docs: 更新V2版机器人手臂零件设计说明与渲染截图

src/finalize_travel.py

@@ -0,0 +1,36 @@
+# -*- coding: utf-8 -*-
+"""从 travel_detail.json 的单关节硬限位重新生成 docs/travel.json。
+
+滑块范围 = 单关节硬限位（任意单关节推满零干涉，含 1° 安全余量）；
+组合折叠约束保留在 travel_detail.json 的 combos 字段里，供报告引用。
+"""
+import json
+import math
+
+import os
+import sys
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+from sweep_v2 import CHAIN, DOCS
+
+d = json.load(open(DOCS + "/travel_detail.json", encoding="utf-8"))
+out = []
+for t in CHAIN[1:]:
+    s = d["singles"][t]
+    lo, hi = s["lo"], s["hi"]
+    if lo <= -179.9 and hi >= 179.9:
+        out.append(dict(axis=t, lo=-180.0, hi=180.0, continuous=True, zero=0.0,
+                        note="整周无干涉，可 360° 连续旋转（全对全动态扫描验证）"))
+    else:
+        lo_out = float(math.ceil(lo + 1.0)) if lo < -0.5 else 0.0
+        hi_out = float(math.floor(hi - 1.0)) if hi > 0.5 else 0.0
+        out.append(dict(axis=t, lo=lo_out, hi=hi_out, continuous=False, zero=0.0,
+                        note="正向 +%d° / 反向 %d°，总行程 %d°（全对全动态扫描验证，含相邻件与电机）"
+                             % (hi_out, lo_out, hi_out - lo_out)))
+    print("%-3s  %7.1f .. %7.1f  ->  %s .. %s" % (t, lo, hi, out[-1]["lo"], out[-1]["hi"]))
+
+json.dump(out, open(DOCS + "/travel.json", "w", encoding="utf-8"),
+          ensure_ascii=False, indent=1)
+d["final"] = out
+json.dump(d, open(DOCS + "/travel_detail.json", "w", encoding="utf-8"),
+          ensure_ascii=False, indent=1)
+print("rewrote docs/travel.json (single-joint hard stops) + updated travel_detail.json")