Jerry
967 lines
26 KiB
JSON
967 lines
26 KiB
JSON
{
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"schema_version": "assembly-1.0",
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"designir_kind": "coordinate_free_semantic_assembly",
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"model_id": "lcd25_harmonic_reducer_with_output_shaft",
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"family": "harmonic_reducer_module",
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"units": "mm",
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"design_intent": "A compact coaxial harmonic reducer whose geometry, assembly and motion are regenerated from functional interfaces rather than stored placements.",
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"parameters": {
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"nominal_size": {
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"kind": "length",
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"value": 25.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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20.0,
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40.0
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],
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"status": "inferred",
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"description": "Nominal transmission size controlling the scalable component family."
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},
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"reduction_ratio": {
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"kind": "ratio",
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"value": 100.0,
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"editable": true,
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"bounds": [
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50.0,
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160.0
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],
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"status": "inferred",
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"description": "Input rotations per output rotation."
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},
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"outer_envelope_diameter": {
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"kind": "length",
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"value": 110.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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90.0,
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140.0
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],
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"status": "specified",
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"description": "Maximum housing envelope."
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},
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"axial_envelope": {
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"kind": "length",
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"value": 32.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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25.0,
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50.0
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],
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"status": "specified",
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"description": "Maximum reducer axial package length."
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},
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"output_bore_diameter": {
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"kind": "length",
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"value": 14.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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8.0,
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25.0
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],
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"status": "estimated",
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"description": "Central output interface bore."
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},
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"housing_wall": {
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"kind": "length",
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"value": 3.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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2.0,
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6.0
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],
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"status": "estimated",
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"description": "Minimum structural housing wall."
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},
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"output_bolt_count": {
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"kind": "count",
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"value": 4,
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"editable": true,
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"bounds": [
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3,
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8
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],
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"status": "inferred",
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"description": "Output flange fastener pattern count."
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},
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"housing_bolt_count": {
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"kind": "count",
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"value": 10,
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"editable": true,
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"bounds": [
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6,
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16
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],
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"status": "inferred",
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"description": "Housing closure fastener count."
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},
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"output_torque_limit": {
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"kind": "torque",
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"value": 25.0,
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"unit": "N*m",
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"editable": true,
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"bounds": [
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5.0,
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60.0
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],
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"status": "estimated",
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"description": "Initial simulation effort limit."
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},
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"output_speed_limit": {
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"kind": "speed",
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"value": 2.5,
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"unit": "rad/s",
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"editable": true,
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"bounds": [
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0.5,
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5.0
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],
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"status": "estimated",
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"description": "Initial simulation output speed limit."
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},
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"output_shaft_diameter": {
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"kind": "length",
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"value": 14.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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10.0,
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20.0
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],
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"status": "specified",
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"description": "Output shaft journal diameter."
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},
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"output_shaft_length": {
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"kind": "length",
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"value": 45.0,
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"unit": "mm",
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"editable": true,
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"bounds": [
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25.0,
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80.0
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],
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"status": "specified",
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"description": "Usable shaft extension measured from the output mounting face."
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}
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},
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"expressions": {
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"flexspline_tooth_count": "2 * round(reduction_ratio / 2)",
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"circular_spline_tooth_count": "flexspline_tooth_count + 2",
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"bearing_nominal_diameter": "0.72 * outer_envelope_diameter",
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"output_flange_diameter": "0.48 * outer_envelope_diameter",
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"housing_fastener_pitch_diameter": "0.82 * outer_envelope_diameter"
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},
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"modules": [
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{
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"id": "structure_module",
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"purpose": "Carry external loads and provide all mounting seats.",
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"members": [
