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。

.gitignore

@@ -28,3 +28,10 @@ web/机器人手臂3D查看器.html
 /机器人手臂3D查看器.html
 webapp/data/
 dist/
+data/cache/
+
+# 这 3 张线束 x-ray 截图在同一份构建下就不逐字节复现（抗锯齿噪声），
+# 每次跑关卡都会改写它们；参考像素已存进 tests/baselines/flaky/，不再入库。
+docs/shots/harness_p04_p05_xray.png
+docs/shots/harness_p07_xray.png
+docs/shots/harness_xray_internal.png

arm/__init__.py

@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+"""6 自由度人形机械臂：CadQuery 参数化建模、行程/干涉扫描、制造文件与查看器数据。
+
+入口一律从仓根以 `python -m arm.xxx` 运行：`python -m` 会把仓根放进 sys.path，
+包内 import 因此直接可解析，不需要 pip install。
+"""

arm/analysis/__init__.py

@@ -0,0 +1,3 @@
+# -*- coding: utf-8 -*-
+"""行程与干涉扫描、强度与力矩核算、可达包络采样与网格注入。
+"""

arm/analysis/finalize_travel.py

@@ -14,8 +14,15 @@ import math
 
 import os
 import sys
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from arm.analysis.sweep_v2 import CHAIN
-from sweep_v2 import CHAIN, DOCS
+from arm.paths import DOCS
+
+# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
+# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
+if __name__ != "__main__":
+    raise RuntimeError(
+        "finalize_travel 是脚本：顶层代码一执行就重写产物，不能 import。"
+        "要用就跑 python -m arm.analysis.finalize_travel。")
 
 d = json.load(open(DOCS + "/travel_detail.json", encoding="utf-8"))
 

arm/analysis/gen_env_mesh.py

@@ -0,0 +1,100 @@
+# -*- coding: utf-8 -*-
+"""生成可达外包络的 ENV 零件（经纬网单件）追加进 web/mesh_arm.json：
+  ENV_WL_包络经纬网 —— kind=line，LineSegments 渲染（经向 10°/条、纬向 8mm/环）
+包络 = rmax(x) 母线绕 J1 轴（平行 X，过 (y=128, z=610)）整周回转；grp=root 不随关节动。"""
+import json
+import math
+import os
+import sys
+
+import numpy as np
+
+from arm.paths import WEB, CACHE
+from arm import kinematics as HL
+
+Y_AX = HL.Y_AXIS                                  # 128
+Z_AX = HL.Z_RL                                    # 610
+
+
+def main():
+    d = np.load(CACHE + "/ws_cloud.npz")
+    xs, rmax = d["xs"], d["rmax"]
+    ok = ~np.isnan(rmax)
+    xs, rmax = xs[ok], rmax[ok]
+
+    def grid(step_x, dphi_deg):
+        """经纬参数网格 -> verts(NX*NP,3), segs(扁平索引对), tris。"""
+        xs_e = np.arange(xs.min(), xs.max() + 1e-9, step_x)
+        rm_e = np.interp(xs_e, xs, rmax)
+        nph = int(round(360.0 / dphi_deg))
+        phg = np.linspace(0.0, 2.0 * math.pi, nph, endpoint=False)
+        nx = len(xs_e)
+        V = np.empty((nx * nph, 3))
+        for i, x in enumerate(xs_e):
+            r = rm_e[i]
+            for j, ph in enumerate(phg):
+                V[i * nph + j] = (x, Y_AX + r * math.cos(ph), Z_AX + r * math.sin(ph))
+        segs = []
+        for i in range(nx - 1):                     # 经线（沿 x）
+            for j in range(nph):
+                segs += [i * nph + j, (i + 1) * nph + j]
+        for i in range(nx):                         # 纬线（沿 φ）
+            for j in range(nph):
+                j2 = (j + 1) % nph
+                segs += [i * nph + j, i * nph + j2]
+        tris = []
+        for i in range(nx - 1):
+            for j in range(nph):
+                j2 = (j + 1) % nph
+                a, b = i * nph + j, i * nph + j2
+                c, e = (i + 1) * nph + j, (i + 1) * nph + j2
+                tris += [a, c, b, b, c, e]
+        return V, segs, tris
+
+    # 经纬网单件：经向 10°一条、纬向 8mm一环（无需贴片面，线自带罩体感）
+    Vl, sl, _tl = grid(8.0, 10.0)
+
+    # 自证：包络尺寸应等于 ws_metrics 极值。
+    # 【2026-10-05c 修正】原来是 <1.0 的硬比较，但网格 x 是从 xs.min() 起按 step_x
+    # 对齐的（np.arange），最后一个采样点最多比真极值短一个步长 —— 一旦
+    # (x_fwd - xs.min()) 不是 step_x 的整数倍，断言就会假失败（实测差 6.46mm，
+    # 正好 < 8.0），导致包络注不进去、查看器里"可达包络"整个消失。改为
+    # "不得超出、且至多少一个步长"这个真正成立的判据。
+    step_x = 8.0
+    met = json.load(open(CACHE + "/ws_metrics.json", encoding="utf-8"))
+    assert Vl[:, 0].min() >= met["x_back"] - 1e-6, (Vl[:, 0].min(), met["x_back"])
+    assert Vl[:, 0].min() <= met["x_back"] + step_x + 1e-6, (Vl[:, 0].min(), met["x_back"])
+    assert Vl[:, 0].max() <= met["x_fwd"] + 1e-6, (Vl[:, 0].max(), met["x_fwd"])
+    assert Vl[:, 0].max() >= met["x_fwd"] - step_x - 1e-6, (Vl[:, 0].max(), met["x_fwd"])
+    rl = np.hypot(Vl[:, 1] - Y_AX, Vl[:, 2] - Z_AX)
+    # rl.max() 就是 rmax(x) 网格插值后的峰值，与 met["r_max"]（原始点云极值）之间
+    # 只允许有插值/取整量级的差（实测 0.044mm），故给 1.0mm 容差。
+    assert abs(rl.max() - met["r_max"]) < 1.0, (rl.max(), met["r_max"])
+    assert np.all((Vl[:, 1] - Y_AX) ** 2 + (Vl[:, 2] - Z_AX) ** 2
+                  <= (np.interp(Vl[:, 0], xs, rmax) + 1e-6) ** 2), "line"
+    print("包络经纬网: 顶点%d 线段%d（经10° x 纬8mm）" % (len(Vl), len(sl) // 2))
+
+    # ---- 追加进 mesh_arm.json ----
+    path = WEB + "/mesh_arm.json"
+    data = json.load(open(path, encoding="utf-8"))
+    data["parts"] = [p for p in data["parts"] if not p["name"].startswith("ENV_")]
+    mx = max(p["idx"] for p in data["parts"])
+    note_ws = ("可达外包络（运动学，docs/travel.json 滑块限位下的全组合 FK 包络）："
+               "r=rmax(x) 绕 J1 轴整周回转。高 %.0f~%.0f mm，前伸 %.0f / 后伸 %.0f mm，"
+               "离 J1 轴最远 %.0f mm；包络内含死区（肩下折不进），多关节同极位由控制器避碰。"
+               % (met["z_min"], met["z_max"], met["x_fwd"], met["x_back"], met["r_max"]))
+    line = dict(name="ENV_WL_包络经纬网", cn="包络经纬网", v=[list(p) for p in Vl],
+                s=sl, color=0x60a5fa, printed=False, vol=round(met["vol_dm3"] * 1e6, 1),
+                note=note_ws + " 经纬线：经向 10°/条，纬向 8mm/环。",
+                grp="root", jaw=0.0, ex=[0.0, 0.0, 0.0], idx=mx + 1,
+                kind="line")
+    data["parts"] += [line]
+    tmp = path + ".tmp"
+    with open(tmp, "w", encoding="utf-8") as f:
+        json.dump(data, f, ensure_ascii=False, separators=(",", ":"))
+    os.replace(tmp, path)
+    print("已写入", path, "大小 %.1f MB" % (os.path.getsize(path) / 1e6))
+
+
+if __name__ == "__main__":
+    main()

arm/analysis/strength_check.py

@@ -19,22 +19,19 @@ import math
 import os
 import re
 import sys
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 try:
     sys.stdout.reconfigure(encoding="utf-8")
 except Exception:
     pass
 import cadquery as cq
-from armcore import OUT, DOCS, solids_of, bb, mesh_of
+from arm.paths import OUT, WEB, DOCS
+from arm.cad.helpers import solids_of, bb, mesh_of
 from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
 from OCP.BRepGProp import BRepGProp
 from OCP.GProp import GProp_GProps
 from OCP.BRepPrimAPI import BRepPrimAPI_MakeBox
 from OCP.gp import gp_Pnt, gp_Dir, gp_Ax2, gp_Vec
-
+from arm import kinematics as HL
-import human_layout as HL
-
 RHO = {"PLA": 1.24e-3, "motor_g": 210.0}      # g/mm3 for printed, g per module
 # a slicer does not print solid: 3 perimeters + 30% infill lands near this fraction of
 # the CAD envelope, and using the solid mass would blame the part for plastic that is not there
@@ -159,7 +156,7 @@ def section_props(sh, normal, origin, bend=2, size=400.0):
 
 def arm_masses():
     """Everything distal to each joint, in grams, from the model itself."""
-    meta = json.load(io.open(OUT.replace("/out", "/web") + "/mesh_arm.json", encoding="utf-8"))
+    meta = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
     TREE = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
     tot = {}
     for p in meta["parts"]:
@@ -202,7 +199,7 @@ def _mesh_vol_cg(v, t):
 
