65 lines
3.0 KiB
Python
65 lines
3.0 KiB
Python
# -*- 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。
|
||
|
||
注意 note 的措辞：单轴整周无干涉 **不等于** 任意组合姿态无干涉。sweep_v2 的组合扫描
|
||
已经在 J1/J3/J6 上找到了真实卡死（工具法兰 P09 撞固定立柱 P01_A），例如 J3≈±162°。
|
||
所以连续轴的 note 必须写明"单轴"并指向 combos，否则这份文件会误导人——查看器运行期
|
||
另有胶囊碰撞模型按姿态夹取（ik-glue.js 的 dynLimit），但静态滑块范围按设计不压缩。
|
||
"""
|
||
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"))
|
||
|
||
# 组合扫描中，每个被扫轴真实出现卡死的最小绝对角
|
||
combo_warn = {}
|
||
for c in d.get("combos", []):
|
||
if not c.get("jams"):
|
||
continue
|
||
ax = c["swept"]
|
||
for a in c["jams"]:
|
||
try:
|
||
v = abs(float(a))
|
||
except (TypeError, ValueError):
|
||
continue
|
||
combo_warn[ax] = min(combo_warn.get(ax, 1e9), v)
|
||
|
||
out = []
|
||
for t in CHAIN[1:]:
|
||
s = d["singles"][t]
|
||
lo, hi = s["lo"], s["hi"]
|
||
warn = combo_warn.get(t)
|
||
warn_txt = ("；组合折叠姿态下（其余关节同时处于各自极限）约 ±%.0f° 起与躯干占位"
|
||
"（台架 P01 立柱）干涉，见 travel_detail.combos，"
|
||
"运行期由查看器碰撞模型按姿态夹取" % warn) if warn is not None else ""
|
||
if lo <= -179.9 and hi >= 179.9:
|
||
out.append(dict(axis=t, lo=-180.0, hi=180.0, continuous=True, zero=0.0,
|
||
combo_warn_deg=warn,
|
||
note="单轴整周无干涉（滑块按单轴限位给出）%s" % (warn_txt or
|
||
"；组合扫描未发现该轴卡死")))
|
||
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,
|
||
combo_warn_deg=warn,
|
||
note="单轴正向 +%d° / 反向 %d°，总行程 %d°（单关节硬限位，含相邻件与电机）%s"
|
||
% (hi_out, lo_out, hi_out - lo_out, warn_txt)))
|
||
print("%-3s %7.1f .. %7.1f -> %s .. %s%s"
|
||
% (t, lo, hi, out[-1]["lo"], out[-1]["hi"],
|
||
(" 组合卡死阈值 ±%.0f°" % warn) if warn is not None else ""))
|
||
|
||
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")
|