wenig

data/robot/robot.json

@@ -1,6 +1,23 @@
 {
+  "_label": "todo3_2026-06-11",
   "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
-  "units": {"length": "mm", "rotation": "degree"},
+  "units": {"_owner": "appRobotDriver", "length": "mm", "rotation": "degree"},
+  "kinematics": {
+    "_owner": "appRobotDriver",
+    "type": "arm3segmentlinearx"
+  },
+  "motion": {
+    "_owner": "appRobotDriver",
+    "defaultFeedrate": 2300,
+    "speedMode": "legacy",
+    "speedModeOptions": ["legacy", "correct"]
+  },
+  "controllers": {
+    "_owner": "appRobotDriver",
+    "base":  { "ip": "fluidNcBase.local",   "port": 2300, "protocol": "telnet", "axes": ["x", "y", "z"]   },
+    "elbow": { "ip": "fluidNcEllbow.local", "port": 5000, "protocol": "telnet", "axes": ["a", null, null]  },
+    "hand":  { "ip": "fluidNcHand.local",   "port": 5000, "protocol": "telnet", "axes": ["c", "e", "b"]   }
+  },
   "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
   "renderingInfo": {
     "width": 1280,
@@ -163,6 +180,7 @@
     "normal_flip_weight": 0.05
   },
   "links": {
+    "_owner": "appRobotDriver",
     "Board": {
       "parent": null,
       "size": [1000, 200, 25],
@@ -273,7 +291,9 @@
         "axis": [1, 0, 0],
         "origin": [0, 0, 16],
         "rotation": [0, 0, 0],
-        "variable": "x"
+        "variable": "x",
+        "feedrate": 2000,
+        "controller": "base"
       },
       "skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
       "markers": [],
@@ -297,7 +317,9 @@
         "axis": [-1, 0, 0],
         "origin": [110, 108, 45],
         "rotation": [0, 0, 0],
-        "variable": "y"
+        "variable": "y",
+        "feedrate": 2300,
+        "controller": "base"
       },
       "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
       "markers": [
@@ -327,7 +349,9 @@
         "axis": [-1, 0, 0],
         "origin": [0, -250, 0],
         "rotation": [0, 0, 0],
-        "variable": "z"
+        "variable": "z",
+        "feedrate": 2300,
+        "controller": "base"
       },
       "skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
       "model": [
@@ -358,7 +382,9 @@
         "axis": [0, -1, 0],
         "origin": [90, 0, 0],
         "rotation": [0, 0, 0],
-        "variable": "a"
+        "variable": "a",
+        "feedrate": 2300,
+        "controller": "elbow"
       },
       "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
       "model": [
@@ -390,7 +416,9 @@
         "axis": [1, 0, 0],
         "origin": [0, -250, 0],
         "rotation": [0, 0, 0],
-        "variable": "b"
+        "variable": "b",
+        "feedrate": 2300,
+        "controller": "hand"
       },
       "skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
     },
@@ -404,7 +432,9 @@
         "axis": [0, -1, 0],
         "origin": [0, 0, 0],
         "rotation": [0, 0, 0],
-        "variable": "c"
+        "variable": "c",
+        "feedrate": 2300,
+        "controller": "hand"
       },
       "skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
     },
@@ -419,7 +449,9 @@
         "axis": [1, 0, 0],
         "origin": [4, -35, 0],
         "rotation": [0, 0, 0],
-        "variable": "e"
+        "variable": "e",
+        "feedrate": 2000,
+        "controller": "hand"
       },
       "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
       "markers": [
@@ -447,7 +479,9 @@
         "axis": [-1, 0, 0],
         "origin": [-4, -35, 0],
         "rotation": [0, 0, 0],
-        "variable": "e"
+        "variable": "e",
+        "feedrate": 2000,
+        "controller": "hand"
       },
       "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
       "markers": [