 def part_table(payload_kg=None):
     """[(name, mass_g, cg_xyz, grp)]，含末端负载这个集中质量点。"""
-    meta = json.load(io.open(OUT.replace("/out", "/web") + "/mesh_arm.json", encoding="utf-8"))
+    meta = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
     rows = []
     for p in meta["parts"]:
         nm = p["name"]
@@ -488,5 +485,10 @@ def main():
 if __name__ == "__main__":
     b = main()
     print("\n不合格截面 %d 处" % len(b))
-    sys.stdout.flush()      # os._exit 不刷缓冲，重定向到文件时否则输出全丢
+
+    # OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
+    # `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
+    # 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
+    # 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
+    sys.stdout.flush()
     os._exit(0)

arm/analysis/sweep_v2.py

@@ -27,8 +27,7 @@
 就是臂撞躯干，是真约束。--no-stand 仅用于诊断：排除台架后重扫，给出"不含躯干约束"的
 自由空间行程，用来分辨某个限位是臂自身折叠产生的还是躯干挡的（台架位置本身是假设，
 改它等于改测试工装，不等于改设计）。
-
+运行：python -m arm.analysis.sweep_v2 [--workers 20] [--step 2] [--combo-step 6]
-运行：python src/sweep_v2.py [--workers 20] [--step 2] [--combo-step 6]
                            [--no-combos] [--joints J2,J4] [--no-gjk] [--no-stand]
 """
 import json
@@ -38,20 +37,17 @@ import sys
 import time
 
 import numpy as np
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 try:
     sys.stdout.reconfigure(encoding="utf-8")
 except Exception:
     pass
 
 import multiprocessing as mp
-
+from arm.cad import arm_build as AB
-import arm_build as AB
 import cadquery as cq
-import human_layout as HL
+from arm import kinematics as HL
-from armcore import place, bb, DOCS
+from arm.paths import DOCS
-
+from arm.cad.helpers import place, bb
 VOL_MIN = 2.0            # mm3，超过即计为干涉
 CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
 MOUNT_PAIRS = {
@@ -175,7 +171,7 @@ def _do_simplex(s):
 def load_model(include_fixture=True):
     """include_fixture=False 时把 P01 立柱 / P02 底盘（固定测试台架，非本体）排除在
     碰撞配对之外——用来得到真机工作空间而不是台架工作空间。见 human_layout.FIXTURE_PREFIX。"""
-    import arm_model as AM
+    from arm import build_model as AM
     JS = AM.build()
     parts = []
     for p in AB.PARTS:
@@ -721,3 +717,10 @@ def main():
 
 if __name__ == "__main__":
     main()
+
+    # OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
+    # `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
+    # 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
+    # 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
+    sys.stdout.flush()
+    os._exit(0)

arm/analysis/torque_balance.py

@@ -29,17 +29,13 @@ import json
 import math
 import os
 import sys
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 try:
     sys.stdout.reconfigure(encoding="utf-8")
 except Exception:
     pass
-
+from arm import kinematics as HL
-import human_layout as HL
+from arm.paths import DOCS
-from armcore import DOCS
+from arm.analysis import strength_check as SC
-import strength_check as SC
-
 G = 9.81
 T_CONT = float(os.environ.get("ARMT_CONT", "2.5"))
 T_PEAK = float(os.environ.get("ARMT_PEAK", "8.0"))
@@ -206,9 +202,12 @@ def main():
         w = min(ok, key=lambda t: mp[t])
         print("  整臂瓶颈 %s -> %.2f kg" % (w, mp[w]))
     print("\n已写出 docs/torque_balance.json + docs/torque_report.md")
-    sys.stdout.flush()
-
-
 if __name__ == "__main__":
     main()
+
+    # OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
+    # `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
+    # 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
+    # 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
+    sys.stdout.flush()
     os._exit(0)

arm/analysis/ws_sweep.py

@@ -0,0 +1,143 @@
+# -*- coding: utf-8 -*-
+"""关节角组合可达空间（工具尖点）计算：FK 采样 + J1 旋转对称包络 + 体积估计"""
+import json
+import math
+import os
+import sys
+
+import numpy as np
+
+from arm import kinematics as HL
+from arm.paths import DOCS, CACHE
+
+TRAVEL = {t["axis"]: (t["lo"], t["hi"]) for t in
+          json.load(open(DOCS + "/travel.json", encoding="utf-8"))}
+
+TIP = (HL.X_ARM, HL.Y_AXIS, HL.Z_TIP)          # P09 法兰底面中心（工具安装面）
+J1_AX = (HL.Y_AXIS, HL.Z_RL)                   # J1 转轴: 过 Y=128, Z=610, 平行 X
+
+
+def rot_about(p, k, ang):
+    """绕轴 (p 点, k 方向) 旋转 ang(弧度, 可为数组M,)；返回 Rm(M,3,3), t(M,3)。
+    p' = Rm @ (p_pt - p) + p，与 AB.R 的 gp_Trsf.SetRotation 右手定则一致。"""
+    k = np.asarray(k, dtype=float)
+    k = k / np.linalg.norm(k)
+    ang = np.atleast_1d(np.asarray(ang, dtype=float))
+    px, py, pz = p
+    K = np.array([[0.0, -k[2], k[1]], [k[2], 0.0, -k[0]], [-k[1], k[0], 0.0]])
+    K2 = K @ K
+    Rm = np.eye(3)[None, :, :] + np.sin(ang)[:, None, None] * K[None, :, :] \
+        + (1.0 - np.cos(ang))[:, None, None] * K2[None, :, :]
+    pp = np.array([px, py, pz])
+    t = pp[None, :] - np.einsum("mij,j->mi", Rm, pp)
+    return Rm, t
+
+
+def fk_batch(angles, tip=TIP):
+    """angles: dict idx->弧度数组(M,)；返回 (M,3) 世界坐标。链式 acc 与 sweep_v2 一致：
+    父关节变换在最外层 p' = R1∘R2∘…∘R5 (p)，各 R_i 绕其零位世界轴（human_layout 唯一事实源）。"""
+    pts = np.tile(np.asarray(tip, dtype=float), (angles[1].shape[0], 1))
+    for i in range(5, 0, -1):                  # J6 跳过：尖点在 J6 轴上，其转角不改变尖点位置
+        rear, d = HL.JOINTS[i - 1][2], HL.JOINTS[i - 1][3]
+        Rm, t = rot_about(rear, d, angles[i])
+        pts = np.einsum("mij,mj->mi", Rm, pts) + t
+    return pts
+
+
+def sweep(step=2.0):
+    j2 = np.radians(np.arange(TRAVEL["J2"][0], TRAVEL["J2"][1] + 1e-9, step))
+    j4 = np.radians(np.arange(TRAVEL["J4"][0], TRAVEL["J4"][1] + 1e-9, step))
+    j5 = np.radians(np.arange(TRAVEL["J5"][0], TRAVEL["J5"][1] + 1e-9, step))
+    g2, g4, g5 = np.meshgrid(j2, j4, j5, indexing="ij")
+    M = g2.size
+    angles = {1: np.zeros(M), 2: g2.ravel(), 3: np.zeros(M),
+              4: g4.ravel(), 5: g5.ravel()}
+    pts = fk_batch(angles)
+    # 自证1：零位尖点必须回到 (18.5,128,93)
+    z0 = fk_batch({i: np.zeros(1) for i in range(1, 6)})
+    assert np.allclose(z0[0], TIP, atol=1e-9), z0[0]
+    # 自证2：J1/J6 旋转不改变 (x, r) 与极值位置——J1 取中值扫一遍，r 分布应与 J1=0 相同
+    for phi in (0.5, 1.2, 2.4):
+        v1 = np.full(M, phi)
+        p1 = fk_batch({1: v1, 2: g2.ravel(), 3: np.zeros(M),
+                       4: g4.ravel(), 5: g5.ravel()})
+        r1 = np.hypot(p1[:, 1] - J1_AX[0], p1[:, 2] - J1_AX[1])
+        r0 = np.hypot(pts[:, 1] - J1_AX[0], pts[:, 2] - J1_AX[1])
+        assert np.allclose(np.sort(r0), np.sort(r1), atol=1e-9), "J1 对称性被破坏"
+    # 自证3：J3 旋转（大臂自转）不改变尖点位置——关节轴过尖点所在纵线
+    print("J3 对称性: 尖点 x=%.1f 与 J3 轴 x=%.1f 一致=%s, y=%.1f 与轴 y=%.1f 一致=%s"
+          % (TIP[0], HL.X_ARM, abs(TIP[0] - HL.X_ARM) < 1e-9,
+             TIP[1], HL.Y_AXIS, abs(TIP[1] - HL.Y_AXIS) < 1e-9))
+    print("J6 含于轴: 尖点 (%.1f,%.1f) vs 轴 (%.1f,%.1f)"
+          % (TIP[0], TIP[1], HL.JOINTS[5][2][0], HL.JOINTS[5][2][1]))
+    return pts
+
+
+def envelope(pts, grid=1.0):
+    """(x, r) 半平面栅格化占用 + 体积（绕 J1 轴回转）。"""
+    x = pts[:, 0]
+    r = np.hypot(pts[:, 1] - J1_AX[0], pts[:, 2] - J1_AX[1])
+    x0, x1 = math.floor(x.min()), math.ceil(x.max())
+    r0, r1 = 0.0, math.ceil(r.max())
+    nx = int(round((x1 - x0) / grid)) + 1
+    nr = int(round((r1 - r0) / grid)) + 1
+    xi = np.clip(((x - x0) / grid).round().astype(int), 0, nx - 1)
+    ri = np.clip((r / grid).round().astype(int), 0, nr - 1)
+    occ = np.zeros((nx, nr), dtype=bool)
+    occ[xi, ri] = True
+    # 每个 x 列只保留 r <= 该列可达最大 r（回转体沿 r 连续填充）
+    for i in range(nx):
+        j = np.nonzero(occ[i])[0]
+        if j.size:
+            occ[i, : j.max() + 1] = True
+    rr = r0 + np.arange(nr) * grid
+    vol = float((occ * (2.0 * math.pi * rr)[None, :] * grid * grid).sum())
+    return dict(occ=occ, x0=x0, grid=grid, rm_axes=rr, vol_mm3=vol,
+                nx=nx, nr=nr)
+
+
+def main():
+    pts = sweep()
+    x, y, z = pts[:, 0], pts[:, 1], pts[:, 2]
+    r = np.hypot(y - J1_AX[0], z - J1_AX[1])
+    env = envelope(pts)
+    # 每个 x 的 r 包络（侧视/俯视剖面用）
+    xs = env["x0"] + np.arange(env["nx"]) * env["grid"]
+    rmax_x, rmin_x = [], []
+    for i in range(env["nx"]):
+        j = np.nonzero(env["occ"][i])[0]
+        if j.size:
+            rmax_x.append(env["rm_axes"][j.max()])
+            rmin_x.append(env["rm_axes"][j.min()])
+        else:
+            rmax_x.append(np.nan)
+            rmin_x.append(np.nan)
+    os.makedirs(CACHE, exist_ok=True)
+    np.savez_compressed(CACHE + "/ws_cloud.npz",
+                        pts=pts, xs=np.array(xs),
+                        rmax=np.array(rmax_x), rmin=np.array(rmin_x))
+    met = dict(
+        z_max=float(z.max()), z_min=float(z.min()),
+        x_fwd=float(x.max()), x_back=float(x.min()),
+        y_lo=float(y.min()), y_hi=float(y.max()),
+        r_max=float(r.max()), r_min=float(r.min()),
+        reach_from_j1_axis=float(r.max()),
+        spread=float(z.max() - z.min()),
+        vol_dm3=env["vol_mm3"] / 1e6,
+        tip=TIP, j1_axis=list(J1_AX),
+        limits={k: list(v) for k, v in TRAVEL.items()},
+    )
+    # 自证4：极值点姿态可解释（打印取极值的角度组合索引）
+    imax = int(np.argmax(z)); imin = int(np.argmin(z))
+    ifwd = int(np.argmax(x)); iback = int(np.argmin(x))
+    met["pose_extreme"] = dict(
+        zmax_idx=imax, zmin_idx=imin, xfwd_idx=ifwd, xback_idx=iback)
+    print(json.dumps({k: v for k, v in met.items()
+                      if k not in ("limits", "pose_extreme")},
+                     ensure_ascii=False, indent=1))
+    json.dump(met, open(CACHE + "/ws_metrics.json", "w", encoding="utf-8"),
+              ensure_ascii=False, indent=1)
+
+
+if __name__ == "__main__":
+    main()

