wangdequan
db29ae625f
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>
490 lines
9.1 KiB
JSON
490 lines
9.1 KiB
JSON
{
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"schema": "linuxcnc.machine-kinematics-specs/1",
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"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.",
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"cases": [
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{
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"machineId": "xyzab-tdr",
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"coordinates": "XYZAB",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
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"kinematics": "xyzab-tdr",
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"jointCount": 5,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"A",
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"B"
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],
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"limitsByJoint": [
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[
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-200.0,
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200.0
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],
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[
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-200.0,
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200.0
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],
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[
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-300.0,
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300.0
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],
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[
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-3600.0,
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3600.0
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],
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[
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-180.0,
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180.0
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]
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {
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"x_rot_point": 0,
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"y_rot_point": 0,
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"z_rot_point": 0,
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"x_offset": -20,
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"z_offset": -10,
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"tool_offset": 0
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},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "bridge-mill-5axiskins",
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"coordinates": "XYZBCWY",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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"kinematics": "5axiskins",
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"jointCount": 7,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"B",
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"C",
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"W",
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"Y#2"
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],
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"limitsByJoint": [
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[
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-500.0,
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500.0
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],
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[
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-500.0,
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500.0
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],
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[
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-500.0,
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100.0
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],
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[
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-120.0,
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120.0
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],
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[
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-36000.0,
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36000.0
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],
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[
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-100.0,
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500.0
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],
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[
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-500.0,
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500.0
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]
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],
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"declaredKinematicsJointCount": 7,
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"extraJointCount": 0,
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"parameters": {
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"pivot_length": 100
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},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "max5-maxkins",
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"coordinates": "XYZBC",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
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"kinematics": "maxkins",
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"jointCount": 6,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"B",
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"C",
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"J5"
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],
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"limitsByJoint": [
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[
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-100.0,
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200.0
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],
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[
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-60.0,
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60.0
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],
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[
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-149.0,
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1.0
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],
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[
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-10.0,
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10.0
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],
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[
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-90.0,
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90.0
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],
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[
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-3600.0,
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3600.0
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]
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 1,
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"parameters": {
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"pivot_length": 0
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},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "hexapod-genhexkins",
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"coordinates": "XYZABC",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
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"kinematics": "genhexkins",
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"jointCount": 6,
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"jointOrder": [
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"J0",
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"J1",
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"J2",
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"J3",
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"J4",
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"J5"
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],
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"limitsByJoint": [
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[
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-1000.0,
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1000.0
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],
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[
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-1000.0,
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1000.0
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],
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[
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-1000.0,
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1000.0
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],
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[
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-1000.0,
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1000.0
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],
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[
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-1000.0,
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1000.0
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],
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[
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-1000.0,
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1000.0
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]
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],
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"declaredKinematicsJointCount": 6,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "pentapod-pentakins",
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"coordinates": "XYZAB",
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"entrypoint": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
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"kinematics": "pentakins",
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"jointCount": 5,
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"jointOrder": [
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"J0",
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"J1",
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"J2",
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"J3",
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"J4"
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],
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"limitsByJoint": [
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[
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400.0,
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1500.0
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],
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[
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400.0,
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1500.0
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],
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[
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400.0,
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1500.0
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],
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[
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400.0,
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1500.0
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],
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[
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400.0,
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1500.0
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]
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "puma-pumakins",
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"coordinates": "XYZABC",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
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"kinematics": "pumakins",
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"jointCount": 6,
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"jointOrder": [
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"J0",
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"J1",
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"J2",
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"J3",
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"J4",
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"J5"
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],
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"limitsByJoint": [
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[
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-170.0,
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170.0
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],
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[
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-85.0,
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50.0
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],
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[
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-70.0,
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75.0
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],
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[
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-250.0,
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250.0
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],
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[
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-120.0,
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120.0
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],
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null
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],
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"declaredKinematicsJointCount": 6,
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"extraJointCount": 0,
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"parameters": {
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"puma_a2": 400,
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"puma_a3": 50,
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"puma_d3": 100,
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"puma_d4": 400,
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"puma_d6": 95
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},
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"limitsSource": "linuxcnc-ini (missing: J5)"
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},
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{
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"machineId": "puma-genserkins",
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"coordinates": "XYZABC",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
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"kinematics": "genserkins",
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"jointCount": 6,
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"jointOrder": [
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"J0",
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"J1",
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"J2",
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"J3",
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"J4",
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"J5"
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],
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"limitsByJoint": [
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[
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-180.0,
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180.0
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],
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[
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-360.0,
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360.0
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],
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[
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-215.0,
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35.0
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],
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[
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-360.0,
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360.0
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],
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[
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-360.0,
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360.0
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],
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[
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-360.0,
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360.0
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]
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],
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"declaredKinematicsJointCount": 6,
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"extraJointCount": 0,
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"parameters": {
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"dh_joint_count": 6,
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"dh_a": [
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0,
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17,
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0,
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0,
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0,
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0
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],
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"dh_alpha": [
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0,
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1.570796326,
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0,
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1.570796326,
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-1.570796326,
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1.570796326
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],
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"dh_d": [
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26.45,
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-5.5,
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0,
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17.05,
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0,
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2.2
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]
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},
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"limitsSource": "linuxcnc-ini"
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},
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{
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"machineId": "trivkins-xyzab",
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"coordinates": "XYZAB",
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"entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini",
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"kinematics": "trivkins",
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"jointCount": 5,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"A",
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"B"
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],
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"limitsByJoint": [
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[
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-0.001,
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520.0
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],
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[
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-0.001,
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630.0
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],
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[
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-115.0,
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10.0
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],
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null,
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null
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini (missing: A,B)"
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},
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{
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"machineId": "trivkins-xyzcw",
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"coordinates": "XYZCW",
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"entrypoint": "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini",
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"kinematics": "trivkins",
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"jointCount": 5,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"C",
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"W"
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],
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"limitsByJoint": [
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[
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-0.0,
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600.0
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],
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[
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-0.0,
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400.0
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],
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[
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-400.0,
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4.0
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],
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null,
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[
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-2.0,
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4.0
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]
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini (missing: C)"
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},
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{
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"machineId": "trivkins-xyzya",
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"coordinates": "XYZYA",
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"entrypoint": "linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini",
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"kinematics": "trivkins",
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"jointCount": 5,
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"jointOrder": [
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"X",
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"Y",
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"Z",
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"Y#2",
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"A"
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],
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"limitsByJoint": [
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[
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-0.001,
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520.0
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],
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[
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-0.001,
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630.0
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],
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[
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-115.0,
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10.0
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],
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[
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-0.001,
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630.0
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],
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null
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini (missing: A)"
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},
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{
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"machineId": "scorbot-kins",
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"coordinates": "XYZAB",
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"entrypoint": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
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"kinematics": "scorbot-kins",
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"jointCount": 5,
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"jointOrder": [
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"J0",
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"J1",
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"J2",
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"J3",
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"J4"
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],
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"limitsByJoint": [
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null,
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null,
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null,
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null,
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null
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],
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"declaredKinematicsJointCount": 5,
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"extraJointCount": 0,
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"parameters": {},
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"limitsSource": "linuxcnc-ini (missing: J0,J1,J2,J3,J4)"
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}
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]
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}
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