# -*- coding: utf-8 -*-
"""Humanoid arm: 6 x the 60 mm gearmotor module on a torso mast.

    J1 肩抬举 roll    +X   fore-aft, in the shoulder pod  -> drives P04 肩叉
    J2 肩俯仰 pitch   -Y   outboard in the fork           -> drives P05 大臂
    J3 肘俯仰 pitch   +Y   inboard in the humerus         -> drives P06 小臂
    J4 前臂旋转 roll  -Z   coaxial inside the forearm      -> drives P07 腕帽
    J5 腕俯仰 pitch   -Y   outboard in the cap             -> drives P08 手掌
    J6 手部           -Z   down the hand, crank + jaws     -> drives P12 曲柄

Stations all come from human_layout.py, which derives them from the one hard fact about
this joint recipe: a module is a 60 mm drum lying ALONG its own axis for 65 mm before the
plate it drives.  Consecutive pitch motors alternate inboard / outboard and share the one
hub plane Y_H, which keeps the limb a single tube wide.

Four rules the earlier passes broke, now enforced in code:
  * no vertical yaw column - the arm has to hang through it.  J1 is a shoulder roll about
    a fore-aft axis 92 mm above the pitch axis, and the pod keeps its cheeks at
    |x| >= 64 while the limb lives in the plane X_ARM with a +-42 envelope.
  * a motor boss ends at COVER_Z + 0.2, because the split clamp band (local 56.6..64.4,
    out to R38) belongs to the neighbouring link and needs that space free.
  * a driven hub disc stops short of the next joint's clamp envelope instead of running
    through it.
  * every bolted pair shares a plane whose normal IS the bolt axis.  The hand therefore
    presents two faces: the J5 hub disc (normal Y, spline-driven) and a neck plate at the
    shell flange (normal Z, 3x M3).  That 90 deg turn is what makes the hand a structure
    instead of an orange disc floating in front of the arm.
"""
import math
import os
import sys
import time

try:
    sys.stdout.reconfigure(encoding="utf-8", line_buffering=True)
except Exception:
    pass

sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
import cadquery as cq
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_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 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,
                          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,
                          Y_AXIS, Y_HUB, Y_REAR, Y_COVER, Y_H, Y_R_IN, Y_R_OUT,
                          Y_M6, Y_CHEST, X_CHEST)

VERSION = os.environ.get("ARMVER", "h1")
ITER = int(os.environ.get("ARMITER", "1"))
AB.VERSION = VERSION
AB.ITER = ITER

Y_MID = Y_AXIS                          # arm lateral centre plane
BOSS = COVER_Z + 0.2                   # a motor boss stops here; the clamp lives beyond
DISC_R = 40.0                          # driven hub disc (shroud OD is 38)
SLEEVE_R = 35.0                        # motor mount collar outer (OD 70, wall 4.85mm over Ø60.3 bore)


def Xcyl(r, x0, x1, py, pz):
    """Cylinder of radius r along +X from x0..x1, axis at (y,z) = (py,pz)."""
    return place(place(cyl(r, 0.0, x1 - x0, 0.0, 0.0), R(90, 0, 1, 0)), T(x0, py, pz))


def Xplate(pts_yz, x0, x1):
    """Plate bounded by a (y,z) profile, extruded along x0..x1."""
    prof = [(-p[1], p[0]) for p in pts_yz]
    return place(place(prism(prof, 0.0, x1 - x0), R(90, 0, 1, 0)), T(x0, 0.0, 0.0))


def XB(a0, a1, y0, y1, z0, z1):
    """Box in the limb frame: x measured from X_ARM."""
    return bx(X_ARM + a0, X_ARM + a1, y0, y1, z0, z1)


def make_direct_hub(shape, j, r_disc=35.0, z_out=74.0):
    """Direct motor output interface for joint j:
    - Completely eliminates separate couplings & clamps across the arm.
    - Fits directly to motor rotating output flange at local z = 54.942.
    - Outer disc starts at local z = 56.5 (0.5mm clearance from stationary motor cover at 56.0).
    - Centering pilot boss Ø35.6mm (R17.8mm) spans local z: 54.942 to 56.5 into motor neck.
    - Central through-hole Ø7.0mm (R3.5mm) penetrates all the way through for wire passing.
    - 3 M2 counterbored screw holes at BCD 29.0mm (angles 8.6°, 127.7°, 247.9°):
      Through hole Ø2.8mm (local z: 54.0 to 58.0, leaves 3.06mm solid clamping flange).
      Counterbore Ø5.6mm (local z: 58.0 to z_out + 30.0) penetrates ALL THE WAY THROUGH to the outside!
    """
    disc = cyl(r_disc, 56.5, z_out)
    boss = cyl(17.8, 54.942, 56.5)
    shape = shape.fuse(j.L(disc)).fuse(j.L(boss))
    shape = shape.cut(j.L(cyl(3.5, 54.0, z_out + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, z_out + 40.0, u, v)
        shape = shape.cut(j.L(th)).cut(j.L(cb))
    return shape


# ---------------------------------------------------------------- torso -------------------
def p_chest():
    """P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower):
    针对 3D 打印与高抗扭刚度彻底重构：
    1. 66x66mm 封闭中空厚壁箱型柱（壁厚 8mm），中心在 (-27.0, 47.0)，与 P03 底座完美贴合无阶梯、无突起；
    2. 顶部接收 P03 48x48x15mm 榫头插槽与 4x M5 安装螺栓；
    3. 底部插入 P02 沉槽（深度 12mm），剪切力由槽壁全周承载；
    4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
    5. 外棱角全部采用 R=6mm 圆角。
    """
    z_bot = 22.0     # P02 底座厚度 22mm
    z_top = Z_CHEST1 # 470.0
    
    # 外部实心箱梁
    col = (cq.Workplane("XY", origin=(-27.0, 47.0, z_bot))
           .rect(66.0, 66.0)
           .extrude(z_top - z_bot)
           .edges("|Z").fillet(6.0)).val()
    s = cq.Shape(col.wrapped)
    
    # 中空中部腔体 (50x50mm，留 8mm 强韧厚壁)
    cav = (cq.Workplane("XY", origin=(-27.0, 47.0, z_bot + 10.0))
           .rect(50.0, 50.0)
           .extrude(z_top - z_bot + 1.0)
           .edges("|Z").fillet(4.0)).val()
    s = s.cut(cav)
    
    # 底部 4x M5 安装孔
    for xx in (-48.0, -6.0):
        for yy in (26.0, 68.0):
            s = s.cut(cyl(2.75, z_bot - 0.01, z_bot + 15.0, xx, yy))
            
    # 顶部 4x M5 安装孔
    for xx in (-48.0, -6.0):
        for yy in (26.0, 68.0):
            s = s.cut(cyl(2.75, z_top - 20.0, z_top + 0.01, xx, yy))
            
    # 走线工艺窗口（带大圆角）
    w_bot = (cq.Workplane("XZ", origin=(-27.0, 80.5, 105.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_bot)
    
    w_top = (cq.Workplane("XZ", origin=(-27.0, 80.5, 375.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_top)
    
    return s


def split_p01_stack(p01):
    """将 P01 拆分为适合 250mm 桌面 3D 打印机的两段（P01_A 与 P01_B），带 16mm 阶梯互锁榫卯"""
    z_split = 246.0
    h_lap = 16.0
    
    # 下段 P01_A (Z=22 to 246, 包含向上的 16mm 榫头插舌)
    cut_b = bx(-70.0, 20.0, 0.0, 100.0, z_split, 500.0)
    tongue_outer = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split))
                    .rect(64.8, 64.8)
                    .extrude(h_lap)
                    .edges("|Z").fillet(5.5)).val()
    tongue_cav = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split - 1.0))
                  .rect(51.0, 51.0)
                  .extrude(h_lap + 2.0)).val()
    tongue = cq.Shape(tongue_outer.wrapped).cut(tongue_cav)
    
    p01_a = p01.cut(cut_b).fuse(tongue)
    
    # 上段 P01_B (Z=246 to 470, 底部包含接收榫头的凹槽)
    cut_a = bx(-70.0, 20.0, 0.0, 100.0, 0.0, z_split)
    p01_b = p01.cut(cut_a)
    pocket = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split - 0.1))
              .rect(65.6, 65.6)
              .extrude(h_lap + 0.5)
              .edges("|Z").fillet(6.0)).val()
    p01_b = p01_b.cut(pocket)
    
    # 对锁螺栓孔 (4x M4 对锁孔在 Z=z_split + h_lap/2)
    z_bolt = z_split + h_lap / 2.0
    for xx in (-46.0, -8.0):
        y_bolt = Ycyl(2.2, 10.0, 85.0, xx, z_bolt)
        p01_a = p01_a.cut(y_bolt)
        p01_b = p01_b.cut(y_bolt)
        
    return p01_a, p01_b


def p_base_foot():
    """P02_测试台架底座 (Ultra-Stable 320mm Extended Stabilizer Base):
    1. 200x320x22mm 重型防倾翻大底盘（长 320mm，向后延伸至 Y=-90，向前延伸至 Y=+230）；
    2. 彻底保证机械臂在最大延伸（前伸 300mm+）及动态制动时的重心稳定度；
    3. 中央设计 12mm 深度立柱抗剪嵌套凹槽 (Socket Pocket)，精密容纳 P01 下端；
    4. 四个边角各设有一组 28x7mm 的 M6 夹持/桌面压板安装腰槽；
    5. 凹槽底面设有 4x M5 沉头紧固螺栓孔；
    6. 底面设有 28x6mm 隐蔽过线通槽；
    7. 四周棱角全部采用 R=16mm 大圆角过渡与 2.5mm 上边缘导角。
    """
    z0 = 0.0
    z1 = 22.0
    
    base_plate = (cq.Workplane("XY", origin=(-20.0, 70.0, z0))
                  .rect(200.0, 320.0)
                  .extrude(z1)
                  .edges("|Z").fillet(16.0)
                  .edges(">Z").fillet(2.5)).val()
    s = cq.Shape(base_plate.wrapped)
    
    # 中央立柱嵌装定位槽 (深度 12mm, Z: 10~22mm)
    socket_box = (cq.Workplane("XY", origin=(-27.0, 47.0, z1 - 12.0))
                  .rect(67.0, 67.0)
                  .extrude(13.0)
                  .edges("|Z").fillet(6.5)).val()
    s = s.cut(socket_box)
    
    # 底部 4x M5 贯通螺栓孔及沉头沉孔 (从底座下方向上紧固立柱)
    for xx in (-48.0, -6.0):
        for yy in (26.0, 68.0):
            th = cyl(2.75, -0.01, z1 - 11.0, xx, yy)
            cb = cyl(5.0, -0.01, 6.0, xx, yy)
            s = s.cut(th).cut(cb)
            
    # 4 处边角 M6 桌面压板/台钳固定长腰槽 (28mm x 7mm)
    for cx in (-100.0, 60.0):
        for cy in (-60.0, 200.0):
            plane = cq.Plane(origin=(cx, cy, -0.01), xDir=(0, 1, 0), normal=(0, 0, 1))
            slot = cq.Workplane(plane).slot2D(28.0, 7.0).extrude(z1 + 1.0).val()
            s = s.cut(slot)
            
    # 底部隐蔽走线凹槽 (宽 28mm, 深 6mm, 从立柱槽直通底座后侧 Y=-90)
    wire_ch = (cq.Workplane("XY", origin=(-27.0, -20.0, -0.01))
               .rect(28.0, 145.0)
               .extrude(6.0)).val()
    s = s.cut(wire_ch)
    
    return s


def p_girdle(j1):
    """P03_肩部基座 浑然一体高刚度规整风道机壳 (Monolithic Aerodynamic Shoulder Housing):
    彻底重构并消除旧版所有缺陷：
    1. 彻底消除不对称悬空凸台与多余阶梯（消除 X>5.0 处突出的无用耳朵与螺栓孔）；
    2. 全件采用统一的 X 跨度 X in [-59.0, 5.0] (宽 64mm)，外侧平齐，零多余外凸；
    3. 斜挑支撑柱 (Pylon) 自 Z=470mm 安装基底浑然一体平滑延伸至 Ø73mm 电机外壳舱，无上下断层或拼接触痕；
    4. 底面设置 48x48x15mm 高强度整体榫头与 4x M5 对锁安装沉孔，隐藏于腔体内部；
    5. 7 组轴向圆角散热通风百叶窗 (长34mm, 宽4.6mm) + 尾部双排气对流窗口。
    """
    R_POD = 36.5
    X_REAR = Z_R1 - 8.0   # -59.0 (8mm 后端安装板)
    X_FRONT = 5.0         # +5.0 (平齐电机输出端面，留 0.5mm 间隙至 P04)
    