arm/build_model.py

@@ -10,17 +10,17 @@ import math
 import os
 import sys
 import time
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 import cadquery as cq
-import arm_build as AB
+from arm.cad import arm_build as AB
-from armcore import (M, C, cyl, box, ring, place, trs, bb, bbox_str, solids_of, OUT, WEB, DOCS)
+from arm.paths import OUT, WEB, DOCS
-from arm_build import (Joint, add, bx, Ycyl, Ybox, Yplate, prism, dogbone, sector,
+from arm.constants import M, C
+from arm.cad.helpers import cyl, box, ring, place, trs, bb, bbox_str, solids_of
+from arm.cad.arm_build import (Joint, add, bx, Ycyl, Ybox, Yplate, prism, dogbone, sector,
                        FLANGE_Z, COVER_Z, HUB_FACE_Z, CLAMP_SPAN, HUB_M2_CLOCK,
                        BORE_R, CB_R, PCB_W, D2R, T, R, PARTS)
-import human_layout as HL
+from arm import kinematics as HL
 from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
-from human_layout import (HUB, PLATE_T, R_MOT, Z_TIP, Z_WR, Z_EI, Z_SH, Z_RL, Z_R1,
+from arm.kinematics import (HUB, PLATE_T, R_MOT, Z_TIP, Z_WR, Z_EI, Z_SH, Z_RL, Z_R1,
                           Z_R3, Z_HUB3, Z_EL, Z_R6, Z_HUB6,
                           Z_R4, Z_CAP, Z_M6, Z_CHEST0, Z_CHEST1, X_J1_HUB, X_ARM, L1,
                           X_FORK_GAP, X_BAY_EXT,
@@ -33,24 +33,23 @@ AB.VERSION = VERSION
 AB.ITER = ITER
 
 # ------------------------------------------------ 逐件模块（几何已拆出）
-from parts import PART_MODULES
+from arm.cad.parts import PART_MODULES
-from part_tools import (
+from arm.cad.part_tools import (
     BOSS, CHAMFER_EDGE, CLAMP_BACKOFF, CLAMP_BCD, CLAMP_CLOCK, CLAMP_CLOCK_LOCAL, CLAMP_CLR,
     CLAMP_ROOT, CLAMP_T, CLEARANCE_GAP, DISC_R, FENCE_OPEN_CUT, FILLET_LARGE, FILLET_MEDIUM,
     FILLET_SMALL, FILLET_TINY, FILLET_XLARGE, HOLLOW_FILLET, HOLLOW_WALL, SLEEVE_R, XB, Xcyl,
     Xplate, Y_MID, cut_motor_fence, hollow_channel, hollow_tent_window, hub_m2_holes,
     make_direct_hub, make_pitch_to_roll_bracket, motor_front_clamp,
 )
-from parts.p01_column import X_COL, Y_COL, Z_LOCK, p_chest, split_p01_poka_yoke
+from arm.cad.parts.p01_column import X_COL, Y_COL, Z_LOCK, p_chest, split_p01_poka_yoke
-from parts.p02_base import make_p02_poka_yoke, p_base_foot
+from arm.cad.parts.p02_base import make_p02_poka_yoke, p_base_foot
-from parts.p03_girdle import p_girdle
+from arm.cad.parts.p03_girdle import p_girdle
-from parts.p04_fork import P04_CH, p_fork
+from arm.cad.parts.p04_fork import P04_CH, p_fork
-from parts.p05_roll_base import p_shoulder_roll_base
+from arm.cad.parts.p05_roll_base import p_shoulder_roll_base
-from parts.p06_humerus import P06_HOLLOW_WIN, P06_WIN_XZ, p_humerus_bone
+from arm.cad.parts.p06_humerus import P06_HOLLOW_WIN, P06_WIN_XZ, p_humerus_bone
-from parts.p07_forearm import P07_CH, p_forearm_bone
+from arm.cad.parts.p07_forearm import P07_CH, p_forearm_bone
-from parts.p08_wrist import p_wrist_bracket
+from arm.cad.parts.p08_wrist import p_wrist_bracket
-from parts.p09_flange import p_tool_flange
+from arm.cad.parts.p09_flange import p_tool_flange
-
 # 兼容旧工具：scratch/ 的诊断脚本按 arm_model.<符号> 取用件构造函数与开关
 
 def build():
@@ -80,9 +79,7 @@ def build():
     for t in ("J1", "J2", "J3", "J4", "J5", "J6"):
         AB.GRP[motor_of[t]] = par[t]
     AB.JAW = {}
-
+    # 逐件模块：几何、件号/配色/说明、装配帧归属都在 arm/cad/parts/ 里，
-
-    # 逐件模块：几何、件号/配色/说明、装配帧归属都在 src/parts/ 里，
     # 这里只按 BOM 顺序收集 specs()，并把件号登记到装配帧图上。
     parts_to_build = []
     for _m in PART_MODULES:
@@ -177,39 +174,26 @@ if __name__ == "__main__":
 
     # 紧固件（螺钉）实例注入：把 docs/screws.json 的 72 颗螺钉按真实孔位还原成三维实例，
     # 追加进 web/mesh_arm.json 的 parts（查看器可点 BOM 螺丝行高亮定位；纯数据，不动 CAD）
-    try:
+    from arm.dataio import screw_mesh
-        import screw_mesh
     screw_mesh.main()
-    except Exception as e:
-        print("螺钉实例注入失败（不影响主流程，可手动跑 src/screw_mesh.py）:", e, flush=True)
-
     cl = AB.collide()
-
+    from arm.viewer.build_viewer import rebuild_viewer
-    try:
-        from build_viewer import rebuild_viewer
     rebuild_viewer()
-    except Exception as e:
-        print("rebuild_viewer error:", e, flush=True)
-
     # 可达包络自动注入：AB.export 刚重写过 mesh_arm.json（包络件会被冲掉），
     # 这里重跑 FK 采样 + 包络网格注入，再重打包一次查看器（约 3~4s，纯数据无 CAD 计算）
-    try:
+    from arm.analysis import ws_sweep, gen_env_mesh
-        sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)),
-                                        "..", "scratch"))
-        import ws_sweep
-        import gen_env_mesh
     t_env = time.time()
     ws_sweep.main()
     gen_env_mesh.main()
-        from build_viewer import rebuild_viewer as _rbv
+    rebuild_viewer()
-        _rbv()
     print(f"-> 可达包络已自动注入查看器（+{time.time() - t_env:.1f}s）✓\n", flush=True)
-    except Exception as e:
-        print("可达包络自动注入失败（不影响主流程，修复后手动跑 scratch/gen_env_mesh.py + src/build_viewer.py）:",
-              e, flush=True)
-
     print("=" * 80, flush=True)
     print("✅ 机器人手臂编译、导出与查看器发布全流程完成！", flush=True)
     print("=" * 80, flush=True)
+
+    # OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
+    # `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
+    # 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
+    # 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
     sys.stdout.flush()
     os._exit(0)

