docs: 更新BOM清单与渲染图，适配200mm分段式立柱和防呆底座设计

src/sweep_v2.py

@@ -48,6 +48,14 @@ from armcore import place, bb, DOCS
 
 VOL_MIN = 2.0            # mm3，超过即计为干涉
 CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
+MOUNT_PAIRS = {
+    ("P03_肩吊臂", "M1_J1"), ("P04_肩叉", "M1_J1"),
+    ("P04_肩叉", "M2_J2"), ("P05_大臂旋转座", "M2_J2"),
+    ("P05_大臂旋转座", "M3_J3"), ("P06_大臂骨架", "M3_J3"),
+    ("P06_大臂骨架", "M4_J4"), ("P07_小臂骨架", "M4_J4"),
+    ("P07_小臂骨架", "M5_J5"), ("P08_腕偏转座", "M5_J5"),
+    ("P08_腕偏转座", "M6_J6"), ("P09_工具法兰", "M6_J6"),
+}
 
 # 网格化预筛参数：外扩必须 ≥ 网格化偏差，判"分离"才保守可信
 MESH_TOL = 0.5           # mm，零件网格化容差
@@ -281,6 +289,11 @@ def test_posture(ctx, angles_by_idx, want_errors=False):
             lo, hi = (gi, gj) if gi < gj else (gj, gi)
             if lo == hi:
                 continue
+            na, nb = parts[i]["name"], parts[j]["name"]
+            if na.startswith("M") and nb.startswith("M"):
+                continue
+            if (na, nb) in MOUNT_PAIRS or (nb, na) in MOUNT_PAIRS:
+                continue
             span = [k for k in active if lo < k <= hi]
             # 关键：无活动关节（零位）时必须测试全部零件对 —— 相对位姿不变不代表不干涉！
             if active and not span: