{ "report_id": "glb-machine-browser-v1", "status": "verified", "wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6", "parser": [ { "id": "ac", "rejected": [ { "name": "truncated", "error": "机床模型无效:GLB 头部或长度错误" }, { "name": "missing-schema", "error": "机床模型无效:缺少 linuxcnc.machine/1 内嵌 URDF" }, { "name": "external-buffer", "error": "机床模型无效:GLB 必须自包含,禁止外部 buffer/图片" }, { "name": "external-texture", "error": "机床模型无效:GLB 必须自包含,禁止外部 buffer/图片" }, { "name": "animation", "error": "机床模型无效:运动节点不能由动画、蒙皮或压缩扩展驱动" }, { "name": "node-cycle", "error": "机床模型无效:GLB 节点环、重复父节点或索引无效" }, { "name": "wrong-hierarchy", "error": "机床模型无效:GLB 层级与 URDF 不同:c_table" }, { "name": "node-offset-mismatch", "error": "机床模型无效:GLB 节点 c_table 零位与 URDF 不同" }, { "name": "duplicate-link", "error": "机床模型无效:GLB link base 缺失或重名" }, { "name": "matrix-origin-mismatch", "error": "机床模型无效:GLB 节点 c_table 矩阵与 URDF 不同" }, { "name": "xml-syntax", "error": "机床模型无效:URDF XML 语法错误" }, { "name": "doctype", "error": "机床模型无效:URDF 长度或 XML 声明不支持" }, { "name": "duplicate-coordinate", "error": "机床模型无效:需要 XYZAC 或 XYZBC 五个唯一运动轴" }, { "name": "negative-axis", "error": "机床模型无效:要求底座 → X → Y → Z 正交刀具链,零位 origin=0" }, { "name": "nonzero-rpy", "error": "机床模型无效:v1 不支持旋转的关节零位 rpy" }, { "name": "nan-limit", "error": "机床模型无效:需要有限数值" }, { "name": "mimic", "error": "机床模型无效:不支持 mimic" }, { "name": "unknown-profile", "error": "机床模型无效:不支持的运动学 profile" }, { "name": "broken-tree", "error": "机床模型无效:存在断开的结构或环" }, { "name": "runtime-range-outside-model", "error": "X:INI 行程超出 URDF,先调整运行配置" }, { "name": "runtime-speed-outside-model", "error": "X:INI 速度超出 URDF" } ] }, { "id": "bc", "rejected": [ { "name": "truncated", "error": "机床模型无效:GLB 头部或长度错误" }, { "name": "missing-schema", "error": "机床模型无效:缺少 linuxcnc.machine/1 内嵌 URDF" }, { "name": "external-buffer", "error": "机床模型无效:GLB 必须自包含,禁止外部 buffer/图片" }, { "name": "external-texture", "error": "机床模型无效:GLB 必须自包含,禁止外部 buffer/图片" }, { "name": "animation", "error": "机床模型无效:运动节点不能由动画、蒙皮或压缩扩展驱动" }, { "name": "node-cycle", "error": "机床模型无效:GLB 节点环、重复父节点或索引无效" }, { "name": "wrong-hierarchy", "error": "机床模型无效:GLB 层级与 URDF 不同:c_table" }, { "name": "node-offset-mismatch", "error": "机床模型无效:GLB 节点 c_table 零位与 URDF 不同" }, { "name": "duplicate-link", "error": "机床模型无效:GLB link base 缺失或重名" }, { "name": "matrix-origin-mismatch", "error": "机床模型无效:GLB 节点 c_table 矩阵与 URDF 不同" }, { "name": "xml-syntax", "error": "机床模型无效:URDF XML 语法错误" }, { "name": "doctype", "error": "机床模型无效:URDF 长度或 XML 声明不支持" }, { "name": "duplicate-coordinate", "error": "机床模型无效:需要 XYZAC 或 XYZBC 五个唯一运动轴" }, { "name": "negative-axis", "error": "机床模型无效:要求底座 → X → Y → Z 正交刀具链,零位 origin=0" }, { "name": "nonzero-rpy", "error": "机床模型无效:v1 不支持旋转的关节零位 rpy" }, { "name": "nan-limit", "error": "机床模型无效:需要有限数值" }, { "name": "mimic", "error": "机床模型无效:不支持 mimic" }, { "name": "unknown-profile", "error": "机床模型无效:不支持的运动学 profile" }, { "name": "broken-tree", "error": "机床模型无效:存在断开的结构或环" }, { "name": "runtime-range-outside-model", "error": "X:INI 行程超出 URDF,先调整运行配置" }, { "name": "runtime-speed-outside-model", "error": "X:INI 速度超出 URDF" } ] } ], "machines": [ { "id": "ac", "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1", "coordinates": "XYZAC", "offsets": { "x_rot_point": 24, "x_offset": 0, "y_rot_point": -12, "y_offset": 18, "z_rot_point": 8, "z_offset": -45 }, "program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", "geometry": [ { "tilt": 0, "c": 0, "tool_offset": 0, "error": 6.206335383118183e-17 }, { "tilt": 25, "c": 0, "tool_offset": 0, "error": 1.2412670766236366e-16 }, { "tilt": 0, "c": 65, "tool_offset": 0, "error": 1.1933397187179203e-16 }, { "tilt": -35, "c": 125, "tool_offset": 0, "error": 2.1599919653272043e-16 }, { "tilt": 42, "c": -80, "tool_offset": 0, "error": 2.486410087150353e-16 }, { "tilt": -80, "c": 270, "tool_offset": 0, "error": 1.709648974837069e-16 }, { "tilt": 0, "c": 0, "tool_offset": 17, "error": 6.206335383118183e-17 }, { "tilt": 25, "c": 0, "tool_offset": 17, "error": 1.3472894910096233e-16 }, { "tilt": 0, "c": 65, "tool_offset": 17, "error": 1.1354490689426183e-16 }, { "tilt": -35, "c": 125, "tool_offset": 17, "error": 2.036065864674698e-16 }, { "tilt": 42, "c": -80, "tool_offset": 17, "error": 2.482534153247273e-16 }, { "tilt": -80, "c": 270, "tool_offset": 17, "error": 1.3877787807814457e-16 }, { "tilt": 0, "c": 