arm/cad/__init__.py

@@ -0,0 +1,8 @@
+# -*- coding: utf-8 -*-
+"""几何与装配层。
+
+helpers     放置/基础体/网格化等无状态 helper
+arm_build   Joint 装配模型、零件登记(add)、STEP/STL/BOM/mesh 导出
+part_tools  跨件共用刀法（减重腔、压盖、转接座、圆角常量、螺钉孔位事实源）
+parts/      每个打印件一个模块：几何 + 件号/配色/说明 + 装配帧归属
+"""

arm/cad/arm_build.py

@@ -21,10 +21,10 @@ try:
 except Exception:
     pass
 
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 import cadquery as cq
-from armcore import (M, C, V, trs, place, bb, bbox_str, cyl, ring, box, holes,
+from arm.paths import OUT, WEB, DOCS, SRC_STEP, HALF_STEP, CLAMP_STEP
-                     solids_of, mesh_of, MOTOR_TOL, OUT, WEB, DOCS, SRC_STEP, HALF_STEP, CLAMP_STEP)
+from arm.constants import M, C, MOTOR_TOL
+from arm.cad.helpers import V, trs, place, bb, bbox_str, cyl, ring, box, holes, solids_of, mesh_of
 from OCP.gp import gp_Trsf, gp_Vec, gp_Pnt, gp_Dir, gp_Ax1
 from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
 from OCP.GProp import GProp_GProps

arm/cad/helpers.py

@@ -1,12 +1,9 @@
 # -*- coding: utf-8 -*-
-"""Shared constants + CAD/placement helpers for the robot arm build.
+"""CAD 放置与几何 helper：刚体变换、求交/包围盒、基础体、网格化与 STEP 读取。
 
-All motor interface numbers are MEASURED from
+实测接口数值在 arm/constants.py，仓库路径在 arm/paths.py——本模块不再持有它们。
-G:/Robot_v2/Model/Solidworks/电机.STEP and 配件/make_v9.py (see docs/interfaces.md).
 """
 import math
-import json
-import os
 
 import cadquery as cq
 from OCP.gp import gp_Trsf, gp_Vec, gp_XYZ, gp_Mat, gp_Pnt, gp_Dir, gp_Ax1, gp_Ax2, gp_Quaternion
@@ -21,68 +18,7 @@ from OCP.TopoDS import TopoDS
 
 V = cq.Vector
 
-# 路径全部由本文件位置推出，仓库可以整体搬迁；三个环境变量是临时覆盖入口。
-_HERE = os.path.dirname(os.path.abspath(__file__)).replace("\\", "/")
-WORKSPACE = os.environ.get("ARM_WORKSPACE") or os.path.dirname(_HERE)
-ROOT = os.environ.get("ARM_ROOT") or os.path.dirname(WORKSPACE)
-MODEL = os.environ.get("ARM_MODEL_ROOT") or (ROOT + r"/Model/Solidworks")
-SRC_STEP = MODEL + r"/电机.STEP"
-HALF_STEP = MODEL + r"/配件/端面齿半联轴器_相同件x2.STEP"
-CLAMP_STEP = MODEL + r"/配件/端面齿联轴器_抱箍_两片装配.STEP"
-OUT = WORKSPACE + r"/out"
-WEB = WORKSPACE + r"/web"
-DOCS = WORKSPACE + r"/docs"
 
-# ---------------- MEASURED: motor module (local frame: origin = PCBA rear face centre, +Z = output) ----
-M = dict(
-    pcba_w=63.6,          # square PCBA across flats
-    pcba_t=9.0,           # z 0 -> 9.0
-    rearplate_d=60.0,     # z 5.5 -> 10.5
-    hous_d=60.0,          # housing OD, z 10.5 -> 52.5
-    hous_len=42.0,
-    cover_d=60.30,        # top cover OD (R30.15), z 52.5 -> 56.0
-    cover_z=56.0,         # cover front face = module total length
-    flange_z=54.942,      # 2nd-stage output flange face
-    neck_d=36.0,          # female neck bore in the cover
-    neck_depth=1.0,
-    centre_d=6.5,         # centre bore in the flange
-    centre_depth=4.0,
-    m2_bcd=29.0,
-    m2_clock=(8.05, 128.07, 248.06),
-    m2_tap_d=1.85,        # M2 pilot for self-tapping in printed material
-    m2_depth=6.0,
-    m2_clear_d=2.75,
-    m2_cb_d=5.2,
-)
-# ---------------- MEASURED: face-spline coupling (existing, printed by the user) ------------------------
-C = dict(
-    n_teeth=12, tooth_r0=19.0, tooth_r1=24.5, tooth_s=2.5,
-    flange_t=4.50, part_z=5.560,          # mirrored stack
-    hub_r=27.0,
-    gap=9.00,                             # cover-face to cover-face when closed
-    clamp_od_r=30.0, clamp_len=7.80,
-    lug_r1=37.0, lug_t=4.50,
-    bolt_r=32.50, bolt_d=3.80,
-    z0=1.66, z1=9.46,                     # clamp envelope in the flange frame (motor cover face = 1.060)
-)
-# axial stations, motor local frame:
-COVER_Z = M["cover_z"]                    # 56.0
-HUB_FACE_Z = COVER_Z + C["gap"]           # 65.0 = mating face of the driven hub
-CLAMP_R = C["clamp_od_r"] + 0.6           # radial keep-out around the joint axis
-LUG_R = C["lug_r1"] + 1.0                 # radial keep-out where the bolt lugs are
-# ---------------- clearances / print rules -------------------------------------------------------------
-CLR = dict(bore_slip=0.20, pilot=0.10, hole_3=3.4, hole_27=2.8, wall_min=2.0)
-FIT = dict(motor_bore_d=M["hous_d"] + 2 * 0.15, cover_cb_d=M["cover_d"] + 2 * 0.35)
-
-# 电机【轴向长度】公差（用户 2026-10-07 要求：余量偏大稍微减去 1mm，由 2mm 改为 1mm）。
-# 这条链是"后端板螺钉 + 前端压盖螺钉"两个刚性夹持面，螺钉头一旦坐死在沉孔台阶上
-# 就再也不能进给，所以公差没法靠"拧紧"消化，只能靠两件事吃掉（见 arm_build.Joint.pocket
-# 与 motor_front_clamp）：
-#   长出来的 0~+1mm  -> 后端板 4xM3 螺钉头下垫 0~1mm 垫片圈（螺钉被垫高 -> 电机被拉回）
-#   短下去的 0~-1mm  -> 电机尾端面与后端板承压面之间垫 0~1mm 垫片（承压面已按 MOTOR_TOL
-#                       让空，见 Joint.pocket 的 REAR_SEAT）
-# 两边都不动压盖/凸台的几何，关节轴向长度不变。
-MOTOR_TOL = 1.0
 
 # ---------------- geometry helpers --------------------------------------------------------------------
 

arm/cad/part_tools.py

@@ -1,13 +1,12 @@
 # -*- coding: utf-8 -*-
 """跨件共用的刀法与统一配方：X 向基础体、减重腔 helper、电机前端压盖、止口 hub、pitch->roll 转接座骨架。"""
-import arm_build as AB
+from arm.cad import arm_build as AB
 import cadquery as cq
-import human_layout as HL
+from arm import kinematics as HL
 import math
-from armcore import cyl, place
+from arm.cad.helpers import cyl, place
-from arm_build import COVER_Z, R, T, Ycyl, bx, prism
+from arm.cad.arm_build import COVER_Z, R, T, Ycyl, bx, prism
-from human_layout import X_ARM, Y_AXIS, Y_COVER
+from arm.kinematics import X_ARM, Y_AXIS, Y_COVER
-
 
 Y_MID = Y_AXIS
 

arm/cad/parts/__init__.py

@@ -3,6 +3,6 @@
 
 arm_model.build() 只按 PART_MODULES 顺序收集 specs()；改哪件就开哪个文件。
 """
-from parts import p01_column, p02_base, p03_girdle, p04_fork, p05_roll_base, p06_humerus, p07_forearm, p08_wrist, p09_flange
+from arm.cad.parts import p01_column, p02_base, p03_girdle, p04_fork, p05_roll_base, p06_humerus, p07_forearm, p08_wrist, p09_flange
 
 PART_MODULES = [p01_column, p02_base, p03_girdle, p04_fork, p05_roll_base, p06_humerus, p07_forearm, p08_wrist, p09_flange]

arm/cad/parts/p01_column.py

@@ -1,11 +1,10 @@
 # -*- coding: utf-8 -*-
 """P01 立柱三段（A/B/C）：躯干承力柱 + 阶梯榫卯与防反装对锁孔。"""
 import cadquery as cq
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import Ycyl, bx
+from arm.cad.arm_build import Ycyl, bx
-from human_layout import Y_AXIS, Z_CHEST1
+from arm.kinematics import Y_AXIS, Z_CHEST1
-from part_tools import Xcyl
+from arm.cad.part_tools import Xcyl
-
 
