Marker Update Live

public/boardViewer.html

@@ -349,7 +349,7 @@ function buildSkeletonFK(robot, angles) {
         const [nx, ny, nz] = m.normal ?? [0, 0, 1];
         const normalWorld = new THREE.Vector3(nx, nz, -ny).transformDirection(childFrame);
         gArmMarkers.add(makeMarkerSquareOriented(posWorld, normalWorld, markerSizeM, col));
-        gArmMarkers.add(makeSphere(posWorld, 0.003, col));
+        gArmMarkers.add(makeSphere(posWorld, 0.0006, col));
       }
     }
   }

public/client.js

@@ -346,6 +346,17 @@ function setHomingProgress(step, total, text) {
   if (txt) txt.textContent = text || `Schritt ${step} / ${total}`;
 }
 
+function writePartialGCode(state) {
+  const axisMap = { x: 'X', y: 'Y', z: 'Z', a: 'A', b: 'B', c: 'C', e: 'E' };
+  const parts = [];
+  for (const [key, axis] of Object.entries(axisMap)) {
+    if (state[key] != null) parts.push(`${axis}${Number(state[key]).toFixed(2)}`);
+  }
+  if (!parts.length) return;
+  const el = document.getElementById('gcodePayload');
+  if (el) el.value = `G92 ${parts.join(' ')}`;
+}
+
 function showHomingResult(state) {
   // Raw JSON
   const jsonEl = document.getElementById('result-json');
@@ -518,6 +529,14 @@ async function runHoming() {
               el.value += `${evt.key}:\n${JSON.stringify(evt.value, null, 2)}\n\n`;
               el.scrollTop = el.scrollHeight;
             }
+            // Progressiver Skeleton-Update: accumulated_state nach jedem Gelenk
+            if (evt.key?.startsWith('state_') && evt.value) {
+              const frame = document.getElementById('board-viewer-frame');
+              if (frame?.contentWindow) {
+                frame.contentWindow.postMessage({ type: 'homing-state', state: evt.value }, '*');
+              }
+              writePartialGCode(evt.value);
+            }
             break;
           }