refactor(layout): src/ 收成顶层包 arm/，入口统一 python -m；提升承担构建的 scratch 脚本

单文件约束取消后，Python 侧没必要再靠 16 处 sys.path.insert 维持扁平模块互认。现在按职责分包： arm/paths.py 路径唯一来源（含新增 CACHE、TPL） arm/constants.py 实测接口数值（原 armcore 的 M/C/CLR/FIT/MOTOR_TOL 段） arm/cad/{helpers,arm_build,part_tools,parts/} 几何与装配 arm/kinematics.py（原 human_layout.py，唯一运动学事实源） arm/analysis/{sweep_v2,strength_check,torque_balance,finalize_travel,ws_sweep,gen_env_mesh} arm/dataio/{screw_mesh,draw_sheet} arm/viewer/{build_viewer,shot} arm/build_model.py（原 arm_model.py）顺带修掉的既有缺陷（都是实测撞出来的，不是预防性改动）： - arm_model 第二次 sys.path 跳到 gitignore 的 scratch/ 去 import 构建必需的包络脚本： ws_sweep/gen_env_mesh 提升进 arm/analysis/，缓存挪到 data/cache/（gitignore，可重生成）。 - finalize_travel / draw_sheet 顶层就是"算完写文件"，一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍；现在被 import 直接抛错。 - strength_check 用 OUT.replace("/out","/web") 靠字符串形状推路径，改成直接用 WEB。 - build_viewer 里 WORKSPACE 使用点漏改导致 NameError —— 已由构建关卡抓到并修掉。 os._exit 的处置与计划里的假设相反：实测光是 `python -c "import arm.cad.helpers"` 就会在解释器退出时段错误（exit 139，OCC 静态析构），全流程跑完也一样。所以入口脚本尾部保留 flush + os._exit，并把原因写进注释；被 import 时不生效。关卡（tests/）： - verify.py 一条命令跑三层：产物 md5、IK 数值 exact 段、截图。 - 截图基线重做并分级：同一构建连跑两轮实测 102 张逐字节可复现（要求 md5 相同）， 3 张线束 x-ray 不可复现（mean<=0.0017、无像素差>8）改为与参考像素比容差；这 3 张不再入库，免得每次跑关卡都脏 git。 - 新增 ?view=sheet / ?sheet=N / ?theme / ?guide=N 四个 URL 参数：工程图与装配向导占了约一半 CSS 和 700 行 JS，原先没有任何截图覆盖，拆它们等于没有关卡。 - 关卡灵敏度已验：改坏 IK 基线一个数 -> FAIL；换旧版求解器 -> 5 处 exact 差异。实测：python -m arm.build_model 退出码 0，全部产物 md5 与基线一致， 105 视图截图全过，IK exact 段逐字节一致。
2026-10-15 03:31:20 +08:00
parent b32d44efe0
commit 649bd69810
57 changed files with 843 additions and 453 deletions
@@ -0,0 +1,3 @@
+# -*- coding: utf-8 -*-
+"""查看器侧：数据打包、本地静态服务、headless 截图。
+"""
@@ -0,0 +1,76 @@
+# -*- coding: utf-8 -*-
+"""Assemble the single-file viewer: three.js (inline, no CDN) + mesh data + 2D sheets."""
+import io
+import json
+import os
+import sys
+
+try:
+    sys.stdout.reconfigure(encoding="utf-8")
+except Exception:
+    pass
+from arm.paths import WEB, DOCS, REPO, TPL
+
+import time
+
+def rebuild_viewer():
+    print("=" * 80, flush=True)
+    print("【第五阶段 5/5】打包单文件三维交互查看器 (机器人手臂3D查看器.html)...", flush=True)
+    print("=" * 80, flush=True)
+    t0 = time.time()
+    print("  - 读取 Three.js 离线 3D 渲染内核...", end="", flush=True)
+    three = io.open(WEB + "/three_inline.js", encoding="utf-8").read()
+    assert len(three) > 400000, len(three)
+    print(f" 完成 ({len(three)/1024:.0f} KB) ✓", flush=True)
+
+    print("  - 读取几何网格与关节运动学数据...", end="", flush=True)
+    data = io.open(WEB + "/mesh_arm.json", encoding="utf-8").read()
+    sheets = io.open(WEB + "/sheets.jsdata", encoding="utf-8").read()
+    trv = io.open(DOCS + "/travel.json", encoding="utf-8").read() if os.path.exists(
+        DOCS + "/travel.json") else "[]"
+    col = io.open(DOCS + "/collide.json", encoding="utf-8").read() if os.path.exists(
+        DOCS + "/collide.json") else '{"caps":[],"parts":{}}'
+    screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
+        DOCS + "/screws.json") else "[]"
+    ik_solver = io.open(WEB + "/arm-ik-solver.js", encoding="utf-8").read()
+    ik_glue = io.open(WEB + "/ik-glue.js", encoding="utf-8").read()
+    tpl = io.open(TPL, encoding="utf-8").read()
+    print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)
+
+    print("  - 打包生成全内置单文件 HTML...", end="", flush=True)
+    out = (tpl.replace("/*__THREE__*/", three)
+              .replace("/*__DATA__*/", data)
+              .replace("/*__SHEETS__*/", sheets)
+              .replace("/*__TRAVEL__*/", trv)
+              .replace("/*__COLLIDE__*/", col)
+              .replace("/*__SCREWS__*/", screws)
+              .replace("/*__IKSOLVER__*/", ik_solver)
+              .replace("/*__IKGLUE__*/", ik_glue))
+    assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
+    dst = WEB + "/机器人手臂3D查看器.html"
+    # 【2026-10-06】三个副本逐个写、逐个报错，不要一把梭。
+    #   原来三行连写，任一份被浏览器独占（Windows 上打开中的 html 是独占锁）就抛异常，
+    #   而调用方 arm_model.py 把整个 rebuild_viewer() 包在 try/except 里，
+    #   于是只写成功第一份、另外两份静默停在旧版本 —— 表现为"代码改了但网页没变"。
+    #   实测就是这个坑：18:52 那次 dst 是新的，web/index.html 和根目录那份还停在 18:12。
+    ok, failed = True, []
+    for path in (dst, WEB + "/index.html", REPO + "/机器人手臂3D查看器.html"):
+        try:
+            io.open(path, "w", encoding="utf-8").write(out)
+        except Exception as e:
+            ok = False
+            failed.append("%s (%s)" % (path, e))
+    sz_mb = os.path.getsize(dst) / 1e6
+    print(f" 完成 ({sz_mb:.2f} MB, 耗时: {time.time()-t0:.2f}s) ✓", flush=True)
+    if failed:
+        print("!! 以下副本写入失败（多半是浏览器正打开着该文件，Windows 独占锁）：", flush=True)
+        for f in failed:
+            print("     - %s" % f, flush=True)
+        print("   关掉对应页面后重跑 python -m arm.viewer.build_viewer 即可。\n", flush=True)
+    else:
+        print(f"-> 3D查看器已更新至: {dst}、{WEB}/index.html 与 根目录/机器人手臂3D查看器.html\n",
+              flush=True)
+
+if __name__ == "__main__":
+    rebuild_viewer()
+
@@ -0,0 +1,180 @@
+# -*- coding: utf-8 -*-
+"""Headless Edge screenshots of the viewer, for the visual self-check loop."""