 # ========== 躯干部分 ==========
 # ========== 躯干/测试台架部分 (后置防倾翻高刚性机架) ==========

arm/cad/parts/p02_base.py

@@ -1,8 +1,8 @@
 # -*- coding: utf-8 -*-
 """P02 底座三段（中核心 / 前向力臂 / 后向力臂）：后置防倾翻机架与防呆母榫。"""
 import cadquery as cq
-from armcore import cyl
+from arm.cad.helpers import cyl
-from parts.p01_column import X_COL, Y_COL
+from arm.cad.parts.p01_column import X_COL, Y_COL
 
 
 def make_p02_poka_yoke():

arm/cad/parts/p03_girdle.py

@@ -2,11 +2,11 @@
 """P03 肩吊臂：板式桁架 + 侧开式电机托架 + M1 后置法兰。"""
 import cadquery as cq
 import math
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import Yplate, bx
+from arm.cad.arm_build import Yplate, bx
-from human_layout import X_BAY_EXT, Y_AXIS, Z_CHEST1, Z_R1, Z_RL
+from arm.kinematics import X_BAY_EXT, Y_AXIS, Z_CHEST1, Z_R1, Z_RL
-from part_tools import Xcyl, make_surface_tie_bridge
+from arm.cad.part_tools import Xcyl, make_surface_tie_bridge
-from parts.p01_column import X_COL, Y_COL, Z_LOCK
+from arm.cad.parts.p01_column import X_COL, Y_COL, Z_LOCK
 
 
 def p_girdle(j1):

arm/cad/parts/p04_fork.py

@@ -1,13 +1,13 @@
 # -*- coding: utf-8 -*-
 """P04 肩叉：J1 从动杯体、M2 前端压盖、立柱 U 形减重槽、Hermite 弧面前脸。"""
-import arm_build as AB
+from arm.cad import arm_build as AB
 import cadquery as cq
 import math
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import COVER_Z, Ycyl, bx
+from arm.cad.arm_build import COVER_Z, Ycyl, bx
-from human_layout import X_ARM, X_FORK_GAP, Y_AXIS, Y_COVER, Y_REAR, Z_RL, Z_SH
+from arm.kinematics import X_ARM, X_FORK_GAP, Y_AXIS, Y_COVER, Y_REAR, Z_RL, Z_SH
 from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
-from part_tools import (Xplate, clamp_hole_drills, cut_motor_fence, hollow_channel,
+from arm.cad.part_tools import (Xplate, clamp_hole_drills, cut_motor_fence, hollow_channel,
                         hub_m2_holes, make_surface_tie_bridge, motor_front_clamp)
 
 

arm/cad/parts/p05_roll_base.py

@@ -1,9 +1,8 @@
 # -*- coding: utf-8 -*-
 """P05 大臂旋转座：J2 俯仰 -> J3 滚转（复用 part_tools 的 pitch->roll 骨架）。"""
 import cadquery as cq
-from human_layout import Z_R3, Z_SH
+from arm.kinematics import Z_R3, Z_SH
-from part_tools import make_pitch_to_roll_bracket
+from arm.cad.part_tools import make_pitch_to_roll_bracket
-
 
 def p_shoulder_roll_base(j2, j3, half=None):
     """P05_大臂旋转座_螺旋体30%_墙4底5_竖打（深度圆角优化版）

arm/cad/parts/p06_humerus.py

@@ -1,11 +1,11 @@
 # -*- coding: utf-8 -*-
 """P06 大臂骨架：J3 滚转 -> J4 俯仰的 Loft 空心梁。"""
-import arm_build as AB
+from arm.cad import arm_build as AB
 import cadquery as cq
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import COVER_Z, Ycyl, bx
+from arm.cad.arm_build import COVER_Z, Ycyl, bx
-from human_layout import X_ARM, Y_AXIS, Y_COVER, Y_REAR, Z_EL, Z_R3
+from arm.kinematics import X_ARM, Y_AXIS, Y_COVER, Y_REAR, Z_EL, Z_R3
-from part_tools import (
+from arm.cad.part_tools import (
     CLAMP_BACKOFF, CLAMP_CLR, CLAMP_T, cut_motor_fence, hub_m2_holes,
     make_surface_tie_bridge_neg_x, motor_front_clamp,
 )

arm/cad/parts/p07_forearm.py

@@ -1,13 +1,13 @@
 # -*- coding: utf-8 -*-
 """P07 小臂骨架：J4 -> J5 的 L 型结构 + 顶板减重槽。"""
-import arm_build as AB
+from arm.cad import arm_build as AB
 import cadquery as cq
-import human_layout as HL
+from arm import kinematics as HL
 import math
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import Ycyl, bx
+from arm.cad.arm_build import Ycyl, bx
-from human_layout import PLATE_T, X_ARM, Y_COVER, Y_HUB, Y_REAR, Z_EL, Z_WR
+from arm.kinematics import PLATE_T, X_ARM, Y_COVER, Y_HUB, Y_REAR, Z_EL, Z_WR
-from part_tools import (
+from arm.cad.part_tools import (
     FILLET_SMALL, cut_motor_fence, hollow_channel, hub_m2_holes,
     make_surface_tie_bridge_neg_x, motor_front_clamp,
 )

arm/cad/parts/p08_wrist.py

@@ -1,8 +1,7 @@
 # -*- coding: utf-8 -*-
 """P08 腕偏转座：J5 俯仰 -> J6 滚转（复用 part_tools 的 pitch->roll 骨架）。"""
-from human_layout import Z_R6, Z_WR
+from arm.kinematics import Z_R6, Z_WR
-from part_tools import make_pitch_to_roll_bracket
+from arm.cad.part_tools import make_pitch_to_roll_bracket
-
 
 def p_wrist_bracket(j5, j6):
     """P08_腕偏转座_螺旋体25%_墙4底5_竖打（深度圆角优化版）

arm/cad/parts/p09_flange.py

@@ -1,11 +1,10 @@
 # -*- coding: utf-8 -*-
 """P09 工具法兰：末端法兰盘与 J6 直锁 hub。"""
 import math
-from armcore import cyl
+from arm.cad.helpers import cyl
-from arm_build import D2R
+from arm.cad.arm_build import D2R
-from human_layout import PLATE_T, X_ARM, Y_AXIS, Z_HUB6
+from arm.kinematics import PLATE_T, X_ARM, Y_AXIS, Z_HUB6
-from part_tools import CHAMFER_EDGE, CLAMP_BACKOFF, FILLET_SMALL, FILLET_TINY, make_direct_hub
+from arm.cad.part_tools import CHAMFER_EDGE, CLAMP_BACKOFF, FILLET_SMALL, FILLET_TINY, make_direct_hub
-
 
 def p_tool_flange(j6):
     """P09_工具法兰_螺旋体30%_墙4底5_竖打 深度圆角优化版

arm/constants.py

@@ -0,0 +1,58 @@
+# -*- coding: utf-8 -*-
+"""实测接口数值：电机模组、端面齿联轴器、配合公差与电机轴向公差。
+
+全部 MEASURED 自 G:/Robot_v2/Model/Solidworks/电机.STEP 与配件（见 docs/interfaces.md）。
+改之前先确认量的是同一个基准面。"""
+
+# 注：本段由 armcore.py 原样搬来，行内容与注释未作改动。
+
+# ---------------- MEASURED: motor module (local frame: origin = PCBA rear face centre, +Z = output) ----
+M = dict(
+    pcba_w=63.6,          # square PCBA across flats
+    pcba_t=9.0,           # z 0 -> 9.0
+    rearplate_d=60.0,     # z 5.5 -> 10.5
+    hous_d=60.0,          # housing OD, z 10.5 -> 52.5
+    hous_len=42.0,
+    cover_d=60.30,        # top cover OD (R30.15), z 52.5 -> 56.0
+    cover_z=56.0,         # cover front face = module total length
+    flange_z=54.942,      # 2nd-stage output flange face
+    neck_d=36.0,          # female neck bore in the cover
+    neck_depth=1.0,
+    centre_d=6.5,         # centre bore in the flange
+    centre_depth=4.0,
+    m2_bcd=29.0,
+    m2_clock=(8.05, 128.07, 248.06),
+    m2_tap_d=1.85,        # M2 pilot for self-tapping in printed material
+    m2_depth=6.0,
+    m2_clear_d=2.75,
+    m2_cb_d=5.2,
+)
+# ---------------- MEASURED: face-spline coupling (existing, printed by the user) ------------------------
+C = dict(
+    n_teeth=12, tooth_r0=19.0, tooth_r1=24.5, tooth_s=2.5,
+    flange_t=4.50, part_z=5.560,          # mirrored stack
+    hub_r=27.0,
+    gap=9.00,                             # cover-face to cover-face when closed
+    clamp_od_r=30.0, clamp_len=7.80,
+    lug_r1=37.0, lug_t=4.50,
+    bolt_r=32.50, bolt_d=3.80,
+    z0=1.66, z1=9.46,                     # clamp envelope in the flange frame (motor cover face = 1.060)
+)
+# axial stations, motor local frame:
+COVER_Z = M["cover_z"]                    # 56.0
+HUB_FACE_Z = COVER_Z + C["gap"]           # 65.0 = mating face of the driven hub
+CLAMP_R = C["clamp_od_r"] + 0.6           # radial keep-out around the joint axis
+LUG_R = C["lug_r1"] + 1.0                 # radial keep-out where the bolt lugs are
+# ---------------- clearances / print rules -------------------------------------------------------------
+CLR = dict(bore_slip=0.20, pilot=0.10, hole_3=3.4, hole_27=2.8, wall_min=2.0)
+FIT = dict(motor_bore_d=M["hous_d"] + 2 * 0.15, cover_cb_d=M["cover_d"] + 2 * 0.35)
+
+# 电机【轴向长度】公差（用户 2026-10-07 要求：余量偏大稍微减去 1mm，由 2mm 改为 1mm）。
+# 这条链是"后端板螺钉 + 前端压盖螺钉"两个刚性夹持面，螺钉头一旦坐死在沉孔台阶上
+# 就再也不能进给，所以公差没法靠"拧紧"消化，只能靠两件事吃掉（见 arm_build.Joint.pocket
+# 与 motor_front_clamp）：
+#   长出来的 0~+1mm  -> 后端板 4xM3 螺钉头下垫 0~1mm 垫片圈（螺钉被垫高 -> 电机被拉回）
+#   短下去的 0~-1mm  -> 电机尾端面与后端板承压面之间垫 0~1mm 垫片（承压面已按 MOTOR_TOL
+#                       让空，见 Joint.pocket 的 REAR_SEAT）
+# 两边都不动压盖/凸台的几何，关节轴向长度不变。
+MOTOR_TOL = 1.0

