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初始提交：关节模组仿真平台

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- 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范
- Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排）
- 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本）
- 详细架构说明 docs/architecture.md
This commit is contained in:
chenshijue
2026-08-28 11:37:47 +08:00
commit 4240bb889a
34 changed files with 6294 additions and 0 deletions
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urdf/meshes/carrier_link.stl
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urdf/meshes/fixed_structure.stl
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urdf/meshes/motor_rotor.stl
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urdf/meshes/motor_stator.stl
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urdf/meshes/motor_stator_decimated.stl
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urdf/meshes/planet_0_link.stl
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urdf/planetary_joint_split_motor_demo.urdf
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<?xml version="1.0" encoding="utf-8"?>
<robot name="planetary_joint_split_motor_demo">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/fixed_structure.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="material_fixed_structure.stl">
<color rgba="0.62 0.68 0.72 1" />
</material>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/motor_stator.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="material_motor_stator.stl">
<color rgba="0.30 0.34 0.38 1" />
</material>
</visual>
</link>
<link name="sun_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/sun_drive.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="material_sun_drive.stl">
<color rgba="0.95 0.62 0.16 1" />
</material>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/motor_rotor.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="material_motor_rotor.stl">
<color rgba="0.80 0.33 0.16 1" />
</material>
</visual>
</link>
<link name="carrier_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/carrier_link.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="material_carrier_link.stl">
<color rgba="0.28 0.56 0.82 1" />
</material>
</visual>
</link>
<link name="planet_0_link">
<visual>
<origin xyz="-0.0535 0.0239016371622 0.00217065450165" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/planet_0_link.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="planet_steel">
<color rgba="0.76 0.78 0.80 1" />
</material>
</visual>
</link>
<link name="planet_1_link">
<visual>
<origin xyz="-0.0535 -0.0138306605224 0.0196140977237" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/planet_1_link.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="planet_steel">
<color rgba="0.76 0.78 0.80 1" />
</material>
</visual>
</link>
<link name="planet_2_link">
<visual>
<origin xyz="-0.0535 -0.0100709766398 -0.0217847522253" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/planet_2_link.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="planet_steel">
<color rgba="0.76 0.78 0.80 1" />
</material>
</visual>
</link>
<joint name="sun_input_joint" type="revolute">
<parent link="base_link" />
<child link="sun_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
</joint>
<joint name="carrier_output_joint" type="revolute">
<parent link="base_link" />
<child link="carrier_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
<mimic joint="sun_input_joint" multiplier="0.166666666666667" offset="0" />
</joint>
<joint name="planet_0_spin_joint" type="revolute">
<parent link="carrier_link" />
<child link="planet_0_link" />
<origin xyz="0.0535 -0.0239016371622 -0.00217065450165" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
</joint>
<joint name="planet_1_spin_joint" type="revolute">
<parent link="carrier_link" />
<child link="planet_1_link" />
<origin xyz="0.0535 0.0138306605224 -0.0196140977237" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
</joint>
<joint name="planet_2_spin_joint" type="revolute">
<parent link="carrier_link" />
<child link="planet_2_link" />
<origin xyz="0.0535 0.0100709766398 0.0217847522253" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
</joint>
</robot>
urdf/robot-export.json
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{
"schema": "simplecad.temporary_split_motor_urdf_demo.v1",
"temporary_demo_only": true,
"project_sources_modified": false,
"formal_motor_definition_remains": "single immutable 3500 COTS assembly",
"split_motor": {
"stator_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-定子.STEP",
"rotor_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-转子.STEP",
"stator_sha256": "91cc6a3d9033e74ff4d78b9802ceae32def15d5222c9537d50e7f3dfebab937f",
"rotor_sha256": "15c15bd056593d9672b4b7c331446e76c24ebb241ae59c61734b467d10d24e3b",
"stator_solid_count": 37,
"rotor_solid_count": 9,
"original_motor_solid_count": 46,
"motor_placement": {
"origin": [
2.0,
0.0,
0.0
],
"x_axis": [
0.0,
-0.9883811652466841,
-0.15199563212673947
],
"y_axis": [
1.0,
0.0,
0.0
],
"z_axis": [
0.0,
-0.15199563212673947,
0.9883811652466841
]
},
"rotor_motion_group": "sun_link"
},
"kinematics": {
"driver": "sun_input_joint",
"axis": [
1,
0,
0
],
"rotor_sun_multiplier": 1.0,
"carrier_multiplier": 0.16666666666666666,
"planet_relative_multiplier": -0.4166666666666667,
"ring_fixed": true
},
"meshes": [
{
"path": "meshes/fixed_structure.stl",
"bytes": 1538584,
"sha256": "48754d3f41032aa1b43cd2ddb3d48442c70c558f85458135184200aa2e45dc9c"
},
{
"path": "meshes/motor_stator.stl",
"bytes": 28572384,
"sha256": "fa61093b5a1b97f0f6db070d05f1376492c449b068bac957b52a6201733fc58e"
},
{
"path": "meshes/sun_drive.stl",
"bytes": 112484,
"sha256": "dff39aab0a1a6df379c53459df2961ba4ad60682568693a6490a0cce3cae065e"
},
{
"path": "meshes/motor_rotor.stl",
"bytes": 526184,
"sha256": "5f0a58304dbfd785fc3fdc0aa3d2c2557fbc151e81adbd5f11da1ad9ee8686be"
},
{
"path": "meshes/carrier_link.stl",
"bytes": 508184,
"sha256": "eca27acef8eefe282f92c7042db02dcf0a65516c9a97b0aa7668dabc9110a8ff"
},
{
"path": "meshes/planet_0_link.stl",
"bytes": 159284,
"sha256": "6fb3cff6c91186f39f098c1e3e619f88af9be56fe31c81ed327b5e5f243ceaa5"
},
{
"path": "meshes/planet_1_link.stl",
"bytes": 159284,
"sha256": "53474223ba8cdc31d9353e2a237823e4ce93473c9c85135cd769db126452571d"
},
{
"path": "meshes/planet_2_link.stl",
"bytes": 159284,
"sha256": "1dd79f134d39b79350d9f39663f2b786002496289e3b8936793ac7a34d693864"
}
],
"urdf_sha256": "d5e3bf1625a639346d616334fd8677c6af97d86f8cc58dde082a7a9dd988801f"
}