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"housing",
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"rear_cover",
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"front_cover"
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],
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"replaceable_as_unit": true
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},
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{
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"id": "harmonic_stage",
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"purpose": "Generate the harmonic reduction between input and output.",
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"members": [
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"circular_spline",
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"flexspline",
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"wave_generator"
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],
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"replaceable_as_unit": true
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},
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{
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"id": "output_support_module",
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"purpose": "Support and locate the rotating output.",
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"members": [
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"output_bearing",
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"output_flange"
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],
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"replaceable_as_unit": true
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},
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{
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"id": "retention_module",
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"purpose": "Close and fasten structural interfaces.",
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"members": [
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"housing_fasteners",
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"output_fasteners"
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],
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"replaceable_as_unit": false
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}
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],
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"components": [
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{
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"id": "housing",
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"role": "fixed_structure",
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"archetype": "coaxial_reducer_housing",
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"lifecycle": "required",
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"generation": {
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"strategy": "semantic_feature_program",
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"family": "annular_housing_with_mounting_flange",
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"parameter_bindings": {
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"outer_diameter": "outer_envelope_diameter",
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"axial_length": "axial_envelope",
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"minimum_wall": "housing_wall"
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}
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},
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"interfaces": [
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{
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"id": "main_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "front_closure_seat",
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"type": "plane",
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"construction": "front_axial_face"
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},
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{
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"id": "rear_closure_seat",
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"type": "plane",
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"construction": "rear_axial_face"
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},
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{
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"id": "circular_spline_seat",
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"type": "cylinder",
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"construction": "inner_cylindrical_surface",
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"qualifiers": [
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"largest_internal_transmission_seat"
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]
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},
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{
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"id": "output_bearing_seat",
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"type": "bearing_seat",
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"construction": "inner_cylindrical_surface",
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"qualifiers": [
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"frontmost_bearing_seat"
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]
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},
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{
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"id": "closure_pattern",
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"type": "hole_pattern",
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"construction": "pitch_circle_pattern",
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"parameter_refs": [
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"housing_bolt_count"
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]
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}
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],
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"material_class": "aluminum_alloy",
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"tags": [
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"fixed",
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"structural",
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"thermal_path"
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]
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},
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{
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"id": "circular_spline",
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"role": "fixed_tooth_member",
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"archetype": "internal_spline_ring",
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"lifecycle": "replaceable",
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"generation": {
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"strategy": "standard_library",
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"family": "harmonic_circular_spline",
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"parameter_bindings": {
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"nominal_size": "nominal_size",
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"tooth_count": "circular_spline_tooth_count"
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}
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},
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"interfaces": [
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{
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"id": "tooth_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "housing_fit",
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"type": "cylinder",
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"construction": "outer_cylindrical_surface"
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},
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{
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"id": "anti_rotation",
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"type": "torque_interface",
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"construction": "generated_feature"
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}
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],
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"material_class": "hardened_steel",
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"tags": [
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"fixed",
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"transmission"
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]
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},
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{
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"id": "flexspline",
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"role": "compliant_tooth_member",
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"archetype": "cup_flexspline",
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"lifecycle": "replaceable",
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"generation": {
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"strategy": "standard_library",
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"family": "harmonic_flexspline",
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"parameter_bindings": {
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"nominal_size": "nominal_size",
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"tooth_count": "flexspline_tooth_count",
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"output_bore": "output_bore_diameter"
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}
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},
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"interfaces": [
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{
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"id": "tooth_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "wave_generator_seat",
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"type": "bearing_seat",
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"construction": "inner_cylindrical_surface"
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},
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{
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"id": "output_face",
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"type": "plane",
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"construction": "front_axial_face"
