chenshijue
4240bb889a
- 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
93 lines
2.7 KiB
JSON
93 lines
2.7 KiB
JSON
{
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"schema": "simplecad.temporary_split_motor_urdf_demo.v1",
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"temporary_demo_only": true,
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"project_sources_modified": false,
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"formal_motor_definition_remains": "single immutable 3500 COTS assembly",
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"split_motor": {
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"stator_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-定子.STEP",
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"rotor_step": "/Users/jerry/Downloads/3500-motor/3500-Motor_part2-转子.STEP",
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"stator_sha256": "91cc6a3d9033e74ff4d78b9802ceae32def15d5222c9537d50e7f3dfebab937f",
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"rotor_sha256": "15c15bd056593d9672b4b7c331446e76c24ebb241ae59c61734b467d10d24e3b",
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"stator_solid_count": 37,
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"rotor_solid_count": 9,
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"original_motor_solid_count": 46,
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"motor_placement": {
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"origin": [
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2.0,
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0.0,
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0.0
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],
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"x_axis": [
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0.0,
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-0.9883811652466841,
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-0.15199563212673947
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],
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"y_axis": [
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1.0,
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0.0,
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0.0
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],
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"z_axis": [
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0.0,
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-0.15199563212673947,
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0.9883811652466841
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]
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},
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"rotor_motion_group": "sun_link"
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},
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"kinematics": {
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"driver": "sun_input_joint",
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"axis": [
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1,
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0,
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0
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],
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"rotor_sun_multiplier": 1.0,
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"carrier_multiplier": 0.16666666666666666,
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"planet_relative_multiplier": -0.4166666666666667,
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"ring_fixed": true
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},
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"meshes": [
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{
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"path": "meshes/fixed_structure.stl",
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"bytes": 1538584,
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"sha256": "48754d3f41032aa1b43cd2ddb3d48442c70c558f85458135184200aa2e45dc9c"
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},
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{
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"path": "meshes/motor_stator.stl",
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"bytes": 28572384,
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"sha256": "fa61093b5a1b97f0f6db070d05f1376492c449b068bac957b52a6201733fc58e"
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},
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{
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"path": "meshes/sun_drive.stl",
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"bytes": 112484,
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"sha256": "dff39aab0a1a6df379c53459df2961ba4ad60682568693a6490a0cce3cae065e"
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},
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{
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"path": "meshes/motor_rotor.stl",
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"bytes": 526184,
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"sha256": "5f0a58304dbfd785fc3fdc0aa3d2c2557fbc151e81adbd5f11da1ad9ee8686be"
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},
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{
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"path": "meshes/carrier_link.stl",
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"bytes": 508184,
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"sha256": "eca27acef8eefe282f92c7042db02dcf0a65516c9a97b0aa7668dabc9110a8ff"
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},
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{
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"path": "meshes/planet_0_link.stl",
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"bytes": 159284,
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"sha256": "6fb3cff6c91186f39f098c1e3e619f88af9be56fe31c81ed327b5e5f243ceaa5"
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},
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{
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"path": "meshes/planet_1_link.stl",
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"bytes": 159284,
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"sha256": "53474223ba8cdc31d9353e2a237823e4ce93473c9c85135cd769db126452571d"
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},
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{
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"path": "meshes/planet_2_link.stl",
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"bytes": 159284,
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"sha256": "1dd79f134d39b79350d9f39663f2b786002496289e3b8936793ac7a34d693864"
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}
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],
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"urdf_sha256": "d5e3bf1625a639346d616334fd8677c6af97d86f8cc58dde082a7a9dd988801f"
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} |