feat: add knowledge-driven joint design studio

backend/tests/test_joint_module.py

@@ -55,6 +55,7 @@ ACTUATOR_HOUSING_STEP = ROOT / "input" / "assets" / "housings" / "actuator_v2_kn
 CHIP_STEP = ROOT / "input" / "assets" / "chip" / "chip.step"
 REFERENCE_ASSEMBLY_STEP = ROOT / "input" / "assets" / "references" / "actuator_v2_knee_abd_reference.step"
 FIXED_PLATFORM_PROFILE = ROOT / "input" / "assets" / "platforms" / "actuator_v2_fixed_platform.json"
+SPLIT_MOTOR_DIR = ROOT / "input" / "assets" / "motors" / "3500_split"
 FERGUSON_REDUCER_REQ = ROOT / "input" / "requirements" / "reducers" / "ferguson_wolfrom" / "ferguson_wolfrom_ratio_531p25_spur.json"
 CASCADE_TEMPLATE = ROOT / "src" / "configurations" / "simple_2k_h_cascade" / "topology.template.json"
 FERGUSON_TEMPLATE = ROOT / "src" / "configurations" / "ferguson_wolfrom" / "topology.template.json"
@@ -224,7 +225,12 @@ def test_joint_requirement_loads() -> None:
     assert Path(requirement.housing_step) == ACTUATOR_HOUSING_STEP
     assert requirement.chip_step is None
     assert Path(requirement.reference_assembly_step or "") == REFERENCE_ASSEMBLY_STEP
-    assert requirement.motor_placement_policy == "external_flush_input_end"
+    assert Path(requirement.motor_reference_assembly_step or "") == SPLIT_MOTOR_DIR / "3500_motor_reference.step"
+    assert Path(requirement.motor_stator_housing_step or "") == SPLIT_MOTOR_DIR / "3500-定子外壳.STEP"
+    assert Path(requirement.motor_rotor_housing_step or "") == SPLIT_MOTOR_DIR / "3500-转子外壳.STEP"
+    assert Path(requirement.motor_output_shaft_step or "") == SPLIT_MOTOR_DIR / "输出轴.STEP"
+    assert Path(requirement.motor_windings_step or "") == SPLIT_MOTOR_DIR / "线圈.STEP"
+    assert requirement.motor_placement_policy == "reference_pose"
     assert requirement.motor_to_reducer_relation == "motor_output_to_sun_keyed_input"
     assert requirement.housing_relation == "ring_fixed_to_housing"
 
@@ -250,7 +256,7 @@ def test_cascade_joint_requirement_loads_and_ports_resolve() -> None:
     assert requirement.platform_id == "actuator_v2_fixed_platform"
     assert requirement.chip_step is None
     assert Path(requirement.reference_assembly_step or "") == REFERENCE_ASSEMBLY_STEP
-    assert requirement.motor_placement_policy == "external_flush_input_end"
+    assert requirement.motor_placement_policy == "reference_pose"
     assert instance.boundary.input == "s1_sun"
     assert instance.boundary.output == "s2_carrier"
     assert instance.boundary.fixed_members == ["s1_ring", "s2_ring"]

backend/tests/test_knowledge_adapter.py

@@ -0,0 +1,25 @@
+from __future__ import annotations
+
+from src.knowledge_adapter import generate_single_gear_variants
+
+
+def test_single_gear_variants_are_solved_and_keep_baseline_immutable() -> None:
+    result = generate_single_gear_variants()
+    assert result["enabled"] is True
+    assert result["candidateCount"] == 13
+    assert result["baseline"] == {
+        "z_sun": 20,
+        "z_planet": 55,
+        "z_ring": 130,
+        "planet_count": 3,
+        "module_mm": 0.5,
+    }
+    assert len({candidate["ratio"] for candidate in result["candidates"]}) == 13
+    for candidate in result["candidates"]:
+        parameters = candidate["parameters"]
+        assert parameters["zRing"] == parameters["zSun"] + 2 * parameters["zPlanet"]
+        assert candidate["constraints"]["equalSpacing"] is True
+        assert candidate["constraints"]["planetClearance"] is True
+        assert candidate["constraints"]["kinematicResidual"] < 1e-10
+        assert candidate["speeds"]["ring"] == 0.0
+        assert candidate["cadGenerated"] is False

backend/tests/test_knowledge_base.py

@@ -0,0 +1,21 @@
+from __future__ import annotations
+
+import subprocess
+import sys
+from pathlib import Path
+
+
+BACKEND_ROOT = Path(__file__).resolve().parents[1]
+
+
+def test_detached_knowledge_base_is_consistent() -> None:
+    completed = subprocess.run(
+        [sys.executable, "knowledge/tools/validate_knowledge.py"],
+        cwd=BACKEND_ROOT,
+        check=False,
+        capture_output=True,
+        text=True,
+    )
+    assert completed.returncode == 0, completed.stdout + completed.stderr
+    assert "integration_state=not_connected" in completed.stdout
+    assert "stable_kernel_imports=0" in completed.stdout