: W 沿刀具方向；配置含重复 Y 关节。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 B3 C8 W1 F120
+G1 X15 Y-5 Z-4 B-3 C-8 W-1 F120
+G1 X5 Y5 Z-2 B3 C8 W1 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/hexapod-genhexkins.ngc

@@ -0,0 +1,9 @@
+(CASE_ID: hexapod-genhexkins)
+(CONTROL_PROFILE: XYZABC)
+(KINEMATICS: genhexkins)
+(STATUS: adapter-required)
+(NOTE: 六支链并联平台；XYZABC 六自由度。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+; HOME-POSE VALIDATION: runtime initializes and validates the native WASM inverse at its configured home pose.
+M30

web/react/public/machine-cases/max5-maxkins.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: max5-maxkins)
+(CONTROL_PROFILE: XYZBC)
+(KINEMATICS: maxkins)
+(STATUS: adapter-required)
+(NOTE: B/C 非恒等旋转映射；不是 TRT 替代。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 B3 C8 F120
+G1 X15 Y-5 Z-4 B-3 C-8 F120
+G1 X5 Y5 Z-2 B3 C8 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/pentapod-pentakins.ngc

@@ -0,0 +1,9 @@
+(CASE_ID: pentapod-pentakins)
+(CONTROL_PROFILE: XYZAB)
+(KINEMATICS: pentakins)
+(STATUS: adapter-required)
+(NOTE: 五支链并联平台；XYZAB 五轴。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+; HOME-POSE VALIDATION: runtime initializes and validates the native WASM inverse at its configured home pose.
+M30

web/react/public/machine-cases/physical/LICENSE.txt

@@ -0,0 +1,2 @@
+Procedural design-reference assets for linuxcncWebWASM. CC0-1.0.
+No manufacturer affiliation or dimensional calibration is implied.

web/react/public/machine-cases/puma-genserkins.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: puma-genserkins)
+(CONTROL_PROFILE: XYZABC)
+(KINEMATICS: genserkins)
+(STATUS: adapter-required)
+(NOTE: DH 参数驱动的六轴串联机器人。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X0 Y0 Z0 A0 B0 C0 F120
+G1 X0 Y0 Z0 A0 B0 C0 F120
+G1 X0 Y0 Z0 A0 B0 C0 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/puma-pumakins.ngc

@@ -0,0 +1,9 @@
+(CASE_ID: puma-pumakins)
+(CONTROL_PROFILE: XYZABC)
+(KINEMATICS: pumakins)
+(STATUS: adapter-required)
+(NOTE: PUMA 六关节串联机器人。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+; HOME-POSE VALIDATION: runtime initializes and validates the native WASM inverse at its configured home pose.
+M30

web/react/public/machine-cases/scorbot-kins.ngc

@@ -0,0 +1,9 @@
+(CASE_ID: scorbot-kins)
+(CONTROL_PROFILE: XYZAB)
+(KINEMATICS: scorbot-kins)
+(STATUS: adapter-required)
+(NOTE: 五关节串联机器人；不是五轴铣床 TRT。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+; HOME-POSE VALIDATION: runtime initializes and validates the native WASM inverse at its configured home pose.
+M30

web/react/public/machine-cases/trivkins-xyzab.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: trivkins-xyzab)
+(CONTROL_PROFILE: XYZAB)
+(KINEMATICS: trivkins)
+(STATUS: identity-only)
+(NOTE: 五轴一一映射基线；不提供 RTCP。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 A3 B3 F120
+G1 X15 Y-5 Z-4 A-3 B-3 F120
+G1 X5 Y5 Z-2 A3 B3 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/trivkins-xyzcw.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: trivkins-xyzcw)
+(CONTROL_PROFILE: XYZCW)
+(KINEMATICS: trivkins)
+(STATUS: identity-only)
+(NOTE: C/W 轴字母映射基线；不提供 RTCP。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 C8 W1 F120
+G1 X15 Y-5 Z-4 C-8 W-1 F120
+G1 X5 Y5 Z-2 C8 W1 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/trivkins-xyzya.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: trivkins-xyzya)
+(CONTROL_PROFILE: XYZYA)
+(KINEMATICS: trivkins)
+(STATUS: identity-only)
+(NOTE: Y 轴重复映射与旋转 A 基线；不提供 RTCP。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 A3 F120
+G1 X15 Y-5 Z-4 A-3 F120
+G1 X5 Y5 Z-2 A3 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/xyzab-tdr.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: xyzab-tdr)
+(CONTROL_PROFILE: XYZAB)
+(KINEMATICS: xyzab_tdr_kins)
+(STATUS: adapter-required)
+(NOTE: LinuxCNC xyzab_tdr_kins；当前 Web 尚未接入该求解器。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 A3 B3 F120
+G1 X15 Y-5 Z-4 A-3 B-3 F120
+G1 X5 Y5 Z-2 A3 B3 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/xyzac-trt.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: xyzac-trt)
+(CONTROL_PROFILE: XYZAC)
+(KINEMATICS: xyzac-trt-kins)
+(STATUS: supported)
+(NOTE: A 绕 X、C 绕 Z；Web LinuxCNC WASM 原生可运行。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 A3 C8 F120
+G1 X15 Y-5 Z-4 A-3 C-8 F120
+G1 X5 Y5 Z-2 A3 C8 F120
+G1 X0 Y0 Z0 F120
+M30

web/react/public/machine-cases/xyzbc-trt.ngc

@@ -0,0 +1,13 @@
+(CASE_ID: xyzbc-trt)
+(CONTROL_PROFILE: XYZBC)
+(KINEMATICS: xyzbc-trt-kins)
+(STATUS: supported)
+(NOTE: B 绕 Y、C 绕 Z；Web LinuxCNC WASM 原生可运行。)
+(DRY RUN ONLY - NO SPINDLE, TOOL CHANGE, OR CUTTING)
+G21 G90 G94 G17 G40 G49 G80
+G54
+G1 X5 Y5 Z-2 B3 C8 F120
+G1 X15 Y-5 Z-4 B-3 C-8 F120
+G1 X5 Y5 Z-2 B3 C8 F120
+G1 X0 Y0 Z0 F120
+M30