arm/dataio/__init__.py

@@ -0,0 +1,3 @@
+# -*- coding: utf-8 -*-
+"""数据注入与工程图：螺钉实例注入 mesh、四张工程图 SVG 生成。
+"""

arm/dataio/draw_sheet.py

@@ -17,8 +17,15 @@ import os
 import sys
 
 sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding="utf-8")
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from arm.paths import WEB, DOCS
-from armcore import WEB, DOCS
+
+# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
+# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
+if __name__ != "__main__":
+    raise RuntimeError(
+        "draw_sheet 是脚本：顶层代码一执行就重写产物，不能 import。"
+        "要用就跑 python -m arm.dataio.draw_sheet。")
+
 D = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
 P, LAY, MS = D["parts"], D["layout"], D["measured"]
 MT, CT = MS["M"], MS["C"]
@@ -329,4 +336,3 @@ for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"),
 io.open(WEB + "/sheets.jsdata", "w", encoding="utf-8").write(json.dumps(sheets, ensure_ascii=False))
 print("sheets: %d (%d KB) -> docs/sheet_{front,joint,exploded,side}.svg" % (
     len(sheets), sum(len(s) for s in sheets) // 1024))
-os._exit(0)

arm/dataio/screw_mesh.py

@@ -38,9 +38,8 @@ docs/screws.json 是紧固件清单的唯一事实源（规格 / 长度 / 数量
 
 长度处理：S08/S10 螺杆按真实长度会伸到底座底面(z=0)以下悬空（工作台/预埋螺母未建模），
 这里按可见段截断到 z=0，头部与孔位仍按 BOM 规格，避免出现"悬空螺杆"。
-
+运行：python -m arm.dataio.screw_mesh            -> 注入网格（纯数据，秒级，不动 CAD）
-运行：python src/screw_mesh.py            -> 注入网格（纯数据，秒级，不动 CAD）
+       再 python -m arm.viewer.build_viewer       -> 重新打包单文件查看器
-       再 python src/build_viewer.py       -> 重新打包单文件查看器
 arm_model.py 主流程末尾已自动调用本模块，重跑完整构建不会丢失螺钉。
 """
 import json
@@ -52,14 +51,9 @@ try:
     sys.stdout.reconfigure(encoding="utf-8")
 except Exception:
     pass
-
+from arm.paths import WEB, DOCS
-_HERE = os.path.dirname(os.path.abspath(__file__))
+from arm import kinematics as HL
-_ROOT = os.path.dirname(_HERE)
+from arm.cad.part_tools import CLAMP_BCD, CLAMP_CLOCK
-sys.path.insert(0, _HERE)
-
-import human_layout as HL                                    # noqa: E402
-from part_tools import CLAMP_BCD, CLAMP_CLOCK                # noqa: E402  压盖孔位唯一事实源
-
 X_COL = -115.0                      # 立柱中心（与 parts/p01_column.py 的 X_COL 一致）
 Y_COL = HL.Y_AXIS                   # 128.0
 GRP_PAR = {"J2": "J1", "J3": "J2", "J4": "J3", "J5": "J4", "J6": "J5"}
@@ -293,11 +287,11 @@ def instances(m2_bcd, m2_clock):
 
 # ---------------------------------------------------------------- 注入
 def main():
-    path = os.path.join(_ROOT, "web", "mesh_arm.json")
+    path = WEB + "/mesh_arm.json"
     print("读取 %s ..." % path, flush=True)
     d = json.load(open(path, encoding="utf-8"))
     M = d["measured"]["M"]
-    specs = json.load(open(os.path.join(_ROOT, "docs", "screws.json"), encoding="utf-8"))
+    specs = json.load(open(DOCS + "/screws.json", encoding="utf-8"))
     byid = {s["id"]: s for s in specs}
 
     d["parts"] = [p for p in d["parts"] if not p.get("screw")]        # 幂等：先清旧螺钉
@@ -344,3 +338,10 @@ def main():
 
 if __name__ == "__main__":
     main()
+
+    # OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
+    # `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
+    # 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
+    # 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
+    sys.stdout.flush()
+    os._exit(0)

arm/paths.py

@@ -0,0 +1,24 @@
+# -*- coding: utf-8 -*-
+"""仓库内路径的唯一来源。
+
+原先这些常量是硬编码的 G:/Robot_v2 绝对路径，仓库换盘符即全断；现在由本文件
+位置推出。REPO 的父目录就是原来的 ROOT(=G:/Robot_v2)，所以外部 STEP 输入的解析
+结果与从前逐字相同。三个 ARM_* 环境变量是临时覆盖入口。
+"""
+import os
+
+_HERE = os.path.dirname(os.path.abspath(__file__)).replace("\\", "/")   # .../arm
+REPO = os.environ.get("ARM_WORKSPACE") or os.path.dirname(_HERE)
+ROOT = os.environ.get("ARM_ROOT") or os.path.dirname(REPO)
+MODEL = os.environ.get("ARM_MODEL_ROOT") or (ROOT + r"/Model/Solidworks")
+SRC_STEP = MODEL + r"/电机.STEP"
+HALF_STEP = MODEL + r"/配件/端面齿半联轴器_相同件x2.STEP"
+CLAMP_STEP = MODEL + r"/配件/端面齿联轴器_抱箍_两片装配.STEP"
+OUT = REPO + r"/out"
+WEB = REPO + r"/web"
+DOCS = REPO + r"/docs"
+# 可达包络 FK 采样的缓存（ws_cloud.npz / ws_metrics.json）。原先躺在 gitignore 的
+# scratch/ 里，构建却依赖它——缺了新克隆就跑不出 ENV 件。
+CACHE = REPO + r"/data/cache"
+# 查看器模板。S4 拆成 webapp/index.html + js/** 后这条即作废。
+TPL = REPO + r"/src/viewer_tpl.html"

arm/viewer/__init__.py

@@ -0,0 +1,3 @@
+# -*- coding: utf-8 -*-
+"""查看器侧：数据打包、本地静态服务、headless 截图。
+"""

arm/viewer/build_viewer.py

@@ -9,9 +9,7 @@ try:
     sys.stdout.reconfigure(encoding="utf-8")
 except Exception:
     pass
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from arm.paths import WEB, DOCS, REPO, TPL
-from armcore import WEB, DOCS, WORKSPACE
-SRC = os.path.dirname(os.path.abspath(__file__))
 
 import time
 
@@ -36,7 +34,7 @@ def rebuild_viewer():
         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(SRC + "/viewer_tpl.html", 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)
@@ -56,7 +54,7 @@ def rebuild_viewer():
     #   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", WORKSPACE + "/机器人手臂3D查看器.html"):
+    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:
@@ -68,12 +66,11 @@ def rebuild_viewer():
         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 src/build_viewer.py 即可。\n", 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()
-    os._exit(0)
 

arm/viewer/shot.py

@@ -11,9 +11,7 @@ try:
 except Exception:
     pass
 
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from arm.paths import WEB, DOCS
-from armcore import ROOT, WORKSPACE, 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",
@@ -36,6 +34,18 @@ VIEWS = {
     "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",
@@ -168,4 +178,3 @@ if __name__ == "__main__":
 
     print("edge:", EDGE)
     print("all shots ok:", all(results))
-    os._exit(0)

src/viewer_tpl.html

@@ -2933,6 +2933,21 @@ requestAnimationFrame(loop);
     });
   }
   if (q.get('harn') === '0') { const b = document.getElementById('bHarn'); if (b && b.classList.contains('on')) b.onclick(); }
+  /* 视图模式与工程图状态也要能用 URL 驱动：否则工程图/装配向导这两种模式（约占一半
+     CSS 与 700 行 JS）没法用 headless 截图回归，改动只能靠人眼抽查。 */
+  if (q.has('view')) {
+    const t = document.querySelector('.tab[data-view="' + q.get('view') + '"]');
+    if (t) t.click();
+  }
+  if (q.has('sheet')) {
+    const b = document.querySelector('#sheetTabs .sheet-tab[data-sheet="' + q.get('sheet') + '"]');
+    if (b) b.click();
+  }
+  if (q.has('theme')) {
+    const b = document.querySelector('.sheet-btn[data-theme="' + q.get('theme') + '"]');
+    if (b) b.click();
+  }
+  if (q.has('guide')) { const g = +q.get('guide'); if (isFinite(g)) renderGuideStep(g); }
   if (q.has('j6')) { const el = document.getElementById('sJ6');
     if (el) { el.value = q.get('j6'); el.dispatchEvent(new Event('input')); } }
   if (q.has('hide')) {

tests/__init__.py

@@ -0,0 +1,4 @@
+# -*- coding: utf-8 -*-
+"""核验脚本与基线。跑法：从仓根 `python -m tests.test_harness_collision`
+（`-m` 把仓根放进 sys.path，脚本因此能 import arm.*；直接 python tests/xxx.py 会找不到包）。
+"""

tests/baselines/flaky/thresholds.json

@@ -0,0 +1,19 @@
+{
+ "note": "实测同一构建两轮：mean<=0.00174, 单像素最大差 12, 无像素差>8。阈值取约 10x 余量；超过即视为真实渲染回归。",
+ "mean_max": 0.02,
+ "pixel_max": 32,
+ "views": {
+  "harness_xray_internal": {
+   "mean": 0.00087,
+   "mx": 6
+  },
+  "harness_p07_xray": {
+   "mean": 0.00097,
+   "mx": 5
+  },
+  "harness_p04_p05_xray": {
+   "mean": 0.00174,
+   "mx": 12
+  }
+ }
+}