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},
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{
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"id": "output_torque_interface",
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"type": "torque_interface",
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"construction": "generated_feature"
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}
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],
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"material_class": "spring_steel",
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"tags": [
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"rotating",
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"compliant",
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"transmission"
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]
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},
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{
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"id": "wave_generator",
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"role": "input_deformation_member",
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"archetype": "elliptical_wave_generator",
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"lifecycle": "replaceable",
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"generation": {
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"strategy": "subassembly_template",
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"family": "elliptical_cam_with_flexible_bearing",
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"parameter_bindings": {
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"nominal_size": "nominal_size"
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}
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},
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"interfaces": [
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{
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"id": "rotation_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "input_torque_interface",
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"type": "torque_interface",
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"construction": "inner_cylindrical_surface"
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},
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{
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"id": "flexspline_contact",
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"type": "contact_envelope",
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"construction": "outer_cylindrical_surface",
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"qualifiers": [
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"elliptical_compliant_contact"
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]
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}
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],
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"material_class": "bearing_steel",
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"tags": [
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"rotating",
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"input",
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"transmission"
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]
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},
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{
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"id": "output_bearing",
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"role": "combined_load_support",
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"archetype": "cross_roller_bearing",
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"lifecycle": "replaceable",
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"generation": {
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"strategy": "standard_library",
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"family": "cross_roller_bearing",
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"parameter_bindings": {
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"nominal_diameter": "bearing_nominal_diameter"
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}
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},
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"interfaces": [
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{
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"id": "bearing_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "outer_ring_seat",
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"type": "bearing_seat",
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"construction": "outer_cylindrical_surface"
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},
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{
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"id": "inner_ring_seat",
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"type": "bearing_seat",
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"construction": "inner_cylindrical_surface"
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},
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{
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"id": "axial_reference",
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"type": "plane",
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"construction": "center_plane"
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}
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],
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"material_class": "bearing_steel",
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"tags": [
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"support",
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"split_kinematic_membership"
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]
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},
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{
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"id": "output_flange",
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"role": "external_output_interface",
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"archetype": "bolted_output_flange",
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"lifecycle": "replaceable",
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"generation": {
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"strategy": "semantic_feature_program",
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"family": "annular_output_flange",
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"parameter_bindings": {
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"diameter": "output_flange_diameter",
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"bore_diameter": "output_bore_diameter",
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"bolt_count": "output_bolt_count"
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}
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},
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"interfaces": [
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{
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"id": "rotation_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "flexspline_mate",
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"type": "plane",
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"construction": "rear_axial_face"
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},
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{
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"id": "bearing_fit",
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"type": "bearing_seat",
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"construction": "outer_cylindrical_surface"
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},
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{
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"id": "external_mount_face",
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"type": "plane",
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"construction": "front_axial_face"
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},
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{
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"id": "external_bolt_pattern",
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"type": "hole_pattern",
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"construction": "pitch_circle_pattern",
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"parameter_refs": [
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"output_bolt_count"
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]
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},
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{
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"id": "output_bore",
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"type": "shaft_seat",
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"construction": "inner_cylindrical_surface",
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"parameter_refs": [
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"output_bore_diameter"
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]
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}
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],
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"material_class": "alloy_steel",
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"tags": [
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"rotating",
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"output",
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"public_interface"
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]
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},
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{
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"id": "front_cover",
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"role": "front_axial_retainer",
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"archetype": "annular_cover",
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"lifecycle": "required",
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"generation": {
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"strategy": "semantic_feature_program",
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"family": "bolted_annular_cover",
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"parameter_bindings": {
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"outer_diameter": "outer_envelope_diameter",
