{
  "default_machine": "xyzac-trt",
  "machines": [
    {
      "id": "xyzac-trt",
      "coordinates": "XYZAC",
      "kinematics_type": 2,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
      "program": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
      "switchkins_program": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc",
      "source_path": "linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py",
      "model": "trt-moving-knee",
      "subroutines": [
        "xyzac_switchkins_sub",
        "helix_ac"
      ],
      "runtime_fixture": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"
    },
    {
      "id": "xyzbc-trt",
      "coordinates": "XYZBC",
      "kinematics_type": 3,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
      "program": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
      "switchkins_program": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
      "source_path": "linuxcnc/src/hal/user_comps/vismach/xyzbc-trt-gui.py",
      "model": "trt-moving-head",
      "subroutines": [
        "xyzbc_switchkins_sub",
        "helix_bc"
      ],
      "runtime_fixture": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"
    },
    {
      "id": "xyzab-tdr",
      "coordinates": "XYZAB",
      "kinematics_type": 1,
      "runtime": "generic-wasm",
      "kinematics": "xyzab-tdr",
      "kinematics_source": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
      "kinematics_parameters": {
        "x_rot_point": 0,
        "y_rot_point": 0,
        "z_rot_point": 0,
        "x_offset": -20,
        "z_offset": -10,
        "tool_offset": 0
      },
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
      "program": "machine-cases/xyzab-tdr.ngc",
      "source_path": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
      "model": "dual-rotary-table",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini"
    },
    {
      "id": "bridge-mill-5axiskins",
      "coordinates": "XYZBCWY",
      "kinematics_type": 9,
      "runtime": "generic-wasm",
      "kinematics": "5axiskins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/5axiskins.c",
      "kinematics_parameters": {
        "pivot_length": 100
      },
      "joint_count": 7,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
      "program": "machine-cases/bridge-mill-5axiskins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/5axiskins.c",
      "model": "bridge-mill-xyzbcwy",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini"
    },
    {
      "id": "max5-maxkins",
      "coordinates": "XYZBC",
      "kinematics_type": 7,
      "runtime": "generic-wasm",
      "kinematics": "maxkins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/maxkins.c",
      "kinematics_parameters": {
        "pivot_length": 0
      },
      "joint_count": 6,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
      "program": "machine-cases/max5-maxkins.ngc",
      "source_path": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
      "model": "max5-maxkins",
      "units": {
        "linear": "machine-config",
        "angular": "machine-config"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
      "kinematics_joint_count": 5,
      "extra_joint_count": 1
    },
    {
      "id": "hexapod-genhexkins",
      "coordinates": "XYZABC",
      "kinematics_type": 17,
      "runtime": "generic-wasm",
      "kinematics": "genhexkins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/genhexkins.c",
      "joint_count": 6,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
      "program": "machine-cases/hexapod-genhexkins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/genhexkins.c",
      "model": "hexapod-six-strut",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini"
    },
    {
      "id": "pentapod-pentakins",
      "coordinates": "XYZAB",
      "kinematics_type": 18,
      "runtime": "generic-wasm",
      "kinematics": "pentakins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/pentakins.c",
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
      "program": "machine-cases/pentapod-pentakins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/pentakins.c",
      "model": "pentapod-five-strut",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini"
    },
    {
      "id": "puma-pumakins",
      "coordinates": "XYZABC",
      "kinematics_type": 11,
      "runtime": "generic-wasm",
      "kinematics": "pumakins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/pumakins.c",
      "kinematics_parameters": {
        "puma_a2": 400,
        "puma_a3": 50,
        "puma_d3": 100,
        "puma_d4": 400,
        "puma_d6": 95
      },
      "joint_count": 6,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
      "program": "machine-cases/puma-pumakins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/pumakins.c",
      "model": "puma-six-axis-serial",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini"
    },
    {
      "id": "puma-genserkins",
      "coordinates": "XYZABC",
      "kinematics_type": 13,
      "runtime": "generic-wasm",
      "kinematics": "genserkins",
      "kinematics_source": "linuxcnc/src/emc/kinematics/genserkins.c",
      "kinematics_parameters": {
        "dh_joint_count": 6,
        "dh_a": [
          0,
          17,
          0,
          0,
          0,
          0
        ],
        "dh_alpha": [
          0,
          1.570796326,
          0,
          1.570796326,
          -1.570796326,
          1.570796326
        ],
        "dh_d": [
          26.45,
          -5.5,
          0,
          17.05,
          0,
          2.2
        ]
      },
      "joint_count": 6,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
      "program": "machine-cases/puma-genserkins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/genserkins.c",
      "model": "puma560-genser-dh",
      "units": {
        "linear": "inch-config",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini"
    },
    {
      "id": "trivkins-xyzab",
      "coordinates": "XYZAB",
      "kinematics_type": 1,
      "runtime": "generic-wasm",
      "kinematics": "trivkins",
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini",
      "program": "machine-cases/trivkins-xyzab.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/trivkins.c",
      "model": "xyzab-identity",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini"
    },
    {
      "id": "trivkins-xyzcw",
      "coordinates": "XYZCW",
      "kinematics_type": 1,
      "runtime": "generic-wasm",
      "kinematics": "trivkins",
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini",
      "program": "machine-cases/trivkins-xyzcw.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/trivkins.c",
      "model": "xyzcw-identity",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini"
    },
    {
      "id": "trivkins-xyzya",
      "coordinates": "XYZYA",
      "kinematics_type": 1,
      "runtime": "generic-wasm",
      "kinematics": "trivkins",
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini",
      "program": "machine-cases/trivkins-xyzya.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/trivkins.c",
      "model": "xyzya-identity-gantry",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini"
    },
    {
      "id": "scorbot-kins",
      "coordinates": "XYZAB",
      "kinematics_type": 12,
      "runtime": "generic-wasm",
      "kinematics": "scorbot-kins",
      "joint_count": 5,
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
      "program": "machine-cases/scorbot-kins.ngc",
      "source_path": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
      "model": "scorbot-five-axis-serial",
      "units": {
        "linear": "mm",
        "angular": "deg"
      },
      "source_entrypoint": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini"
    }
  ]
}