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