feat: 增加组合折叠姿态干涉扫描、力矩实测与结构强度复核数据

src/sweep_v2.py

@@ -23,8 +23,13 @@
   - 预剪枝：按关节轴计算每对零件的轴向/径向区间，区间不相交的零件对在该关节的
     任何角度都不可能碰撞，直接跳过（对单关节扫描是精确安全的）。
 
+台架（P01 立柱 / P02 底盘）代表躯干与机身的连接界面，默认【参与】碰撞计算——臂撞立柱
+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 src/sweep_v2.py [--workers 20] [--step 2] [--combo-step 6]
-                           [--no-combos] [--joints J2,J4] [--no-gjk]
+                           [--no-combos] [--joints J2,J4] [--no-gjk] [--no-stand]
 """
 import json
 import math
@@ -44,6 +49,7 @@ import multiprocessing as mp
 
 import arm_build as AB
 import cadquery as cq
+import human_layout as HL
 from armcore import place, bb, DOCS
 
 VOL_MIN = 2.0            # mm3，超过即计为干涉
@@ -61,6 +67,7 @@ MOUNT_PAIRS = {
 MESH_TOL = 0.5           # mm，零件网格化容差
 MESH_MARGIN = 0.8        # mm，凸包安全外扩（> MESH_TOL 保证网格内缩不致漏判）
 USE_GJK = True           # 进程内全局；工作进程由 initializer 传入
+INCLUDE_FIXTURE = True   # True=把 P01 立柱/P02 底盘（代表躯干）算进碰撞；--no-stand 置 False
 
 
 # ---------------------------------------------------------------- 网格化 + GJK
@@ -165,11 +172,15 @@ def _do_simplex(s):
 
 
 # ---------------------------------------------------------------- 模型与上下文
-def load_model():
+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
     JS = AM.build()
     parts = []
     for p in AB.PARTS:
+        if not include_fixture and HL.is_fixture(p["name"]):
+            continue
         g = CHAIN.index(AB.GRP.get(p["name"], "root"))
         lo, hi = bb(p["shape"])
         corners = [(x, y, z) for x in (lo[0], hi[0]) for y in (lo[1], hi[1]) for z in (lo[2], hi[2])]
@@ -212,8 +223,8 @@ def axis_intervals(parts, rear, d):
     return out
 
 
-def make_ctx():
-    parts, joints = load_model()
+def make_ctx(include_fixture=True):
+    parts, joints = load_model(include_fixture)
     impossible = {}
     for k in range(1, len(CHAIN)):
         rear, d = joints[CHAIN[k]]
@@ -395,10 +406,10 @@ _POOL = None
 _WORKERS = 4
 
 
-def _init_worker(use_gjk=True):
+def _init_worker(use_gjk=True, include_fixture=True):
     global _CTX, USE_GJK
     USE_GJK = bool(use_gjk)
-    _CTX = make_ctx()
+    _CTX = make_ctx(include_fixture)
 
 
 def _task(task):
@@ -410,7 +421,7 @@ def get_pool(workers):
     global _POOL, _WORKERS
     _WORKERS = workers
     if _POOL is None and workers > 1:
-        _POOL = mp.Pool(workers, initializer=_init_worker, initargs=(USE_GJK,))
+        _POOL = mp.Pool(workers, initializer=_init_worker, initargs=(USE_GJK, INCLUDE_FIXTURE))
     return _POOL
 
 
@@ -448,7 +459,7 @@ def eval_angles(angles_list, workers, chunk=None, label="姿态"):
 def _ctx_single():
     global _CTX
     if _CTX is None:
-        _CTX = make_ctx()
+        _CTX = make_ctx(INCLUDE_FIXTURE)
     return _CTX
 
 
@@ -555,6 +566,9 @@ def main():
     if "--no-gjk" in sys.argv:
         global USE_GJK
         USE_GJK = False
+    if "--no-stand" in sys.argv:
+        global INCLUDE_FIXTURE
+        INCLUDE_FIXTURE = False
     # 内存感知的默认进程数：每个工作进程预留 ~2.5GB 峰值（建模+布尔瞬时开销）
     avail_gb = 16.0
     try:
@@ -691,6 +705,7 @@ def main():
               open(DOCS + "/travel.json", "w", encoding="utf-8"), ensure_ascii=False, indent=1)
     detail = dict(generated=time.strftime("%Y-%m-%d %H:%M:%S"),
                   vol_min=VOL_MIN, step=step, combo_step=combo_step, workers=workers,
+                  fixture_included=INCLUDE_FIXTURE,
                   singles={t: dict(lo=round(singles[t]["lo"], 2), hi=round(singles[t]["hi"], 2),
                                    jams={str(a): v for a, v in singles[t]["jams"].items()})
                            for t in singles},