    # 1. 规整同轴电机外壳舱 (Coaxial Nacelle, Ø73mm)
    pod_outer = (cq.Workplane("YZ", origin=(X_REAR, Y_AXIS, Z_RL))
                 .circle(R_POD)
                 .extrude(X_FRONT - X_REAR)
                 .edges(">X").chamfer(2.0)
                 .edges("<X").fillet(3.0)).val()
    s = cq.Shape(pod_outer.wrapped)
    
    # 2. 一体化斜挑支撑柱 (Monolithic Pylon, 从 Z=470 直通电机机舱)
    pylon_pts = [
        (16.0, Z_CHEST1),
        (78.0, Z_CHEST1),
        (78.0, 542.0),
        (Y_AXIS - 5.0, Z_RL - R_POD + 4.0),
        (Y_AXIS, Z_RL - R_POD),
        (Y_AXIS - R_POD, Z_RL + 10.0),
        (Y_AXIS - R_POD - 6.0, Z_RL + 6.0),
        (70.0, 542.0),
        (16.0, Z_CHEST1 + 8.0),
    ]
    pylon = Xplate(pylon_pts, X_REAR, X_FRONT)
    s = s.fuse(pylon)
    
    # 3. 底部与立柱对接的精密定位榫头 (Z=455~470mm)
    boss = (cq.Workplane("XY", origin=(-27.0, 47.0, Z_CHEST1 - 15.0))
            .rect(48.0, 48.0)
            .extrude(15.0)
            .edges("|Z").fillet(4.0)).val()
    s = s.fuse(cq.Shape(boss.wrapped))
    
    # 4. 4x M5 坚固连接螺孔 (隐蔽分布于基底，不露在外部侧面)
    for xx in (-48.0, -6.0):
        for yy in (26.0, 68.0):
            s = s.cut(cyl(2.75, Z_CHEST1 - 16.0, Z_CHEST1 + 25.0, xx, yy))
    
    # 5. 电机安装接口与内腔
    s = j1.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j1.front_collar_pocket(s, r_bore=30.25 + 0.5, z0=50.0, z1=56.5)
    s = j1.pocket(s)
    s = s.cut(Xcyl(30.6, Z_R1 + 0.5, -0.5, Y_AXIS, Z_RL))
    
    # 6. 7组轴向散热百叶窗 (Axial Louvers)
    slot_angles = [-15, 12, 38, 64, 90, 116, 142]
    slot_w = 4.6
    slot_l = 34.0
    slot_x_mid = -24.0
    for ang in slot_angles:
        rad = ang * D2R
        plane = cq.Plane(
            origin=(slot_x_mid, Y_AXIS + 28.0 * math.cos(rad), Z_RL + 28.0 * math.sin(rad)),
            xDir=(1, 0, 0),
            normal=(0, math.cos(rad), math.sin(rad))
        )
        slot_solid = cq.Workplane(plane).slot2D(slot_l, slot_w).extrude(16.0).val()
        s = s.cut(slot_solid)
        
    # 7. 尾部 PCBA 驱动板散热窗口 (PCBA Vents)
    for z_off in (-10.0, 10.0):
        vent_plane = cq.Plane(
            origin=(X_REAR - 1.0, Y_AXIS, Z_RL + z_off),
            xDir=(0, 1, 0),
            normal=(1, 0, 0)
        )
        vent_solid = cq.Workplane(vent_plane).slot2D(16.0, 5.0).extrude(12.0).val()
        s = s.cut(vent_solid)
        
    return s


def p_fork(j1, j2):
    """P04_肩叉 (Shoulder Fork / L-Bracket):
    Driven by J1 roll output, drops directly to hold M2 (shoulder pitch motor).
    Aligend along Y_AXIS = 128.0 mm (both M1 and M2 centered at Y=128!).
    Fixes M2 strictly via two ends (4x rear bolts @ BCD 53.7mm + front collar).
    Stator middle cylinder is 100% exposed for cooling. ZERO pinch screws!
    严格依照用户绘制红线进行 XZ 双曲面有机流线塑形：
    1. 右侧由 J1 凸台下方向内收腰 (x=35.0, z=550.0)，底端以 R=106.5mm 大直径切线圆弧顺滑外扩，
       以严格数学相切连续顺接下方 M2 圆柱最右侧极值点 (x=53.5, z=490.0)，彻底消除原先 13mm 生硬台阶；
    2. 左侧从 J1 从动盘下端 (x=5.5, z=572.0) 顺滑斜向下顺接至立柱 (x=14.0, z=515.0)，填实原先悬空凹槽并大幅强化连接刚度；
    3. 采用高精度双向曲面求交 (BRepAlgoAPI_Common) 构建单实体高刚度流线型结构。
    """
    x0 = X_J1_HUB                   # 14.0

    # 1. M2 后端安装法兰盘 (Y: 92..100, R=35mm)
    rear_plate = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_SH)

    # 2. M2 前端定位环 (Y: 149.5..155.5, R=35mm) - 恢复并加固蓝色的环！
    front_collar = Ycyl(35.0, Y_COVER - 6.5, Y_COVER - 0.5, X_ARM, Z_SH)
    s = rear_plate.fuse(front_collar)

    # 3. J1 从动法兰盘 (X: 5.5..23.0, R=38mm)
    disc_j1 = Xcyl(38.0, 5.5, 23.0, Y_AXIS, Z_RL)
    s = s.fuse(disc_j1)

    # 4. XZ 平面有机连续流线轮廓（加固并彻底抹平顶部 26mm 生硬阶梯）：
    # 顶部：自 (5.5, 648.0) 保持与 J1 从动盘同高延伸至 (23.0, 648.0)，完全抹平阶梯！
    # 右侧：自 (23.0, 648.0) 以 R=18mm 顺滑倒角过渡到 (39.0, 630.0)，再以 R=111.56mm 切线大圆弧顺接下方 (53.5, 490.0)
    # 左侧：维持 Hermite C1 切线连续自然过渡
    dx_flare = 53.5 - 39.0
    dz_flare = 545.0 - 490.0
    R_flare = (dx_flare**2 + dz_flare**2) / (2.0 * dx_flare)  # 111.56 mm