+import os
+import subprocess
+import sys
+import shutil
+import glob
+
+try:
+    sys.stdout.reconfigure(encoding="utf-8")
+except Exception:
+    pass
+
+from arm.paths import WEB, DOCS
+SHOTS = DOCS + "/shots"
+HTML = WEB + "/机器人手臂3D查看器.html"
+CAND = [r"C:\Program Files (x86)\Microsoft\Edge\Application\msedge.exe",
+        r"C:\Program Files\Microsoft\Edge\Application\msedge.exe"]
+EDGE = next((c for c in CAND if os.path.exists(c)), None)
+if not EDGE:
+    EDGE = glob.glob(r"C:\Users\*\AppData\Local\Microsoft\Edge\*\msedge.exe")
+    EDGE = EDGE[0] if EDGE else None
+    if not EDGE:
+        raise SystemExit("msedge not found")
+
+VIEWS = {
+    "01_iso": "?cam=iso",
+    "zoom_user": "?cam=iso&az=-0.9&po=1.15&rd=470&tx=30&ty=320&tz=-80&xray=0",
+    "user_harness_view": "?az=-1.85&po=1.32&rd=430&tx=0&ty=330&tz=-115&xray=0",
+    "user_harness_zoom": "?az=-1.85&po=1.32&rd=280&tx=-5&ty=360&tz=-115&xray=0",
+    "user_m1_rear": "?az=-1.25&po=1.35&rd=350&tx=-70&ty=570&tz=-128&xray=0",
+    "user_m1_exact": "?az=-1.5708&po=1.5708&rd=260&tx=0&ty=610&tz=-128&xray=0",
+    "user_m1_bypass_oblique": "?az=-1.0&po=1.15&rd=300&tx=-40&ty=580&tz=-140&xray=0",
+    "user_smooth_harness": "?az=1.50&po=1.45&rd=340&tx=-15&ty=560&tz=-128&xray=0",
+    "user_contour_harness": "?az=1.5708&po=1.50&rd=360&tx=-15&ty=320&tz=-128&xray=0",
+    "02_front": "?cam=front",
+
+    # 工程图 / 装配向导 / 运动模拟三种模式。URL 参数（?view=&sheet=&theme=&guide=）就是
+    # 为这几条截图加的：不把它们纳入基线，拆 CSS 与那 700 行工程图 JS 时等于没有关卡。
+    "m1_sheet_front": "?view=sheet",
+    "m2_sheet_joint": "?view=sheet&sheet=1",
+    "m3_sheet_exploded": "?view=sheet&sheet=2",
+    "m4_sheet_side": "?view=sheet&sheet=3",
+    "m5_guide_step1": "?view=sheet&sheet=guide&guide=0",
+    "m6_guide_step5": "?view=sheet&sheet=guide&guide=4",
+    "m7_sheet_blueprint": "?view=sheet&theme=blueprint",
+    "m8_sheet_dark": "?view=sheet&theme=dark",
+    "m9_motion": "?view=motion",
+    "03_side": "?cam=side",
+    "04_top": "?cam=top",
+    "05_exploded": "?cam=iso&expl=100",
+    "06_wrist": "?cam=wrist&xray=0",
+    "07_joint": "?cam=joint",
+    "08_pose": "?cam=iso&j2=35&j3=60&j4=-25&j1=25",
+    "09_sheet": "?sheet=1",
+    "10_solid": "?cam=iso&xray=0",
+    "11_tool_flange": "?cam=wrist&xray=0&j6=45",
+    "12_elbow_flare": "?cam=elbow&xray=0",
+    "13_forearm_side": "?cam=side&xray=0&rd=340&ty=245&tz=-135",
+    "user_target": "?cam=side&az=-1.5708&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
+    "view_yz_pos_x": "?cam=side&az=0&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
+    "view_yz_neg_x": "?cam=side&az=3.14159&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
+    "view_iso_forearm": "?cam=side&az=-0.65&po=1.2&xray=0&rd=320&tx=100&ty=245&tz=-135",
+    "user_view1": "?cam=wrist&az=0.55&po=1.4&rd=310&xray=0",
+    "user_view2": "?cam=wrist&az=0.2&po=1.4&rd=290&xray=0",
+    "user_p04": "?cam=joint&az=-1.5708&po=1.57&rd=380&xray=0",
+    "user_p04_opp": "?cam=joint&az=1.5708&po=1.57&rd=380&xray=0",
+    "user_elbow_rear": "?az=1.5708&po=1.5708&rd=280&tx=95&ty=315&tz=-128&xray=0",
+    "user_p07_wrist": "?az=1.5708&po=1.5708&rd=240&tx=95&ty=235&tz=-128&xray=0",
+    "user_elbow_front": "?az=-1.5708&po=1.5708&rd=250&tx=18.5&ty=310&tz=-128&xray=0",
+    "user_p06_xz": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=350&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
+    "user_p06_yz": "?az=0&po=1.5708&rd=260&tx=18.5&ty=350&tz=-110&xray=0",
+    "user_p06_iso": "?az=-0.65&po=1.25&rd=260&tx=-15&ty=350&tz=-128&xray=0",
+    "user_p07_creases": "?az=-0.65&po=1.25&rd=260&tx=30&ty=270&tz=-130&xray=0",
+    # 电机腔内壁（隐藏全部电机，从腔内看 R35/R30.15 两段同心圆弧是否连续）
+    "bay_p06_inside": "?az=1.5708&po=1.5708&rd=250&tx=18.5&ty=345&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
+    "bay_p07_inside": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=235&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