tests/baselines/shots.md5

@@ -1,228 +0,0 @@
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-467521f6aed235e4b7e018291d7a9273 *docs/shots/view_a.png
-400e33d3f92bdc5d35030bc0560793f2 *docs/shots/view_b.png
-2e70d37bc8bfe39ec1f55956b8c90c31 *docs/shots/view_c.png
-9ac5686881ce53db4220af7599bae200 *docs/shots/view_d.png
-64a199b2c65e7f2d0ad5e2a80c5caef8 *docs/shots/view_iso_forearm.png
-22ae02822c50527ff3aa0b341337add5 *docs/shots/view_iso_zoom.png
-1d8277f0b43938423f2ca53b34df0c56 *docs/shots/view_yz_neg_x.png
-d51cde4a5e2450c529d1c8897e16cf29 *docs/shots/view_yz_pos_x.png
-d1719a9f6fb775fd63cef27c5ff17f54 *docs/shots/zoom_user.png

tests/baselines/shots_stable.md5

@@ -0,0 +1,104 @@
+af5c9d74bddf7d795bd38f4371fa61ec  docs/shots/01_iso.png
+d1719a9f6fb775fd63cef27c5ff17f54  docs/shots/zoom_user.png
+1389d052730b4bb09eb0a17cf9c49354  docs/shots/user_harness_view.png
+eebfbfbea1375770fbc333f83f64e959  docs/shots/user_harness_zoom.png
+606e209a6d3dc64ee3a59d1fc22339f3  docs/shots/user_m1_rear.png
+99188cb1c040a2c6494322a9845ac6cb  docs/shots/user_m1_exact.png
+d3234ff06df60213391dab75589d65ab  docs/shots/user_m1_bypass_oblique.png
+02cfa0aa5681fec061f73b9d69fef41c  docs/shots/user_smooth_harness.png
+d25a25539d00674d608dca7234e331e0  docs/shots/user_contour_harness.png
+c315879cfd09f35efa4ca4ecc1564b65  docs/shots/02_front.png
+30ab6da268de109cd087b93b8b175cf9  docs/shots/m1_sheet_front.png
+45050caba87c801ab0c29ac939e51e43  docs/shots/m2_sheet_joint.png
+615621995924b8bcaf67d79a020cd8d2  docs/shots/m3_sheet_exploded.png
+2b1950dda519fac21d5e71d4a9c1f990  docs/shots/m4_sheet_side.png
+86098e0fada6f54d9ea3d285b3e0ed6e  docs/shots/m5_guide_step1.png
+8366cefeca8b935f9fef31bfd2454047  docs/shots/m6_guide_step5.png
+40f4663eef6aa61f36e47e1fb1b1ab07  docs/shots/m7_sheet_blueprint.png
+2702f107e6152f05a5016b916f38cb89  docs/shots/m8_sheet_dark.png
+c84473f41febb608aea0ec2ec12ef317  docs/shots/m9_motion.png
+b3157f4453cf96b930f065e134a2d18b  docs/shots/03_side.png
+068fc4bc3eec481ff7d7b1d4da2aad88  docs/shots/04_top.png
+fbb95ea7a9229195d80c6f487021ae2b  docs/shots/05_exploded.png
+cbea750a1b52c5e8d061a9e3f4c981fe  docs/shots/06_wrist.png
+bb3dc393e4cd8f2c399c343aba0b3d35  docs/shots/07_joint.png
+72e86ae7743ff7416e247d19556dc657  docs/shots/08_pose.png
+af5c9d74bddf7d795bd38f4371fa61ec  docs/shots/09_sheet.png
+af5c9d74bddf7d795bd38f4371fa61ec  docs/shots/10_solid.png
+8daa2255af050a225609cebbc490d3b9  docs/shots/11_tool_flange.png
+002a1f4a2b65744515f5b54364fcc2a8  docs/shots/12_elbow_flare.png
+b2f1454a6009a8b44ddd41be9efdaff5  docs/shots/13_forearm_side.png
+87a8889ba4031cdf2e378fca7e1b475c  docs/shots/user_target.png
+d51cde4a5e2450c529d1c8897e16cf29  docs/shots/view_yz_pos_x.png
+1d8277f0b43938423f2ca53b34df0c56  docs/shots/view_yz_neg_x.png
+64a199b2c65e7f2d0ad5e2a80c5caef8  docs/shots/view_iso_forearm.png
+22f62024f51ee1827f662d8754019f57  docs/shots/user_view1.png
+e96c715833f9321b9fd1501bc4bdf87a  docs/shots/user_view2.png
+d34d5d15434bc5a980e34e5511cc49a4  docs/shots/user_p04.png
+6ea6b98ad978b993868bd302ad1dd8c6  docs/shots/user_p04_opp.png
+85d13ea862263aa055924df2beca98fb  docs/shots/user_elbow_rear.png
+a17303b12669be77a97dc18f2463c809  docs/shots/user_p07_wrist.png
+3ed51a9cbad23f7c9c7eb79ac5471eb1  docs/shots/user_elbow_front.png
+729025864df7708c900e110ec175f0da  docs/shots/user_p06_xz.png
+095da56acdc9b512709786df26691481  docs/shots/user_p06_yz.png
+fe0b30e16a673beb200224a0e6607faa  docs/shots/user_p06_iso.png
+abf7113f27b6443541e3a0859d77b3fe  docs/shots/user_p07_creases.png
+959e4bf08e174d90a1fe03a75a042070  docs/shots/bay_p06_inside.png
+f9d8d58365b4ca693525af5540d39d32  docs/shots/bay_p07_inside.png
+1b07f37e5fed9d82886b9518a3839860  docs/shots/bay_p08_inside.png
+2c7f53c7bed7d25175948f09960ed634  docs/shots/user_p04_side.png
+51d318f3584444ea78f2078d9ef3eddd  docs/shots/user_p04_bottom.png
+b31cd81ca26198896378bc38c4393b9d  docs/shots/user_p04_bottom2.png
+a60f07bb05bba7a58bdd29e5202c478f  docs/shots/user_shoulder_solid.png
+a60f07bb05bba7a58bdd29e5202c478f  docs/shots/user_shoulder_xray.png
+86aab5a8eb32216b4f712c730cc67068  docs/shots/user_shoulder_top.png
+c22cef65ca2a74b1332ecaba6b9a484a  docs/shots/p03_light_iso.png
+2a9e076fa310b0c78b1a0e8375e8aae8  docs/shots/p03_light_side.png
+5671bcc5a150d4899d186abd3658ef99  docs/shots/p03_light_rear.png
+ebdeb9a180e95afd38f5a42d12743579  docs/shots/p03_light_join.png
+0aa155c87743426668114d876478582c  docs/shots/p03_light_xray.png
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+1464e622ec8090b6052ab82f7bcd6b22  docs/shots/hollow_p07_iso.png
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+78f62639acb79e30fa88cc5fda87cfea  docs/shots/p03_mount_top.png
+d0c82d07ab6055c1b67c03c126fe267a  docs/shots/p03_mount_iso.png
+21db2e9ca69192cce0be4467b4701028  docs/shots/p03_mount_loose.png
+83325d3ca1b9e56fd2c70661052fd063  docs/shots/j3_前端压盖_装配.png
+e169359e86a61f7ab80d4adea0231436  docs/shots/j3_前端压盖_全件.png
+90b79bb61cacea2323ca19790d4158b2  docs/shots/boss_p04.png
+6a86499dd36b2a0a1ac50ae28ea138e4  docs/shots/user_fork_fixed.png
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+ae0305c092707e0c73944e1d889d076a  docs/shots/p04_both_ends.png
+f241acda8fdae460eb38f5a054e841f9  docs/shots/p04_m2_side.png
+4c6014a754e233411f6e89e4112d6cde  docs/shots/p06_m4_side.png
+aa3cb2e1e7bff6e3ca4af66bd6c70854  docs/shots/p07_m5_side.png
+515b204e42d75d98afe0600f8b8b419d  docs/shots/p05_m3_side.png
+dcc54259caf06f796e3dec84496abb12  docs/shots/boss_p05.png
+309cc9ac3238e747104e6ceee7bd68bc  docs/shots/user_compare_view.png
+152eb1db302b62238f3051b1f48fcf45  docs/shots/user_p07_check.png
+9f2c134297f2c7a555a6eaca2e74e4de  docs/shots/boss_p06.png
+b789564315ca1ad7d6d9d18c96972cba  docs/shots/boss_p07.png
+4a9a34e534496cb2c3be499ea2029d87  docs/shots/svg_side.png
+eadcf7d6ac9853950496a559dbd8de72  docs/shots/svg_joint.png
+f1e5bd79e6921b39d0785e4208ef5cca  docs/shots/svg_exploded.png
+1e1d29129833b35e43b925b25eae4b8f  docs/shots/user_circle_check.png
+6e1c039c236d28a4bec7e7b589fb2ed3  docs/shots/user_exact_view.png
+7635f1d057b06f014c1683261a7237b8  docs/shots/shot_p08_user.png
+3d261042388c8b2924848d8a29f71931  docs/shots/p05_flank_view.png
+af5c9d74bddf7d795bd38f4371fa61ec  docs/shots/harness_full_iso.png
+8896124b0c45d9796e983f026134cff6  docs/shots/harness_overview.png
+9fca41ada43f36a338cce31797152c3c  docs/shots/harness_p07_window.png
+7cbf2c699501bff3c7ebb4beb7cd34e2  docs/shots/harness_p04_p05.png
+687e2184dd3e149939ce6d4214ffc698  docs/shots/harness_p06_window.png
+84fb87bb5ce6cef73866401642ab0f9d  docs/shots/harness_xray_full.png
+70772a99b8c5d81619127eed7bc1dab5  docs/shots/tie_probe_negY.png
+a3bf9bd7fb796283bbb9767cc790167a  docs/shots/tie_probe_posY.png
+7c2be3a8488997de588e3760f966fd7d  docs/shots/tie_after_negY.png
+0b3e26c6e2fd664f91764d26b8b1ed0c  docs/shots/tie_after_oblique.png
+d3bf901601ff221ecd1b09dc93dd2ccc  docs/shots/tie_after_close.png
+c39cee9deabedb4dc8fad8ec76b439e5  docs/shots/tie_after_p0607.png
+b51a4e5424297c9012cc0562bbeec296  docs/shots/tie_after_p0607_obl.png

tests/test_harness_collision.py

@@ -44,7 +44,16 @@ def main():
     print("【线束三维物理干涉检测】全通道、外侧走线与电机全固态零碰撞验证")
     print("=" * 80)
 
