{
  "schema": "linuxcnc.machine-kinematics-specs/1",
  "description": "Per-case joint slots and limits, derived from the LinuxCNC INIs. limits[j] = [min,max] for joint index j; null means the source config declares none.",
  "cases": [
    {
      "machineId": "xyzab-tdr",
      "coordinates": "XYZAB",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
      "kinematics": "xyzab-tdr",
      "jointCount": 5,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "A",
        "B"
      ],
      "limitsByJoint": [
        [
          -200.0,
          200.0
        ],
        [
          -200.0,
          200.0
        ],
        [
          -300.0,
          300.0
        ],
        [
          -3600.0,
          3600.0
        ],
        [
          -180.0,
          180.0
        ]
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {
        "x_rot_point": 0,
        "y_rot_point": 0,
        "z_rot_point": 0,
        "x_offset": -20,
        "z_offset": -10,
        "tool_offset": 0
      },
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "bridge-mill-5axiskins",
      "coordinates": "XYZBCWY",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
      "kinematics": "5axiskins",
      "jointCount": 7,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "B",
        "C",
        "W",
        "Y#2"
      ],
      "limitsByJoint": [
        [
          -500.0,
          500.0
        ],
        [
          -500.0,
          500.0
        ],
        [
          -500.0,
          100.0
        ],
        [
          -120.0,
          120.0
        ],
        [
          -36000.0,
          36000.0
        ],
        [
          -100.0,
          500.0
        ],
        [
          -500.0,
          500.0
        ]
      ],
      "declaredKinematicsJointCount": 7,
      "extraJointCount": 0,
      "parameters": {
        "pivot_length": 100
      },
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "max5-maxkins",
      "coordinates": "XYZBC",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
      "kinematics": "maxkins",
      "jointCount": 6,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "B",
        "C",
        "J5"
      ],
      "limitsByJoint": [
        [
          -100.0,
          200.0
        ],
        [
          -60.0,
          60.0
        ],
        [
          -149.0,
          1.0
        ],
        [
          -10.0,
          10.0
        ],
        [
          -90.0,
          90.0
        ],
        [
          -3600.0,
          3600.0
        ]
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 1,
      "parameters": {
        "pivot_length": 0
      },
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "hexapod-genhexkins",
      "coordinates": "XYZABC",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
      "kinematics": "genhexkins",
      "jointCount": 6,
      "jointOrder": [
        "J0",
        "J1",
        "J2",
        "J3",
        "J4",
        "J5"
      ],
      "limitsByJoint": [
        [
          -1000.0,
          1000.0
        ],
        [
          -1000.0,
          1000.0
        ],
        [
          -1000.0,
          1000.0
        ],
        [
          -1000.0,
          1000.0
        ],
        [
          -1000.0,
          1000.0
        ],
        [
          -1000.0,
          1000.0
        ]
      ],
      "declaredKinematicsJointCount": 6,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "pentapod-pentakins",
      "coordinates": "XYZAB",
      "entrypoint": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
      "kinematics": "pentakins",
      "jointCount": 5,
      "jointOrder": [
        "J0",
        "J1",
        "J2",
        "J3",
        "J4"
      ],
      "limitsByJoint": [
        [
          400.0,
          1500.0
        ],
        [
          400.0,
          1500.0
        ],
        [
          400.0,
          1500.0
        ],
        [
          400.0,
          1500.0
        ],
        [
          400.0,
          1500.0
        ]
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "puma-pumakins",
      "coordinates": "XYZABC",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
      "kinematics": "pumakins",
      "jointCount": 6,
      "jointOrder": [
        "J0",
        "J1",
        "J2",
        "J3",
        "J4",
        "J5"
      ],
      "limitsByJoint": [
        [
          -170.0,
          170.0
        ],
        [
          -85.0,
          50.0
        ],
        [
          -70.0,
          75.0
        ],
        [
          -250.0,
          250.0
        ],
        [
          -120.0,
          120.0
        ],
        null
      ],
      "declaredKinematicsJointCount": 6,
      "extraJointCount": 0,
      "parameters": {
        "puma_a2": 400,
        "puma_a3": 50,
        "puma_d3": 100,
        "puma_d4": 400,
        "puma_d6": 95
      },
      "limitsSource": "linuxcnc-ini (missing: J5)"
    },
    {
      "machineId": "puma-genserkins",
      "coordinates": "XYZABC",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
      "kinematics": "genserkins",
      "jointCount": 6,
      "jointOrder": [
        "J0",
        "J1",
        "J2",
        "J3",
        "J4",
        "J5"
      ],
      "limitsByJoint": [
        [
          -180.0,
          180.0
        ],
        [
          -360.0,
          360.0
        ],
        [
          -215.0,
          35.0
        ],
        [
          -360.0,
          360.0
        ],
        [
          -360.0,
          360.0
        ],
        [
          -360.0,
          360.0
        ]
      ],
      "declaredKinematicsJointCount": 6,
      "extraJointCount": 0,
      "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
        ]
      },
      "limitsSource": "linuxcnc-ini"
    },
    {
      "machineId": "trivkins-xyzab",
      "coordinates": "XYZAB",
      "entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini",
      "kinematics": "trivkins",
      "jointCount": 5,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "A",
        "B"
      ],
      "limitsByJoint": [
        [
          -0.001,
          520.0
        ],
        [
          -0.001,
          630.0
        ],
        [
          -115.0,
          10.0
        ],
        null,
        null
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini (missing: A,B)"
    },
    {
      "machineId": "trivkins-xyzcw",
      "coordinates": "XYZCW",
      "entrypoint": "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini",
      "kinematics": "trivkins",
      "jointCount": 5,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "C",
        "W"
      ],
      "limitsByJoint": [
        [
          -0.0,
          600.0
        ],
        [
          -0.0,
          400.0
        ],
        [
          -400.0,
          4.0
        ],
        null,
        [
          -2.0,
          4.0
        ]
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini (missing: C)"
    },
    {
      "machineId": "trivkins-xyzya",
      "coordinates": "XYZYA",
      "entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini",
      "kinematics": "trivkins",
      "jointCount": 5,
      "jointOrder": [
        "X",
        "Y",
        "Z",
        "Y#2",
        "A"
      ],
      "limitsByJoint": [
        [
          -0.001,
          520.0
        ],
        [
          -0.001,
          630.0
        ],
        [
          -115.0,
          10.0
        ],
        [
          -0.001,
          630.0
        ],
        null
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini (missing: A)"
    },
    {
      "machineId": "scorbot-kins",
      "coordinates": "XYZAB",
      "entrypoint": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
      "kinematics": "scorbot-kins",
      "jointCount": 5,
      "jointOrder": [
        "J0",
        "J1",
        "J2",
        "J3",
        "J4"
      ],
      "limitsByJoint": [
        null,
        null,
        null,
        null,
        null
      ],
      "declaredKinematicsJointCount": 5,
      "extraJointCount": 0,
      "parameters": {},
      "limitsSource": "linuxcnc-ini (missing: J0,J1,J2,J3,J4)"
    }
  ]
}