+    "bay_p08_inside": "?az=1.5708&po=1.5708&rd=210&tx=18.5&ty=175&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
+    "user_p04_side": "?az=1.5708&po=1.5708&rd=300&tx=18.5&ty=520&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
+    "user_p04_bottom": "?az=0.5&po=2.0&rd=240&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
+    "user_p04_bottom2": "?az=1.2&po=2.0&rd=260&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
+    "user_shoulder_solid": "?cam=joint&az=2.1&po=1.35&rd=380&xray=0",
+    "user_shoulder_xray": "?cam=joint&az=2.1&po=1.35&rd=380",
+    "user_shoulder_top": "?cam=joint&az=-0.6&po=0.6&rd=360&xray=0",
+    # P03 轻量化桁架版（孤立视图：只留 P03，隐藏其余零件/电机/螺钉/包络）
+    "p03_light_iso": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "p03_light_side": "?az=1.5708&po=1.5708&rd=320&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "p03_light_rear": "?az=0.0&po=1.45&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "p03_light_join": "?az=0.62&po=1.15&rd=420&tx=18.5&ty=520&tz=-128&xray=0",
+    "p03_light_xray": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=1&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    # 减重版（2026-10-02）：P04 立柱槽 / P06 过渡块窗 / P07 顶板槽 的孤立视图
+    # 俯视看朝上敞开的槽口，斜视看槽壁与留下来的抗弯腹板
+    "hollow_p04_top": "?az=0.0&po=0.05&rd=250&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "hollow_p04_iso": "?az=0.7&po=1.05&rd=280&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "hollow_p07_top": "?az=0.0&po=0.05&rd=230&tx=18.5&ty=270&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "hollow_p07_iso": "?az=0.7&po=1.05&rd=260&tx=18.5&ty=275&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    "hollow_p06_iso": "?az=0.7&po=1.05&rd=190&tx=18.5&ty=368&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
+    # P03↔立柱 安装接口（新版 4xM5 从腔体上方拧入）：俯视看螺钉落位
+    "p03_mount_top": "?az=0.9&po=1.30&rd=190&tx=-115&ty=476&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
+    "p03_mount_iso": "?az=2.2&po=0.95&rd=230&tx=-115&ty=486&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
+    "p03_mount_loose": "?az=0.9&po=0.42&rd=260&tx=-115&ty=500&tz=-128&xray=0&expl=60&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
+    "j3_前端压盖_装配": "?az=0.7&po=2.72&rd=190&tx=19.5&ty=396&tz=-128&xray=0&hide=立柱,底座,肩关节安装悬臂,肩叉,大臂骨架,小臂骨架,腕部转接座,末端工具法兰,M1,M2,M4,M5,M6,包络经纬网",
+    "j3_前端压盖_全件": "?az=0.7&po=2.6&rd=300&tx=19.5&ty=420&tz=-128&xray=0",
+    # 承压面下沉 2mm 留下的"悬空凸台"（2026-10-04 整改）：沿电机轴线从尾端面方向看，
+    # 四个视图分别对应 P04/P05/P06/P07 的后端。ax/po 沿轴向，rd 拉近到 R35 座圈。
+    # 沿电机轴线从尾端面看过去：承压面(R35圆面) + 4xS02 沉孔，凸台消失后应是干净圆面
+    "boss_p04": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M3,M4,M5,M6,ENV",
+    "user_fork_fixed": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P06,P07,P08,P09,M1,M4,M5,M6,ENV,S0,S1",
+    "bay_p04_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
+    "bay_p06_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=332&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
+    "bay_p07_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=227&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
+    "p04_both_ends": "?az=1.5708&po=1.5708&rd=200&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
+    "p04_m2_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
+    "p06_m4_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV,S0,S1",
+    "p07_m5_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=227&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV,S0,S1",
+    "p05_m3_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=400&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M1,M2,M4,M5,M6,ENV,S0,S1",
+    "boss_p05": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=392&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M2,M4,M5,M6,ENV",
+    "user_compare_view": "?cam=side&az=0&po=1.5708&rd=460&tx=19.5&ty=380&tz=-128&xray=0&hide=P01,P02,P03,P09,M1,M6,ENV",
