92 lines
1.9 KiB
Markdown
92 lines
1.9 KiB
Markdown
# Output Contract
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## Reducer run
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所有普通减速器生成结果必须写入：
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```text
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output/runs/<run_name>/
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input_snapshot/
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formula/
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kinematics/
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placement/
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cad/
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validation/
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exports/
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```
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关键文件：
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```text
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formula/formula_instance.json
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formula/parameter_search_report.json
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formula/topology_graph.json
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kinematics/kinematic_solution.json
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kinematics/motion_samples.json
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placement/placement_plan.json
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cad/reducer.step
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cad/reducer.model.json
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cad/reducer.session.json
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cad/assembly_manifest.json
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cad/build_meta.json
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validation/assembly_snapshot.json
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validation/validation_report.json
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```
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工业级 reducer 还应包含：
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```text
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formula/industrial_parameters.json
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formula/assembly_topology.json
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cad/component_steps/*.step
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cad/industrial_parameters.json
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cad/assembly_topology.json
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```
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## Joint module run
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关节模组生成结果必须写入：
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```text
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output/runs/<run_name>/
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reducer/
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external_step_metrics.json
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joint_placement.json
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joint_module.step
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joint_module_manifest.json
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joint_module_validation_report.json
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joint_interference_report.json
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```
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`reducer/` 内部继续使用 reducer run 的标准结构：
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```text
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reducer/input_snapshot/
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reducer/formula/
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reducer/kinematics/
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reducer/placement/
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reducer/cad/
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reducer/validation/
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```
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## URDF export
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URDF 导出结果必须写入 `output/runs/<run_name>/exports/urdf/` 或其子目录。必须包含：
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```text
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*.urdf
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package.xml
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validation_report.json
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export_manifest.json
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meshes/
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```
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URDF 必须体现传动关系，不能只导出固定几何。当前项目用 `mimic` joint 表达太阳轮输入和行星架输出之间的传动比。
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## 路径规则
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- CLI 的 `--input` 必须在 `input/` 下。
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- CLI 的 `--output` 必须在 `output/` 下。
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- 不允许写入项目根目录、`src/`、`tests/`、`docs/` 作为生成结果。
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- 不允许把生成物复制到旧目录或临时参考目录作为交付。
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