-    with open('src/viewer_tpl.html', 'r', encoding='utf-8') as f:
+    # 线束通道的锚点坐标写在查看器源码里（现在是模板，拆分后是 webapp/js/harness.js）。
+    # 扫候选文件而不是写死一个路径，前端拆分时这条检查不用跟着改；一个都找不到就直接失败，
+    # 绝不能"没匹配到 = 没有通道 = 零干涉"地假通过。
+    from arm.paths import REPO
+    cands = [REPO + "/src/viewer_tpl.html", REPO + "/webapp/js/harness.js"]
+    found = [c for c in cands if os.path.exists(c)]
+    if not found:
+        print("找不到线束源码，检查项无法执行:", cands, flush=True)
+        sys.exit(2)
+    with open(found[0], 'r', encoding='utf-8') as f:
         tpl = f.read()
 
     tube_matches = re.findall(r'makeHarnTube\(\[\s*([\s\S]*?)\s*\]\s*,\s*[\d\.]+\s*,\s*\w+\s*,\s*\'([^\']+)\'', tpl)
@@ -100,7 +109,8 @@ def main():
     if total_hits == 0:
         print("🎉 恭喜！线束系统已实现 100% 结构腔体内规范走线与零碰撞干涉！", flush=True)
     print("=" * 80, flush=True)
-    import os
+    sys.stdout.flush()
+    # 同上：OCC 析构会段错误，所以用 os._exit 带走正确退出码
     os._exit(0 if total_hits == 0 else 1)
 
 if __name__ == '__main__':

tests/verify.py

@@ -0,0 +1,172 @@
+# -*- coding: utf-8 -*-
+"""重构期的不变量关卡。
+
+    python -m tests.verify            # 数据哈希 + IK 数值（秒级，每步都跑）
+    python -m tests.verify --shots    # 再加全套截图比对（约 3 分钟，前端改动后跑）
+
+基线在 tests/baselines/ 下，随仓库走。产物按**文件名**匹配，不写死目录：
+mesh 从 web/ 搬到 webapp/data/ 这类移动不该让关卡失效，也不该让我以为它通过了。
+任何一项对不上就退出码 1。
+"""
+import hashlib
+import io
+import json
+import os
+import subprocess
+import sys
+
+sys.stdout.reconfigure(encoding="utf-8")
+HERE = os.path.dirname(os.path.abspath(__file__))
+REPO = os.path.dirname(HERE)
+BASE = os.path.join(HERE, "baselines")
+
+# 每个产物允许出现的目录，按优先级；找到第一个即取。
+CANDIDATES = {
+    "mesh_arm.json": ["webapp/data", "web"],
+    "sheets.jsdata": ["webapp/data", "web"],
+    "travel.json": ["docs", "webapp/data"],
+    "travel_detail.json": ["docs", "webapp/data"],
+    "collide.json": ["docs", "webapp/data"],
+    "screws.json": ["docs"],
+}
+
+
+def md5(path):
+    h = hashlib.md5()
+    with open(path, "rb") as f:
+        for chunk in iter(lambda: f.read(1 << 20), b""):
+            h.update(chunk)
+    return h.hexdigest()
+
+
+def read_list(name):
+    """基线文件是 'hash  filename'；md5sum 的二进制模式会在文件名前加 '*'，剥掉。"""
+    out = {}
+    for ln in io.open(os.path.join(BASE, name), encoding="utf-8"):
+        ln = ln.strip()
+        if ln:
+            h, f = ln.split()
+            out[f.lstrip("*")] = h
+    return out
+
+
+def locate(fname, dirs):
+    for d in dirs:
+        p = os.path.join(REPO, d, fname)
+        if os.path.exists(p):
+            return p
+    return None
+
+
+def check_data():
+    base = read_list("data_by_name.md5")
+    bad, rows = 0, []
+    for fname, dirs in CANDIDATES.items():
+        want = base.get(fname)
+        if want is None:
+            rows.append(("SKIP", fname, "基线里没有这项"))
+            continue
+        p = locate(fname, dirs)
+        if p is None:
+            bad += 1
+            rows.append(("MISS", fname, "找不到文件（试过的目录: %s）" % ", ".join(dirs)))
+            continue
+        got = md5(p)
+        ok = got == want
+        if not ok:
+            bad += 1
+        rows.append(("OK " if ok else "DIFF", fname,
+                     os.path.relpath(p, REPO).replace("\\", "/") + "  " + got[:12] +
+                     ("" if ok else "  基线 " + want[:12])))
+    for st, f, msg in rows:
+        print("  [%s] %-20s %s" % (st, f, msg))
+    return bad
+
+
+def check_ik():
+    r = subprocess.run(["node", os.path.join(HERE, "ik_baseline.mjs"),
+                        "--compare", os.path.join(BASE, "ik_exact.json")],
+                       capture_output=True, text=True, cwd=REPO,
+                       encoding="utf-8", errors="replace")
+    out = r.stdout or ""
+    for ln in out.splitlines():
+        print("   " + ln)
+    if r.returncode != 0:
+        print("   node 退出码 %d: %s" % (r.returncode, (r.stderr or "").strip()[:300]))
+    # 没有 "== exact" 这一行就说明探针根本没跑出比对结果（编码炸了、node 不在、路径错…），
+    # 绝不能因为"没报差异"就算通过。
+    if "== exact" not in out:
+        print("   [MISS] ik_baseline 没有输出比对结果，判 FAIL")
+        return 1
+    return 0 if r.returncode == 0 else 1
+
+
+def check_shots():
+    """两层判定，依据是"同一构建连跑两轮"的实测（scratch/_gate/flaky_scan.py）：
+      104 张逐字节可复现  -> md5 必须相同；
+      3 张线束 x-ray 不可复现（mean<=0.0017、无像素差>8，纯抗锯齿噪声）
+                          -> 与 tests/baselines/flaky/ 里的参考像素比，超阈值才算回归。
+    把不可复现的也要求 md5 相同，等于给每一步埋假 FAIL，最后只会被人肉忽略。"""
+    import numpy as np
+    from PIL import Image
+
+    base = read_list("shots_stable.md5")
+    th = json.load(io.open(os.path.join(BASE, "flaky", "thresholds.json"), encoding="utf-8"))
+    r = subprocess.run([sys.executable, "-m", "arm.viewer.shot"],
+                       capture_output=True, text=True, cwd=REPO,
+                       encoding="utf-8", errors="replace")
+    out = r.stdout or ""
+    if "all shots ok" not in out and "OK " not in out:
+        print("   [MISS] shot.py 没有正常输出（退出码 %s），判 FAIL" % r.returncode)
+        return 999
+    bad = [l for l in out.splitlines() if "FAIL" in l]
+    if bad:
+        print("   [MISS] 截图失败 %d 个: %s" % (len(bad), bad[:3]))
+
+    fails = len(bad)
+    for fname, want in sorted(base.items()):
+        p = os.path.join(REPO, fname.replace("/", os.sep))
+        if not os.path.exists(p):
+            print("   [MISS] %s" % fname)
+            fails += 1
+            continue
+        if md5(p) != want:
+            print("   [DIFF] %-40s" % fname)
+            fails += 1
+    print("   逐字节比对: %d 张稳定视图，%d 张不一致" % (len(base), fails - len(bad)))
+
+    tol_fails = 0
+    for name, ref in sorted(th["views"].items()):
+        p = os.path.join(REPO, "docs", "shots", name + ".png")
+        q = os.path.join(BASE, "flaky", name + ".png")
+        if not (os.path.exists(p) and os.path.exists(q)):
+            print("   [MISS] 容差比对缺文件: %s" % name)
+            tol_fails += 1
+            continue
+        d = np.abs(np.asarray(Image.open(p).convert("RGB"), dtype=np.int16)
+                   - np.asarray(Image.open(q).convert("RGB"), dtype=np.int16))
+        mean, mx = float(d.mean()), int(d.max())
+        over = mean > th["mean_max"] or mx > th["pixel_max"]
+        tol_fails += 1 if over else 0
+        print("   [%s] %-34s mean=%.5f (<= %.2f)  最大单像素差=%d (<= %d)"
+              % ("DIFF" if over else "OK  ", name, mean, th["mean_max"], mx, th["pixel_max"]))
+    print("   容差比对: %d 张噪声视图，%d 张超阈值" % (len(th["views"]), tol_fails))
+    return fails + tol_fails
+
+
+def main():
+    argv = sys.argv[1:]
+    fails = 0
+    print("== 数据产物哈希 ==")
+    fails += check_data()
+    print("== IK 数值基线 ==")
+    fails += check_ik()
+    if "--shots" in argv:
+        print("== 截图逐字节比对 ==")
+        fails += check_shots()
+    print("RESULT:", "PASS" if fails == 0 else "FAIL（%d 项不一致）" % fails)
+    return 1 if fails else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())