    x_b, z_b = -12.65, 506.0
    x_a, z_a = 5.5, 545.0
    Lz = z_a - z_b
    d0 = 0.514 * Lz
    d1 = 0.0

    hermite_pts = []
    N_h = 16
    for i in range(N_h + 1):
        t = i / N_h
        h00 = 2.0 * (t**3) - 3.0 * (t**2) + 1.0
        h10 = t**3 - 2.0 * (t**2) + t
        h01 = -2.0 * (t**3) + 3.0 * (t**2)
        h11 = t**3 - t**2
        xh = x_b * h00 + d0 * h10 + x_a * h01 + d1 * h11
        zh = z_b + t * Lz
        hermite_pts.append((xh, zh))

    xz_wire = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
               .moveTo(5.5, 545.0)
               .lineTo(5.5, Z_RL + 38.0)       # 648.0: 与 J1 圆盘顶部平齐共顶！
               .lineTo(23.0, Z_RL + 38.0)      # 抹平 X=23 处的 26mm 巨型台阶！
               .radiusArc((39.0, 630.0), 18.0) # 自然圆角顺滑过渡到外侧肩部
               .lineTo(39.0, 545.0)
               .radiusArc((53.5, 490.0), -R_flare)
               .lineTo(18.5, 490.0)
               .lineTo(-16.5, 490.0)
               .threePointArc((-15.1, 498.5), (-12.65, 506.0)))
    for pt in hermite_pts[1:]:
        xz_wire = xz_wire.lineTo(pt[0], pt[1])
    xz_wire = xz_wire.close()
    xz_solid = xz_wire.extrude(100.0, both=True).val()
    xz_shape = cq.Shape(xz_solid.wrapped)

    # YZ 平面包络：
    # 顶部顺接 J1 圆盘 (Y_AXIS - 38 .. Y_AXIS + 38, Z=648)
    # 底端全深顺接 M2 前后安装端 (Y: 92.0 .. 155.5)
    yz_pts = [
        (Y_AXIS - 38.0, Z_RL + 38.0),
        (Y_AXIS + 38.0, Z_RL + 38.0),
        (Y_COVER - 0.5, Z_SH + 36.0),
        (Y_COVER - 0.5, Z_SH),
        (Y_REAR - 8.0, Z_SH),
        (Y_REAR - 8.0, Z_SH + 36.0),
    ]
    yz_solid = Xplate(yz_pts, -20.0, 60.0)

    c_int = BRepAlgoAPI_Common(yz_solid.wrapped, xz_shape.wrapped)
    c_int.Build()
    column = cq.Shape(c_int.Shape())

    s = s.fuse(column)


    # 6. 中部电机定子散热切除（R=30.5，保证电机定子散热，同时保留外侧与上下坚固承力壁）
    s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_SH))

    # 7. M2 接口成型
    s = j2.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j2.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    c_m2 = [cyl(BORE_R, -0.6, COVER_Z - 3.5), cyl(CB_R, COVER_Z - 3.5, COVER_Z + 0.6)]
    s = s.cut(*[j2.L(item) for item in c_m2])



    # 7. J1 直连法兰结构（定位止口 + 走线通孔 + 3x M2 贯通沉头孔）
    boss = cyl(17.8, 54.942, 56.5)
    s = s.fuse(j1.L(boss))
    s = s.cut(j1.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M['m2_bcd'] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M['m2_bcd'] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
        s = s.cut(j1.L(th)).cut(j1.L(cb))

    return s


# ---------------------------------------------------------------- limbs -------------------
def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket"):
    """Half-wrapped (半包) 双曲面有机流线型 Pitch-to-Roll 结构座 (P05 & P08):
    1. 顶部从动法兰与前侧 Loft 自然相切顺接；
    2. 严格清除 z_plate 顶面以上与上级旋转件贴面的多余材料 (cut_top_solid)，保证关节大范围摆动动态 0 干涉；
    3. 下方电机实行半包散热设计，-Y侧敞开，+Y侧背脊与圆柱一体化融合；
    4. 严格满足 single-solid 流形拓扑与零干涉 (COLLISION pairs = 0)。
    """
    z_bot = z_r - 56.0            # roll 电机底端 (front collar)
    z_plate = z_r + 7.0           # roll 电机顶端安装板 (rear plate top)
    y_out = HL.Y_HUB + HL.PLATE_T # 174.0 (俯仰直连法兰外侧面)
    y_hub_in = HL.Y_COVER + 1.0   # 157.0 (从动法兰内侧面，预留 1.0mm 动间隙)
    y_cyl_max = HL.Y_AXIS + 35.0  # 163.0 (下方电机外轮廓极值)

    # 1. 基础立柱：Ø70mm 实心圆柱 (Z: z_bot .. z_plate, R=35mm)
    s = cyl(35.0, z_bot, z_plate, HL.X_ARM, HL.Y_AXIS)

    # 2. 俯仰轴直连法兰盘：全圆柱实体 (Y: y_hub_in .. y_out, R=35mm)
    disc = Ycyl(35.0, y_hub_in, y_out, HL.X_ARM, z_pitch)
    s = s.fuse(disc)

    # 3. 前侧从底端 Ø70mm 圆柱到顶端法兰的有机相切平滑渐变过渡体 (Loft Morph)
    Z_top = z_pitch - 35.0
    z_start = z_bot
    N = 16
    wp = cq.Workplane("XY")
    for i in range(N + 1):
        t = i / float(N)
        z_curr = z_start + t * (Z_top - z_start)
        st = 3.0 * (t**2) - 2.0 * (t**3)
        y_center = y_cyl_max + st * (y_out - y_cyl_max)
        y_side = HL.Y_AXIS + st * (y_out - HL.Y_AXIS)
        v_c = y_center - HL.Y_AXIS
        v_s = y_side - HL.Y_AXIS
        v_mid = max(v_c, v_s + 0.02)
        w = (cq.Workplane("XY", origin=(HL.X_ARM, HL.Y_AXIS, z_curr))
             .moveTo(-35.0, v_s)
             .threePointArc((0.0, v_mid), (35.0, v_s))
             .lineTo(35.0, -5.0)
             .lineTo(-35.0, -5.0)
             .close())
        wp = wp.add(w)

    loft = wp.toPending().loft()
    s = s.fuse(loft.val())

