{
  "roles": [
    {
      "id": "base",
      "label": "床身底座",
      "parent": null,
      "axis": null
    },
    {
      "id": "x",
      "label": "X 轴部件",
      "parent": "base",
      "axis": "X"
    },
    {
      "id": "y",
      "label": "Y 轴部件",
      "parent": "x",
      "axis": "Y"
    },
    {
      "id": "z",
      "label": "Z 轴部件",
      "parent": "y",
      "axis": "Z"
    },
    {
      "id": "tool",
      "label": "主轴/刀具",
      "parent": "z",
      "axis": null
    },
    {
      "id": "tilt",
      "label": "倾转部件",
      "parent": "base",
      "axis": null
    },
    {
      "id": "c",
      "label": "回转部件",
      "parent": "tilt",
      "axis": null
    },
    {
      "id": "work",
      "label": "工件/工作台",
      "parent": "c",
      "axis": null
    }
  ],
  "profiles": [
    {
      "caseId": "xyzac-trt",
      "coordinates": "XYZAC",
      "urdfProfile": "trt-xyz-head/1",
      "tiltAxis": "A",
      "rotaryAxis": "C",
      "forbiddenOffsetDirection": "x",
      "limits": {
        "X": [
          -200,
          200,
          20
        ],
        "Y": [
          -100,
          100,
          20
        ],
        "Z": [
          -120,
          120,
          20
        ],
        "A": [
          -100,
          50,
          30
        ],
        "C": [
          -36000,
          36000,
          30
        ]
      },
      "effort": 1000,
      "tiltDirection": [
        1,
        0,
        0
      ],
      "rotaryDirection": [
        0,
        0,
        1
      ]
    },
    {
      "caseId": "xyzbc-trt",
      "coordinates": "XYZBC",
      "urdfProfile": "trt-xyz-head/1",
      "tiltAxis": "B",
      "rotaryAxis": "C",
      "forbiddenOffsetDirection": "y",
      "limits": {
        "X": [
          -200,
          200,
          20
        ],
        "Y": [
          -100,
          100,
          20
        ],
        "Z": [
          -120,
          120,
          20
        ],
        "B": [
          -36000,
          36000,
          30
        ],
        "C": [
          -36000,
          36000,
          30
        ]
      },
      "effort": 1000,
      "tiltDirection": [
        0,
        1,
        0
      ],
      "rotaryDirection": [
        0,
        0,
        1
      ]
    }
  ],
  "historyLimit": 30,
  "jogSteps": [
    0.1,
    1,
    10
  ],
  "initialJogStep": 1
}