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b0efb443681061fe34df9ac8dbb33f41baee6c54
Robot_Arm/docs/travel_detail.json
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cbb b0efb44368 feat(arm): 建模代码拆成每件一模块，查看器新增工程图与装配步骤页 
- src/parts/p01~p09 + src/part_tools.py：几何、件号/配色/说明与装配帧归属随各自件文件走，arm_model.py 只留装配流水线并对件级符号做只读转发；P04_CH / P07_CH / P06_WIN_XZ / FENCE_OPEN_CUT 这类开关必须写所在件文件，写 arm_model.X 不生效，A/B 判据为翻转后体积变化
- docs/sheet_{exploded,front,side,joint}.svg + draw_sheet.py：四张工程图进查看器页签，支持图层开关、件号高亮与 BOM/3D 联动跳转
- travel/travel_detail/collide/bom/screws 随最新几何重生成；补线束走线、拆卸定位点与 P04 承压面剖切验证图
- .gitignore 排除 .bak/ 与 *.bak_* 源码快照（旧版本 git 历史里已有）
2026-10-14 22:03:18 +08:00

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"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": -157.0,
"swept": "J1",
"direction": "hi",
"old": 137.0,
"new": 131.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": -157.0,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": -157.0,
"swept": "J4",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": -157.0,
"swept": "J5",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": -157.0,
"swept": "J6",
"direction": "hi",
"old": 125.0,
"new": 119.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": 125.0,
"swept": "J1",
"direction": "hi",
"old": 131.0,
"new": 125.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": 125.0,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": 125.0,
"swept": "J4",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": 125.0,
"swept": "J5",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J3",
"hold_at": 125.0,
"swept": "J6",
"direction": "hi",
"old": 119.0,
"new": 113.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J4",
"hold_at": -13.0,
"swept": "J1",
"direction": "hi",
"old": 125.0,
"new": 119.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J4",
"hold_at": -13.0,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J4",
"hold_at": -13.0,
"swept": "J3",
"direction": "hi",
"old": 125.0,
"new": 119.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J4",
"hold_at": -13.0,
"swept": "J5",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J4",
"hold_at": -13.0,
"swept": "J6",
"direction": "hi",
"old": 113.0,
"new": 107.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J5",
"hold_at": -36.625,
"swept": "J1",
"direction": "hi",
"old": 119.0,
"new": 113.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J5",
"hold_at": -36.625,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J5",
"hold_at": -36.625,
"swept": "J3",
"direction": "hi",
"old": 119.0,
"new": 113.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J5",
"hold_at": -36.625,
"swept": "J4",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J5",
"hold_at": -36.625,
"swept": "J6",
"direction": "hi",
"old": 107.0,
"new": 101.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": -180.0,
"swept": "J1",
"direction": "hi",
"old": 113.0,
"new": 107.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": -180.0,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": -180.0,
"swept": "J3",
"direction": "hi",
"old": 113.0,
"new": 107.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": -180.0,
"swept": "J4",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": -180.0,
"swept": "J5",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": 101.0,
"swept": "J1",
"direction": "hi",
"old": 107.0,
"new": 101.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": 101.0,
"swept": "J2",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": 101.0,
"swept": "J3",
"direction": "hi",
"old": 107.0,
"new": 101.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": 101.0,
"swept": "J4",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
},
{
"pass_": 1,
"hold": "J6",
"hold_at": 101.0,
"swept": "J5",
"direction": "hi",
"old": 0.0,
"new": 0.0,
"jams": {}
}
],
"final": [
{
"axis": "J1",
"lo": -180.0,
"hi": 180.0,
"continuous": true,
"zero": 0.0,
"combo_warn_deg": null,
"note": "单轴整周无干涉（滑块按单轴限位给出）；组合扫描未发现该轴卡死"
},
{
"axis": "J2",
"lo": -92.0,
"hi": 9.0,
"continuous": false,
"zero": 0.0,
"combo_warn_deg": null,
"note": "单轴正向 +9° / 反向 -92°，总行程 101°（单关节硬限位，含相邻件与电机）"
},
{
"axis": "J3",
"lo": -180.0,
"hi": 180.0,
"continuous": true,
"zero": 0.0,
"combo_warn_deg": 162.0,
"note": "单轴整周无干涉（滑块按单轴限位给出）；组合折叠姿态下（其余关节同时处于各自极限）约 ±162° 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"
},
{
"axis": "J4",
"lo": -111.0,
"hi": 16.0,
"continuous": false,
"zero": 0.0,
"combo_warn_deg": 18.0,
"note": "单轴正向 +16° / 反向 -111°，总行程 127°（单关节硬限位，含相邻件与电机）；组合折叠姿态下（其余关节同时处于各自极限）约 ±18° 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"
},
{
"axis": "J5",
"lo": -93.0,
"hi": 34.0,
"continuous": false,
"zero": 0.0,
"combo_warn_deg": 36.0,
"note": "单轴正向 +34° / 反向 -93°，总行程 127°（单关节硬限位，含相邻件与电机）；组合折叠姿态下（其余关节同时处于各自极限）约 ±36° 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"
},
{
"axis": "J6",
"lo": -180.0,
"hi": 180.0,
"continuous": true,
"zero": 0.0,
"combo_warn_deg": null,
"note": "单轴整周无干涉（滑块按单轴限位给出）；组合扫描未发现该轴卡死"
}
]
}
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