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按关节槽位驱动 13 个五轴案例的三维模型

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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>
This commit is contained in:
wangdequan
2026-10-30 06:09:12 +08:00
parent af65b69b2c
commit db29ae625f
157 changed files with 11936 additions and 885 deletions
Download Patch File Download Diff File Expand all files Collapse all files

111
web/workspace/five-axis-machine-catalog.json
View File

@@ -37,7 +37,13 @@
"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
"designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
"designParameters": [
"rotaryPoint",
"tiltToRotaryOffset",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#xyzac-trt"
},
{
"id": "xyzbc-trt",
@@ -57,7 +63,13 @@
"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
"designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
"designParameters": [
"rotaryPoint",
"tiltToRotaryOffset",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#xyzbc-trt"
},
{
"id": "xyzab-tdr",
@@ -77,7 +89,16 @@
"linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini"
],
"kinematicsSource": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
"designParameters": ["xRotPoint", "yRotPoint", "zRotPoint", "xOffset", "zOffset", "toolOffset", "physicalZero"]
"designParameters": [
"xRotPoint",
"yRotPoint",
"zRotPoint",
"xOffset",
"zOffset",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#xyzab-tdr"
},
{
"id": "bridge-mill-5axiskins",
@@ -96,7 +117,14 @@
"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/5axiskins.c",
"designParameters": ["jointCoordinateMap", "duplicateAxisMap", "toolDirectionAxis", "toolOffset", "physicalZero"]
"designParameters": [
"jointCoordinateMap",
"duplicateAxisMap",
"toolDirectionAxis",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#bridge-mill-5axiskins"
},
{
"id": "max5-maxkins",
@@ -116,7 +144,14 @@
"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/maxkins.c",
"designParameters": ["rotaryAxisOrder", "rotaryCenters", "uvwTransform", "toolOffset", "physicalZero"]
"designParameters": [
"rotaryAxisOrder",
"rotaryCenters",
"uvwTransform",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#max5-maxkins"
},
{
"id": "hexapod-genhexkins",
@@ -136,7 +171,15 @@
"linuxcnc/src/emc/kinematics/genhexkins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/genhexkins.c",
"designParameters": ["baseJointPoints", "platformJointPoints", "spindleOffset", "screwLead", "iterationLimits", "physicalZero"]
"designParameters": [
"baseJointPoints",
"platformJointPoints",
"spindleOffset",
"screwLead",
"iterationLimits",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#hexapod-genhexkins"
},
{
"id": "pentapod-pentakins",
@@ -156,7 +199,14 @@
"linuxcnc/src/emc/kinematics/pentakins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/pentakins.c",
"designParameters": ["baseJointPoints", "effectorGeometry", "toolOffset", "convergenceCriterion", "physicalZero"]
"designParameters": [
"baseJointPoints",
"effectorGeometry",
"toolOffset",
"convergenceCriterion",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#pentapod-pentakins"
},
{
"id": "puma-pumakins",
@@ -176,7 +226,15 @@
"linuxcnc/src/emc/kinematics/pumakins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/pumakins.c",
"designParameters": ["A2", "A3", "D3", "D4", "toolOffset", "physicalZero"]
"designParameters": [
"A2",
"A3",
"D3",
"D4",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#puma-pumakins"
},
{
"id": "puma-genserkins",
@@ -196,7 +254,13 @@
"linuxcnc/src/emc/kinematics/genserkins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/genserkins.c",
"designParameters": ["DHParameters", "jointLimits", "toolOffset", "physicalZero"]
"designParameters": [
"DHParameters",
"jointLimits",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#puma-genserkins"
},
{
"id": "trivkins-xyzab",
@@ -216,7 +280,12 @@
"linuxcnc/src/emc/kinematics/trivkins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
"designParameters": ["coordinateOrder", "duplicateAxisMap", "physicalZero"]
"designParameters": [
"coordinateOrder",
"duplicateAxisMap",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzab"
},
{
"id": "trivkins-xyzcw",
@@ -234,7 +303,12 @@
"linuxcnc/src/emc/kinematics/trivkins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
"designParameters": ["coordinateOrder", "toolDirectionAxis", "physicalZero"]
"designParameters": [
"coordinateOrder",
"toolDirectionAxis",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzcw"
},
{
"id": "trivkins-xyzya",
@@ -253,7 +327,12 @@
"linuxcnc/src/emc/kinematics/trivkins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
"designParameters": ["coordinateOrder", "duplicateAxisMap", "physicalZero"]
"designParameters": [
"coordinateOrder",
"duplicateAxisMap",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzya"
},
{
"id": "scorbot-kins",
@@ -271,7 +350,13 @@
"linuxcnc/src/emc/kinematics/scorbot-kins.c"
],
"kinematicsSource": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
"designParameters": ["robotLinkParameters", "jointLimits", "toolOffset", "physicalZero"]
"designParameters": [
"robotLinkParameters",
"jointLimits",
"toolOffset",
"physicalZero"
],
"physicalStructureRef": "five-axis-physical-structures.json#scorbot-kins"
}
]
}