+    "user_p07_check": "?az=1.5708&po=1.5708&rd=260&tx=19.5&ty=220&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P09,M1,M2,M3,M4,M5,M6,ENV",
+    "boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
+    "boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
+    "svg_side": f"file:///{DOCS}/sheet_side.svg",
+    "svg_joint": f"file:///{DOCS}/sheet_joint.svg",
+    "svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
+    "user_circle_check": "?az=0.8&po=1.95&rd=240&tx=19.5&ty=430&tz=-128&xray=0&hide=M1,M2,M3,M4,M5,M6,ENV",
+    "user_exact_view": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=440&tz=-128&xray=0&hide=P01,P02,P03,M1,M2,M3,M4,M5,M6,ENV",
+    "shot_p08_user": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=176&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P07,P09,M1,M2,M3,M4,M5,M6,ENV",
+    "p05_flank_view": "?az=0&po=1.5708&rd=200&tx=19.5&ty=440&tz=-135&xray=0&hide=P01,P02,P03,P07,P08,P09,M1,M4,M5,M6,ENV",
+    "harness_full_iso": "?cam=iso&xray=0",
+    "harness_overview": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&xray=0",
+    "harness_xray_internal": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&alpha=0.35&xray=1",
+    "harness_p07_window": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&xray=0",
+    "harness_p07_xray": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&alpha=0.35&xray=1",
+    "harness_p04_p05": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&xray=0",
+    "harness_p04_p05_xray": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&alpha=0.35&xray=1",
+    "harness_p06_window": "?az=-0.65&po=1.25&rd=240&tx=25&ty=355&tz=-128&xray=0",
+    "harness_xray_full": "?cam=iso&xray=1",
+    # 扎带拱桥核验：沿 ±Y 正视肩部，确认三个拱桥各自露出多少、线束是否压在桥上
+    "tie_probe_negY": "?az=1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
+    "tie_probe_posY": "?az=-1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
+    "tie_after_negY": "?az=1.5708&po=1.5708&rd=300&tx=-25&ty=600&tz=-128&xray=0",
+    "tie_after_oblique": "?az=2.05&po=1.30&rd=330&tx=-25&ty=600&tz=-128&xray=0",
+    "tie_after_close": "?az=1.90&po=1.50&rd=180&tx=-25&ty=605&tz=-100&xray=0",
+    # P06/P07 −X 侧线束走廊：从 −X、−Y 斜看（纯 −X 会被蓝色立柱挡住）
+    "tie_after_p0607": "?az=2.35&po=1.5708&rd=300&tx=0&ty=290&tz=-102.5&xray=0",
+    "tie_after_p0607_obl": "?az=2.60&po=1.35&rd=260&tx=-5&ty=290&tz=-110&xray=0",
+}
+os.makedirs(SHOTS, exist_ok=True)
+want = sys.argv[1:] or list(VIEWS)
+
+def take_shot(nm):
+    q = VIEWS[nm]
+    out = "%s/%s.png" % (SHOTS, nm)
+    import time, tempfile
+    t_bust = int(time.time() * 1000)
+    target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
+        f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
+    udd = tempfile.mkdtemp(prefix="eshot")
+    cmd = [EDGE, "--headless=new", "--use-gl=angle", "--use-angle=d3d11",
+           "--disable-cache", "--disable-application-cache", "--disk-cache-size=0",
+           "--user-data-dir=" + udd,
+           "--enable-gpu-rasterization", "--ignore-gpu-blocklist",
+           "--hide-scrollbars", "--force-device-scale-factor=1",
+           "--window-size=1500,860", "--virtual-time-budget=20000",
+           "--screenshot=" + out, target]
+    r = subprocess.run(cmd, capture_output=True, timeout=180)
+    shutil.rmtree(udd, ignore_errors=True)
+    ok = os.path.exists(out) and os.path.getsize(out) > 20000
+    err = (r.stderr or b"").decode("utf-8", errors="ignore").strip()[:90].replace("\n", " ")
+    sz = os.path.getsize(out) if os.path.exists(out) else 0
+    print("%-18s %s %8s %s" % (nm, "OK " if ok else "FAIL", sz, err), flush=True)
+    return ok
+
+if __name__ == "__main__":
+    from concurrent.futures import ThreadPoolExecutor
+    with ThreadPoolExecutor(max_workers=min(4, os.cpu_count() or 2)) as executor:
+        results = list(executor.map(take_shot, want))
+
+    print("edge:", EDGE)
+    print("all shots ok:", all(results))