    # 4. 顶部填充（仅保留 y >= y_hub_in 与法兰盘对齐的部分，避免侵入上级关节旋转扫掠区域）
    top_fill = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
                .moveTo(y_hub_in, Z_top)
                .lineTo(y_out, Z_top)
                .lineTo(y_out, z_pitch)
                .lineTo(y_hub_in, z_pitch)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(top_fill.val())

    # 5. 旋转清让切除：彻底清除 z >= z_plate 且 y <= y_hub_in 范围内的多余材料，
    # 消除导致与上游旋转件（P04/P07）严重干涉的立壁与尖角，保持顶面平整规整！
    cut_top_solid = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
                     .moveTo(-999.0, z_plate)
                     .lineTo(y_hub_in, z_plate)
                     .lineTo(y_hub_in, z_pitch + 50.0)
                     .lineTo(-999.0, z_pitch + 50.0)
                     .close()
                     .extrude(60.0, both=True))
    s = s.cut(cut_top_solid.val())

    # 6. 电机半包处理 (Half-Enclosure)：-Y侧敞开散热，+Y侧背脊壳体加强
    cut_open = bx(HL.X_ARM - 40.0, HL.X_ARM + 40.0, HL.Y_AXIS - 40.0, HL.Y_AXIS + 3.0, z_bot + 6.0, z_r - 1.0)
    s = s.cut(cut_open)

    # 7. 上级电机同心圆弧避让
    clearance = Ycyl(35.5, HL.Y_AXIS - 40.0, HL.Y_COVER + 0.1, HL.X_ARM, z_pitch)
    s = s.cut(clearance)

    # 8. 下方电机安装孔位与定位止口
    s = j_roll.rear_mount_holes(s, t_plate=7.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j_roll.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j_roll.pocket(s)

    # 9. 电机定子配合空腔
    s = s.cut(cyl(30.5, z_r - 49.5, z_r - 0.5, HL.X_ARM, HL.Y_AXIS))

    # 10. 俯仰轴直连法兰结构（凸台延伸至 59.5 跨过间隙与法兰盘牢固熔接，保持单实体）
    boss = cyl(17.8, 54.942, 59.5)
    s = s.fuse(j_pitch.L(boss))
    s = s.cut(j_pitch.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
        s = s.cut(j_pitch.L(th)).cut(j_pitch.L(cb))

    # 11. 竖直臂前侧外角倒角（5mm）：平滑消除圆柱体以外的两侧垂直尖角
    c_size = 5.0
    c_left = (cq.Workplane("XY", origin=(HL.X_ARM - 35.0, y_hub_in, z_plate))
              .moveTo(-0.1, -0.1)
              .lineTo(c_size, -0.1)
              .lineTo(-0.1, c_size)
              .close()
              .extrude(z_pitch - z_plate + 10.0))
    c_right = (cq.Workplane("XY", origin=(HL.X_ARM + 35.0, y_hub_in, z_plate))
               .moveTo(0.1, -0.1)
               .lineTo(-c_size, -0.1)
               .lineTo(0.1, c_size)
               .close()
               .extrude(z_pitch - z_plate + 10.0))
    s = s.cut(c_left.val()).cut(c_right.val())

    # 12. L 型转角连接处倒角过渡（倒角 2.0mm）：
    # 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中，严控动间隙保证动态零干涉
    try:
        wp_s = cq.Workplane(obj=s)
        sel_l = cq.NearestToPointSelector((HL.X_ARM, y_hub_in, z_plate))
        s = wp_s.edges(sel_l).chamfer(2.0).val()
    except Exception:
        pass

    return s


def p_shoulder_roll_base(j2, j3, half=None):
    """P05_大臂旋转座 (Shoulder Pitch-to-Roll Base)"""
    return make_pitch_to_roll_bracket(j2, j3, Z_SH, Z_R3, name="P05_大臂旋转座")



def p_humerus_bone(j3, j4):
    """P06_大臂骨架 (Humerus Bone):
    受 J3 (大臂自转, -Z轴, hub@Z_HUB3=380) 驱动，
    向下延伸构成大臂主体骨架，底端抱紧 M4 (肘部俯仰电机, +Y轴, 轴线位于 Z_EL=332.0)。
    1. XZ 视图满宽 Ø70mm 直通过渡：左右两侧（X: -16.5..53.5）全宽平滑垂直到达 Z_EL，严格相切融入 M4 下圆柱，彻底消除腰身台阶断差；
    2. YZ 视图连续相切双 S 弯有机顺接：顶端 Ø70mm 圆柱与底端前端套筒（Y=155.5）及后端安装板（Y=92.0）严格切线顺接，彻底消除水平方顶阶梯平台；
    3. 取消侧壁贯穿开孔，消除镂空，保持骨架为浑然一体的高强度流线型实体。
    """
    # 1. M4 底部抱紧套筒与后端安装板 (R=35mm)
    rear_m4 = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_EL)
    front_m4 = Ycyl(35.0, Y_COVER - 6.0, Y_COVER - 0.5, X_ARM, Z_EL)
    s = rear_m4.fuse(front_m4)

    # 顶端 Disc 结合面及底端过渡高度
    z_top = 388.5
    z_bot = Z_EL + 35.0  # 367.0

    # 2. XZ 平面满宽流线轮廓（左右两侧严格相切于底端 M4 轴线圆柱，无收腰台阶）：
    xz_w = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
            .moveTo(-16.5, Z_EL)
            .lineTo(-16.5, z_top)
            .lineTo(53.5, z_top)
            .lineTo(53.5, Z_EL)
            .close())
    xz_solid = xz_w.extrude(100.0, both=True).val()
    xz_shape = cq.Shape(xz_solid.wrapped)

