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db29ae625f7832745cb223752a168f784c2c9a4b
linuxcncWebWASM/web/workspace/machine-catalog.json
wangdequan db29ae625f 按关节槽位驱动 13 个五轴案例的三维模型 
关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性，
重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位
（max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存
GLB 与既有测试不受影响。

13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建，
可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个
关节，槽位数与运行目录的 joint_count 逐条一致。

新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键：
坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换
案例时自动装载对应模型，失败时保留内置模型并显式提示。

消除前端五关节截断：visual 适配器的 joints 改为数组并新增
jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的
machine id 查找机型。

管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部
可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径
不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的
限位保持 null 而不编造。

修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（
DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下
第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。

验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0；
typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、
双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。
证据在 coverage/glb-machine-manager/physical-drive/。

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
2026-10-30 06:09:12 +08:00

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{
"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"
}
]
}
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