0, "tool_offset": -4, "error": 6.206335383118183e-17 }, { "tilt": 25, "c": 0, "tool_offset": -4, "error": 1.2412670766236366e-16 }, { "tilt": 0, "c": 65, "tool_offset": -4, "error": 9.508199615517185e-17 }, { "tilt": -35, "c": 125, "tool_offset": -4, "error": 1.9141791241147513e-16 }, { "tilt": 42, "c": -80, "tool_offset": -4, "error": 2.2591401799415137e-16 }, { "tilt": -80, "c": 270, "tool_offset": -4, "error": 1.1857187100668868e-16 } ], "jogs": [ { "axis": "a", "before": { "joints": [ 4.66664999999999, 3.466650000000003, 0, 0, 0 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.0466664999999999, 7.697509296633605e-18, 0.03466650000000003 ], "tick": 59, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "after": { "joints": [ 4.66664999999999, -0.578220496871058, -0.5014400651608497, 6.300000000000009, 0 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.0466664999999999, -0.005014400651608498, -0.00578220496871058 ], "tick": 95, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "tcp_error": 4.192148702340308e-17, "render_error": 0 }, { "axis": "c", "before": { "joints": [ 4.66664999999999, -0.578220496871058, -0.5014400651608497, 6.300000000000009, 0 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.0466664999999999, -0.005014400651608498, -0.00578220496871058 ], "tick": 95, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "after": { "joints": [ 3.5127488929315476, -2.1333277540415505, -0.6731255047163103, 6.300000000000009, 4.499999999999995 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.03512748892931548, -0.006731255047163108, -0.021333277540415505 ], "tick": 125, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "tcp_error": 4.772854504744019e-17, "render_error": 0 }, { "axis": "a", "before": { "joints": [ 3.5127488929315476, -2.1333277540415505, -0.6731255047163103, 6.300000000000009, 4.499999999999995 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.03512748892931548, -0.006731255047163108, -0.021333277540415505 ], "tick": 125, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "after": { "joints": [ 3.5127488929315476, -4.772000312433438, -1.3663524148917787, 10.5, 4.499999999999995 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.03512748892931548, -0.013663524148917796, -0.04772000312433438 ], "tick": 154, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "tcp_error": 5.006713685883697e-17, "render_error": 0 }, { "axis": "c", "before": { "joints": [ 3.5127488929315476, -4.772000312433438, -1.3663524148917787, 10.5, 4.499999999999995 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.03512748892931548, -0.013663524148917796, -0.04772000312433438 ], "tick": 154, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "after": { "joints": [ 2.4851585016404982, -6.394633156793212, -1.6670896365399557, 10.5, 8.99999999999999 ], "offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 }, "tip": [ 0.02485158501640498, -0.01667089636539957, -0.06394633156793213 ], "tick": 184, "hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1" }, "tcp_error": 4.415885040048117e-17, "render_error": 0 } ], "pixels": { "colors": 1405, "width": 472, "height": 586 }, "worker_derived_offsets": { "x_rot_point": 24, "y_rot_point": -12, "z_rot_point": 8, "x_offset": 0, "y_offset": 18, "z_offset": -45, "tool_offset": 0 } }, { "id": "bc", "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b", "coordinates": "XYZBC", "offsets": { "x_rot_point": -18, "x_offset": 22, "y_rot_point": 14, "y_offset": 0, "z_rot_point": 12, "z_offset": -40 }, "program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", "geometry": [ { "tilt": 0, "c": 0, "tool_offset": 0, "error": 7.850462293418876e-17 }, { "tilt": 25, "c": 0, "tool_offset": 0, "error": 1.1188630228279524e-16 }, { "tilt": 0, "c": 65, "tool_offset": 0, "error": 1.3672438525262642e-16 }, { "tilt": -35, "c": 125, "tool_offset": 0, "error": 2.3714374201337736e-16 }, { "tilt": 42, "c": -80, "tool_offset": 0, "error": 1.0007415106216802e-16 }, { "tilt": -80, "c": 270, "tool_offset": 0, "error": 1.3597399555105182e-16 }, { "tilt": 0, "c": 0, "tool_offset": 17, "error": 6.206335383118183e-17 }, { "tilt": 25, "c": 0, "tool_offset": 17, "error": 1.1443916996305594e-16 }, { "tilt": 0, "c": 65, "tool_offset": 17, "error": 1.3951318755036565e-16 }, { "tilt": -35, "c": 125, "tool_offset": 