    # 3. YZ 平面双向精确切线 S 弯顺接（前后平滑连续切线顺接，严控与 P07 动间隙）：
    dz_f = (z_top - z_bot) / 2.0  # 10.75 mm
    dy_f = (163.0 - (Y_COVER - 0.5)) / 2.0  # 3.75 mm
    R_f = (dy_f**2 + dz_f**2) / (2.0 * dy_f)  # 17.283 mm
    p_mid_f = (163.0 - dy_f, z_top - dz_f)

    theta_max_f = math.asin(dz_f / R_f)
    C_f1 = (Y_COVER - 0.5 + R_f, z_bot)
    p_quarter_f1 = (C_f1[0] - R_f * math.cos(theta_max_f / 2.0),
                    C_f1[1] + R_f * math.sin(theta_max_f / 2.0))
    C_f2 = (163.0 - R_f, z_top)
    p_quarter_f2 = (C_f2[0] + R_f * math.cos(theta_max_f / 2.0),
                    C_f2[1] - R_f * math.sin(theta_max_f / 2.0))

    dz_r = (z_top - z_bot) / 2.0  # 10.75 mm
    dy_r = (93.0 - (Y_REAR - 8.0)) / 2.0  # 0.5 mm
    R_r = (dy_r**2 + dz_r**2) / (2.0 * dy_r)  # 115.8125 mm
    p_mid_r = (93.0 - dy_r, z_top - dz_r)

    theta_max_r = math.asin(dz_r / R_r)
    C_r1 = (Y_REAR - 8.0 - R_r, z_bot)
    p_quarter_r1 = (C_r1[0] + R_r * math.cos(theta_max_r / 2.0),
                    C_r1[1] + R_r * math.sin(theta_max_r / 2.0))
    C_r2 = (93.0 + R_r, z_top)
    p_quarter_r2 = (C_r2[0] - R_r * math.cos(theta_max_r / 2.0),
                    C_r2[1] - R_r * math.sin(theta_max_r / 2.0))

    yz_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
            .moveTo(Y_REAR - 8.0, Z_EL)
            .lineTo(Y_COVER - 0.5, Z_EL)
            .lineTo(Y_COVER - 0.5, z_bot)
            .threePointArc(p_quarter_f1, p_mid_f)
            .threePointArc(p_quarter_f2, (163.0, z_top))
            .lineTo(93.0, z_top)
            .threePointArc(p_quarter_r2, p_mid_r)
            .threePointArc(p_quarter_r1, (Y_REAR - 8.0, z_bot))
            .close())
    yz_solid = yz_w.extrude(50.0, both=True).val()
    yz_shape = cq.Shape(yz_solid.wrapped)

    c_int = BRepAlgoAPI_Common(yz_shape.wrapped, xz_shape.wrapped)
    c_int.Build()
    body = cq.Shape(c_int.Shape())
    s = s.fuse(body)

    # 4. 电机中间定子散热裸露切除 (100% 裸露)
    s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_EL))

    # 5. 保持腰身为坚固完整实体，移除侧向镂空贯穿槽

    # 6. M4 接口成型
    s = j4.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j4.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j4.pocket(s)
    s = make_direct_hub(s, j3, r_disc=35.0, z_out=58.0)
    return s


def p_forearm_bone(j4, j5, half=None):
    """P07_小臂骨架 L型高刚度无干涉版（深度圆角优化版）
    设计要点：
    1. 改为与 P05/P08 统一的 L 型结构（L-bracket）：
       - +Y侧垂直背脊立柱（Y: y_hub_in..y_out），避开上级大臂骨架 P06（Y <= 155.5）
       - 垂直立柱与下方 M5 电机水平座之间采用平滑双相切内凹大圆弧 (R=28.0mm) 过渡（用户要求圆弧过渡取代折角）
       - 彻底消除侵入下方旋转副的悬空小方块/阶梯（用户要求"把这个小的这块都给消掉"）
    2. 下方 M5 电机实行半包散热结构，底部与内腔开窗散热
    3. J4/J5 轴俯仰大范围自由运动零干涉
    4. 满足单实体 (solids=1) 与装配零碰撞。
    """
    CLEARANCE_GAP = 2.0
    y_out = Y_HUB + PLATE_T                     # 174.0
    y_hub_in = HL.Y_COVER + 0.5 + CLEARANCE_GAP # 158.5
    y_front = Y_COVER - 0.5                     # 155.5
    y_rear = Y_REAR - 8.0                       # 92.0
    z_top_housing = Z_WR + 35.0                 # 257.0

    # 1. J5 电机前后安装环
    collar_front = Ycyl(35.0, HL.Y_COVER - 6.0, HL.Y_COVER - 0.5, X_ARM, Z_WR)
    rear_plate = Ycyl(35.0, HL.Y_REAR - 8.0, HL.Y_REAR, X_ARM, Z_WR)
    s = collar_front.fuse(rear_plate)

    # 2. J4 顶部从动法兰盘 (Y: y_hub_in..y_out, R=35mm, Z: Z_EL)
    disc = Ycyl(35.0, y_hub_in, y_out, X_ARM, Z_EL)
    s = s.fuse(disc)

    # 3. M5 电机壳体水平顶部顶板 (Z: Z_WR..z_top_housing, Y: y_rear..y_front)
    roof_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
              .moveTo(y_rear, Z_WR)
              .lineTo(y_rear, z_top_housing)
              .lineTo(y_front, z_top_housing)
              .lineTo(y_front, Z_WR)
              .close()
              .extrude(35.0, both=True))
    s = s.fuse(roof_w.val())

    # 4. L型垂直立柱臂 (+Y侧，Y: y_hub_in..y_out，从 Z_EL 顶端延伸至下方电机座)
    vert_leg = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
                .moveTo(y_hub_in, z_top_housing)
                .lineTo(y_out, z_top_housing)
                .lineTo(y_out, Z_EL)
                .lineTo(y_hub_in, Z_EL)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(vert_leg.val())

    # 5. L型内侧圆弧加强过渡（Circular Arc Gusset，用户要求"改成圆弧而不是折角，消掉悬空小块"）
    # 彻底取代直角折角与直斜线折角，采用与顶面和立柱双相切的平滑内凹大圆弧 (R=28.0mm)
    # 起点在顶板平整面 (y_arc_start, z_top_housing)，精确相切至立柱内侧面 (y_hub_in, z_arc_end)
    # 严控全域 Z >= z_top_housing，彻底消除侵入下方旋转副的悬空小方块与多余突起！
    R_arc = 28.0
    y_arc_start = y_hub_in - R_arc
    z_arc_end = z_top_housing + R_arc
    p_mid_arc = (y_arc_start + R_arc * math.cos(math.pi / 4),
                 z_arc_end - R_arc * math.sin(math.pi / 4))

    gusset_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
                .moveTo(y_arc_start, z_top_housing)
                .threePointArc(p_mid_arc, (y_hub_in, z_arc_end))
                .lineTo(y_out, z_arc_end)
                .lineTo(y_out, z_top_housing)
                .lineTo(y_arc_start, z_top_housing)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(gusset_w.val())

    # 6. 下级 P08 旋转圆盘动态避让切除（避让下级 J5 旋转部件）
    p08_clearance = Ycyl(35.5, 156.0, y_out + 2.0, X_ARM, Z_WR)
    s = s.cut(p08_clearance)

    # 7. M5 电机安装接口与定子空腔
    s = j5.front_collar_pocket(s, r_bore=30.25 + CLEARANCE_GAP, z0=50.0, z1=56.5)
    s = j5.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j5.pocket(s)
    s = s.cut(Ycyl(30.5 + CLEARANCE_GAP, y_rear + 0.5, y_front - 6.0, X_ARM, Z_WR))

    # 半包散热设计：-Z底部电机定子通风口
    vent_cut = bx(X_ARM - 40.0, X_ARM + 40.0, y_rear + 8.0, y_front - 6.0, Z_WR - 40.0, Z_WR - 25.0)
    s = s.cut(vent_cut)

    # 8. J4 直连法兰结构（凸台延伸至 60.0 跨过间隙与法兰盘牢固熔接，保持单实体）
    boss = cyl(17.8, 54.942, 60.0)
    s = s.fuse(j4.L(boss))
    s = s.cut(j4.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
        s = s.cut(j4.L(th)).cut(j4.L(cb))

    # 9. 工艺走线通孔
    slot_z = (Z_EL + z_top_housing) / 2.0
    slot = Ycyl(7.0, y_hub_in - 2.0, y_out + 2.0, X_ARM, slot_z)
    s = s.cut(slot)

    return s


def p_wrist_bracket(j5, j6):
    """P08_腕偏转座 (Wrist Pitch-to-Roll Bracket)"""
    return make_pitch_to_roll_bracket(j5, j6, Z_WR, Z_R6, name="P08_腕偏转座")



def p_tool_flange(j6):
    """P09_末端工具法兰 (Tool Output Flange):
    受 J6 (工具自转, -Z轴, hub@Z_HUB6=64.0) 驱动，直接集成 3x M2 直锁电机输出轴，
    彻底取消黄色独立联轴器与抱箍。
    提供工业标准法兰接口，集成 4x M4 螺栓孔（BCD 40mm）、Ø20mm 定位止口及 Ø10mm 贯通走线孔，
    可随时直接快拆安装各类微型夹爪或末端工具。
    外轮廓统一 Ø70mm，与腕部整体平顺过渡。
    """
    z_bot = Z_HUB6 - PLATE_T - 9.0
    s = cyl(35.0, z_bot, Z_HUB6, X_ARM, Y_AXIS)

    # Standard 4x M4 bolt holes on BCD 40mm
    for a in (0, 90, 180, 270):
        rad = 20.0
        u = rad * math.cos(a * D2R)
        v = rad * math.sin(a * D2R)
        h = cyl(1.85, z_bot - 1.0, z_bot + 12.0, X_ARM + u, Y_AXIS + v)
        cb = cyl(3.5, z_bot - 1.0, z_bot + 4.0, X_ARM + u, Y_AXIS + v)
        s = s.cut(h).cut(cb)

    # Central locating pilot hole (Ø20mm x 2.5mm deep) + wire pass hole (Ø10mm)
    pilot = cyl(10.0, z_bot - 1.0, z_bot + 2.5, X_ARM, Y_AXIS)
    thru = cyl(5.0, z_bot - 1.0, Z_HUB6 + 1.0, X_ARM, Y_AXIS)
    s = s.cut(pilot).cut(thru)

    # Direct motor output interface (3x M2 screws through to outside face)
    s = make_direct_hub(s, j6, r_disc=35.0, z_out=74.0)
    return s


# ---------------------------------------------------------------- assembly ----------------
# ---------------------------------------------------------------- assembly ----------------
def build():
    print("=" * 80, flush=True)
    print("【第一阶段 1/5】开始生成手臂各级构件 3D 几何实体模型...", flush=True)
    print("=" * 80, flush=True)
    t_stage1 = time.time()

    print("  [0/9] 载入电机标准件模组 (STEP)...", end="", flush=True)
    t0 = time.time()
    motor = cq.importers.importStep(AB.SRC_STEP).val()
    motor = place(motor, T(0, 0, -2.57))
    AB.MOTOR, AB.HALF, AB.CLAMP = motor, None, None
    print(f" 完成 ({time.time()-t0:.2f}s) ✓", flush=True)

    JS = {}
    for tag, cn, rear, d, xd, holder, driven in HL.JOINTS:
        JS[tag] = Joint(tag, cn, rear, d, xd, lug_phase=90.0 if tag == "J1" else 0.0)
    j1, j2, j3, j4, j5, j6 = (JS["J%d" % k] for k in range(1, 7))

    PARTS[:] = []
    AB.CENTS.clear()
    AB.GRP = {}
    par = {"J1": "root", "J2": "J1", "J3": "J2", "J4": "J3", "J5": "J4", "J6": "J5"}
    driven = {"J1": "P04_肩叉", "J2": "P05_大臂旋转座", "J3": "P06_大臂骨架",
              "J4": "P07_小臂骨架", "J5": "P08_腕偏转座", "J6": "P09_工具法兰"}
    motor_of = {"J1": "M1_J1", "J2": "M2_J2", "J3": "M3_J3",
                "J4": "M4_J4", "J5": "M5_J5", "J6": "M6_J6"}
    for t in ("J1", "J2", "J3", "J4", "J5", "J6"):
        AB.GRP[motor_of[t]] = par[t]                     # the motor body is the proximal side
        AB.GRP[driven[t]] = t
    AB.GRP.update({"P01_胸板": "root", "P02_底脚": "root", "P03_肩吊臂": "root"})
    AB.JAW = {}