17, "error": 1.5700924586837752e-16 }, { "tilt": 42, "c": -80, "tool_offset": 17, "error": 1.3597399555105182e-16 }, { "tilt": -80, "c": 270, "tool_offset": 17, "error": 1.3597399555105182e-16 }, { "tilt": 0, "c": 0, "tool_offset": -4, "error": 7.850462293418876e-17 }, { "tilt": 25, "c": 0, "tool_offset": -4, "error": 0 }, { "tilt": 0, "c": 65, "tool_offset": -4, "error": 1.4756369957997185e-16 }, { "tilt": -35, "c": 125, "tool_offset": -4, "error": 2.7755575615628914e-17 }, { "tilt": 42, "c": -80, "tool_offset": -4, "error": 1.3597399555105182e-16 }, { "tilt": -80, "c": 270, "tool_offset": -4, "error": 1.1102230246251565e-16 } ], "jogs": [ { "axis": "b", "before": { "joints": [ 4.66664999999999, 3.266650000000002, 0, 0, 0 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.0466664999999999, 7.25342008678354e-18, 0.03266650000000002 ], "tick": 242, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "after": { "joints": [ 5.988547549895522, 3.266650000000002, -0.06274707734662499, 2.7074999999999982, 0 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.05988547549895522, -0.0006274707734662427, 0.03266650000000002 ], "tick": 266, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "tcp_error": 5.2237508757293676e-17, "render_error": 0 }, { "axis": "c", "before": { "joints": [ 5.988547549895522, 3.266650000000002, -0.06274707734662499, 2.7074999999999982, 0 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.05988547549895522, -0.0006274707734662427, 0.03266650000000002 ], "tick": 266, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "after": { "joints": [ 6.806282140622642, 5.2009897567427625, -0.10141774164188178, 2.7074999999999982, 4.799999999999997 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.06806282140622642, -0.0010141774164188061, 0.052009897567427625 ], "tick": 302, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "tcp_error": 7.251197301982682e-17, "render_error": 0 }, { "axis": "b", "before": { "joints": [ 6.806282140622642, 5.2009897567427625, -0.10141774164188178, 2.7074999999999982, 4.799999999999997 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.06806282140622642, -0.0010141774164188061, 0.052009897567427625 ], "tick": 302, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "after": { "joints": [ 9.850766582307877, 5.2009897567427625, -0.577843960065767, 9.007500000000007, 4.799999999999997 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.09850766582307877, -0.005778439600657659, 0.052009897567427625 ], "tick": 338, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "tcp_error": 4.5534426050565124e-17, "render_error": 0 }, { "axis": "c", "before": { "joints": [ 9.850766582307877, 5.2009897567427625, -0.577843960065767, 9.007500000000007, 4.799999999999997 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.09850766582307877, -0.005778439600657659, 0.052009897567427625 ], "tick": 338, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "after": { "joints": [ 10.273803322125342, 6.4421740463938555, -0.6449031630217803, 9.007500000000007, 7.7999999999999945 ], "offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 }, "tip": [ 0.10273803322125341, -0.006449031630217789, 0.06442174046393855 ], "tick": 363, "hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b" }, "tcp_error": 7.523581911015265e-17, "render_error": 0 } ], "pixels": { "colors": 1360, "width": 472, "height": 586 }, "worker_derived_offsets": { "x_rot_point": -18, "y_rot_point": 14, "z_rot_point": 12, "x_offset": 22, "y_offset": 0, "z_offset": -40, "tool_offset": 0 } } ], "viewports": [ { "width": 1440, "height": 1100, "bounds": [ { "x": 969, "right": 999, "width": 30 }, { "x": 445, "right": 513.625, "width": 68.625 }, { "x": 521.421875, "right": 582.109375, "width": 60.6875 }, { "x": 586.65625, "right": 634.34375, "width": 47.6875 }, { "x": 642.140625, "right": 702.828125, "width": 60.6875 }, { "x": 707.375, "right": 755.0625, "width": 47.6875 } ] }, { "width": 390, "height": 844, "bounds": [ { "x": 341, "right": 371, "width": 30 }, { "x": 23, "right": 91.625, "width": 68.625 }, { "x": 99.421875, "right": 160.109375, "width": 60.6875 }, { "x": 164.65625, "right": 212.34375, "width": 47.6875 }, { "x": 220.140625, "right": 280.828125, "width": 60.6875 }, { "x": 285.375, "right": 333.0625, "width": 47.6875 } ] } ], "browser_errors": [] }