    parts_to_build = [
        ("P01_胸板", "躯干/胸腔安装板", lambda: p_chest(), 0x4b5563,
         "手臂根部；12 厚板，顶面与肩吊臂桥板用 4x M4 连接，另有走线窗"),
        ("P02_底脚", "站立底脚", lambda: p_base_foot(), 0x374151,
         "0..%d，与机架安装面连接" % Z_CHEST0),
        ("P03_肩吊臂", "肩部基座（对标灵犀X1，胸部直出）", lambda: p_girdle(j1), 0x4b5563,
         "胸腔顶部直出基座；抱紧M1定子"),
        ("P04_肩叉", "正交肩肘（取消独立联轴器，3×M2螺钉直锁M1输出轴，贯通沉头孔）", lambda: p_fork(j1, j2), 0x2563eb,
         "受 J1 驱动，一体化 3x M2 螺钉直锁 M1 电机输出轴，贯通沉头孔；90°一体化高刚度正交转向肘，抱紧 M2 电机"),
        ("P05_大臂旋转座", "大臂旋转座（取消独立联轴器，3×M2螺钉直锁M2输出轴，贯通沉头孔）", lambda: p_shoulder_roll_base(j2, j3, None), 0x059669,
         "受 J2 驱动，彻底取消黄色独立联轴器；基座直接贴合 M2 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；90°正交抱紧 M3 电机，中间 100% 敞开散热"),
        ("P06_大臂骨架", "大臂骨架（取消独立联轴器，3×M2螺钉直锁M3输出轴，贯通沉头孔）", lambda: p_humerus_bone(j3, j4), 0x0d9488,
         "受 J3 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M3 输出轴；流线型工字骨架+走线槽，底端抱紧 M4 肘部电机"),
        ("P07_小臂骨架", "小臂骨架（L型圆弧加强版，R=28mm双相切平滑圆弧，消除悬空块）", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
         "受 J4 驱动，彻底取消黄色独立联轴器；从动盘直接贴合 M4 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；轻量高刚度骨架，底端抱紧 M5 电机"),
        ("P08_腕偏转座", "腕部转接座（取消独立联轴器，3×M2螺钉直锁M5输出轴，贯通沉头孔）", lambda: p_wrist_bracket(j5, j6), 0xd97706,
         "受 J5 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M5 输出轴；两端刚性固定 M6 立式电机，中间 100% 敞开散热"),
        ("P09_工具法兰", "末端工具法兰（取消独立联轴器，3×M2螺钉直锁M6输出轴，贯通沉头孔）", lambda: p_tool_flange(j6), 0xdc2626,
         "受 J6 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M6 输出轴；标准工业法兰接口，4x M4 螺孔 BCD 40mm + 定位止口与走线孔"),
    ]

    for idx, (name, cn, fn, color, note) in enumerate(parts_to_build, 1):
        print(f"  [{idx}/9] 正在构建 {name} ({cn})...", end="", flush=True)
        t0 = time.time()
        sh = fn()
        dt = time.time() - t0
        vol = AB.vol_of(sh) / 1000.0
        n_solids = len(solids_of(sh))
        print(f" 完成 ✓  ({dt:.2f}s | 体积: {vol:.1f} cm³ | 实体数: {n_solids})", flush=True)
        add(name, cn, sh, color, note=note)

    print("  [装配] 正在将 M1~M6 电机定位至各关节坐标位姿...", end="", flush=True)
    t0 = time.time()
    for k, (tag, cn, rear, d, xd, holder, driven_name) in enumerate(HL.JOINTS):
        j = JS[tag]
        add("M%d_%s" % (k + 1, tag), "%s 电机模组" % tag, place(motor, j.t), 0x9ca3af,
            printed=False, note="复用 电机.STEP")
    print(f" 完成 ✓ ({time.time()-t0:.2f}s)", flush=True)
    print(f"-> 构件模型全部生成完成，总耗时: {time.time()-t_stage1:.2f}s\n", flush=True)
    return JS


CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
SEP = 74.0                                   # mm of separation per joint in the exploded view


def explode_chain(p, JS, cents, gmean):
    """Explode as a readable stack, not along the joint axes."""
    grp = AB.GRP.get(p["name"], "root")
    if grp == "root":
        return [0.0, 0.0, 0.0]
    k = CHAIN.index(grp)
    off = [0.0, 0.0, -SEP * k]
    j = JS.get(grp)
    if j:
        nm = p["name"]
        w = 0.0
        if "半联轴器" in nm or "抱箍" in nm:
            w = 34.0 * (1.0 if ("A" in nm[-1:]) else -1.0)
        elif nm.startswith("M"):
            w = 62.0
        for q in range(3):
            off[q] += j.d[q] * w
    return off


def solids_first(path):
    return solids_of(cq.importers.importStep(path).val())[0].wrapped


FILLET_R = float(os.environ.get("FILLET_R", "0"))


if __name__ == "__main__":
    JS = build()
    if FILLET_R > 0:
        from arm_build import vol_of, bbox_str
        import filletlib as FL
        tot = 0
        for p in PARTS:
            if not p["printed"]:
                continue
            others = [(FL._bb(q["shape"]), q["shape"]) for q in PARTS
                      if q is not p and q["vol"] > 1.0]
            sh, n, sk = FL.round_internal(p["shape"], FILLET_R, others)
            dv = (vol_of(sh) - p["vol"]) / 1000.0
            tot += n
            p["shape"], p["vol"], p["bb"] = sh, vol_of(sh), bbox_str(sh)
            print("  fillet %-10s %2d corners @R%.1f  %+.2f cm3  (%d skipped: clearance)"
                  % (p["name"], n, FILLET_R, dv, sk), flush=True)
        print("  fillet total: %d rounded corners" % tot, flush=True)

    print("=" * 80, flush=True)
    print("【单实体拓扑完整性校验】验证所有打印构件流形实体状态...", flush=True)
    print("=" * 80, flush=True)
    bad = 0
    printed_list = [p for p in PARTS if p["printed"]]
    for idx, p in enumerate(printed_list, 1):
        n = len(solids_of(p["shape"]))
        if n != 1:
            bad += 1
        status = "单实体 ✓" if n == 1 else f"异常 ({n} 个实体) ❌"
        print(f"  [{idx}/9] {p['name']:<14} : 体积 {p['vol']/1000.0:6.1f} cm³ | {status}", flush=True)
    if bad == 0:
        print("-> 单实体检查全部通过！9/9 构件均为完美单一流形拓扑 ✓\n", flush=True)
    else:
        print(f"-> 发现 {bad} 个非单实体构件！\n", flush=True)

    AB.explode_vec = explode_chain
    bom = AB.export(JS)
    cl = AB.collide()

    try:
        from build_viewer import rebuild_viewer
        rebuild_viewer()
    except Exception as e:
        print("rebuild_viewer error:", 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)
    sys.stdout.flush()
    os._exit(0)