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"bolt_count": "housing_bolt_count"
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}
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},
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"interfaces": [
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{
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"id": "housing_mate",
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"type": "plane",
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"construction": "rear_axial_face"
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},
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{
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"id": "main_axis",
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"type": "axis",
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"construction": "primary_axis"
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},
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{
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"id": "fastener_pattern",
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"type": "hole_pattern",
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"construction": "pitch_circle_pattern",
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"parameter_refs": [
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"housing_bolt_count"
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]
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}
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],
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"material_class": "aluminum_alloy",
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"tags": [
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"fixed",
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"structural"
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]
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},
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{
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"id": "rear_cover",
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"role": "rear_axial_retainer",
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"archetype": "annular_cover",
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"lifecycle": "required",
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"generation": {
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"strategy": "semantic_feature_program",
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"family": "bolted_annular_cover",
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"parameter_bindings": {
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"outer_diameter": "outer_envelope_diameter"
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}
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},
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"interfaces": [
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{
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"id": "housing_mate",
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"type": "plane",
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"construction": "front_axial_face"
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},
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{
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"id": "main_axis",
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"type": "axis",
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"construction": "primary_axis"
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}
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],
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"material_class": "aluminum_alloy",
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"tags": [
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"fixed",
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"structural"
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]
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},
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{
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"id": "housing_fasteners",
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"role": "housing_closure_fasteners",
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"archetype": "socket_head_screw_pattern",
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"lifecycle": "generated_pattern",
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"quantity": "housing_bolt_count",
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"generation": {
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"strategy": "standard_library",
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"family": "metric_socket_head_screw",
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"parameter_bindings": {
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"nominal_thread": "M5",
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"count": "housing_bolt_count"
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}
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},
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"interfaces": [
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{
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"id": "fastener_axes",
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"type": "hole_pattern",
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"construction": "pitch_circle_pattern",
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"parameter_refs": [
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"housing_bolt_count"
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]
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},
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{
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"id": "head_seats",
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"type": "fastener_seat",
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"construction": "generated_feature"
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}
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],
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"material_class": "steel",
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"tags": [
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"fixed",
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"fastener_pattern"
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]
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},
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{
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"id": "output_fasteners",
|
|
"role": "output_interface_fasteners",
|
|
"archetype": "countersunk_screw_pattern",
|
|
"lifecycle": "generated_pattern",
|
|
"quantity": "output_bolt_count",
|
|
"generation": {
|
|
"strategy": "standard_library",
|
|
"family": "metric_countersunk_screw",
|
|
"parameter_bindings": {
|
|
"nominal_thread": "M2_5",
|
|
"count": "output_bolt_count"
|
|
}
|
|
},
|
|
"interfaces": [
|
|
{
|
|
"id": "fastener_axes",
|
|
"type": "hole_pattern",
|
|
"construction": "pitch_circle_pattern",
|
|
"parameter_refs": [
|
|
"output_bolt_count"
|
|
]
|
|
},
|
|
{
|
|
"id": "head_seats",
|
|
"type": "fastener_seat",
|
|
"construction": "generated_feature"
|
|
}
|
|
],
|
|
"material_class": "steel",
|
|
"tags": [
|
|
"rotating",
|
|
"fastener_pattern"
|
|
]
|
|
},
|
|
{
|
|
"id": "output_shaft",
|
|
"role": "external_torque_shaft",
|
|
"archetype": "stepped_keyed_shaft",
|
|
"lifecycle": "optional",
|
|
"generation": {
|
|
"strategy": "semantic_feature_program",
|
|
"family": "stepped_output_shaft",
|
|
"parameter_bindings": {
|
|
"journal_diameter": "output_shaft_diameter",
|
|
"extension_length": "output_shaft_length",
|
|
"mating_bore": "output_bore_diameter"
|
|
}
|
|
},
|
|
"interfaces": [
|
|
{
|
|
"id": "shaft_axis",
|
|
"type": "axis",
|
|
"construction": "primary_axis"
|
|
},
|
|
{
|
|
"id": "mounting_shoulder",
|
|
"type": "plane",
|
|
"construction": "rear_axial_face"
|
|
},
|
|
{
|
|
"id": "flange_fit",
|
|
"type": "shaft_seat",
|
|
"construction": "outer_cylindrical_surface",
|
|
"parameter_refs": [
|
|
"output_shaft_diameter"
|
|
]
|
|
},
|
|
{
|
|
"id": "torque_drive",
|
|
"type": "torque_interface",
|
|
"construction": "generated_feature",
|
|
"qualifiers": [
|
|
"key_or_spline_selected_by_load"
|
|
]
|
|
},
|
|
{
|
|
"id": "external_shaft_end",
|
|
"type": "plane",
|
|
"construction": "front_axial_face"
|
|
}
|
|
],
|
|
"material_class": "alloy_steel",
|
|
"tags": [
|
|
"rotating",
|
|
"output",
|
|
"public_interface"
|
|
]
|
|
}
|
|
],
|
|
"relations": [
|
|
{
|
|
"id": "circular_spline_centering",
|
|
"type": "coaxial",
|
|
"a": "housing.main_axis",
|
|
"b": "circular_spline.tooth_axis",
|
|
"intent": "Center the fixed tooth member in the housing.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "circular_spline_fixing",
|
|
"type": "torque_lock",
|
|
"a": "housing.circular_spline_seat",
|
|
"b": "circular_spline.anti_rotation",
|
|
"intent": "Prevent rotation of the circular spline relative to the housing.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "flexspline_centering",
|
|
"type": "coaxial",
|
|
"a": "circular_spline.tooth_axis",
|
|
"b": "flexspline.tooth_axis",
|
|
"intent": "Keep both spline members on the reducer axis.",
|
|
"mobility": "allow_rotation"
|
|
},
|
|
{
|
|
"id": "wave_generator_centering",
|
|
"type": "coaxial",
|
|
"a": "flexspline.tooth_axis",
|
|
"b": "wave_generator.rotation_axis",
|
|
"intent": "Place the wave generator on the transmission axis.",
|
|
"mobility": "allow_rotation"
|
|
},
|
|
{
|
|
"id": "wave_generator_contact",
|
|
"type": "bearing_support",
|
|
"a": "flexspline.wave_generator_seat",
|
|
"b": "wave_generator.flexspline_contact",
|
|
"intent": "Transfer the elliptical deformation while allowing relative rotation.",
|
|
"mobility": "allow_rotation",
|
|
"confidence": 0.82,
|
|
"evidence": [
|
|
"harmonic_stage_topology",
|
|
"nested_flexible_bearing"
|
|
]
|
|
},
|
|
{
|
|
"id": "output_bearing_housing_fit",
|
|
"type": "bearing_support",
|
|
"a": "housing.output_bearing_seat",
|
|
"b": "output_bearing.outer_ring_seat",
|
|
"intent": "Fix and support the bearing outer ring in the housing.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_bearing_flange_fit",
|
|
"type": "bearing_support",
|
|
"a": "output_flange.bearing_fit",
|
|
"b": "output_bearing.inner_ring_seat",
|
|
"intent": "Support output flange rotation through the bearing inner ring.",
|
|
"mobility": "allow_rotation"
|
|
},
|
|
{
|
|
"id": "flexspline_output_face",
|
|
"type": "face_mate",
|
|
"a": "flexspline.output_face",
|
|
"b": "output_flange.flexspline_mate",
|
|
"intent": "Locate the flexspline axially against the output flange.",
|
|
"value": 0.0,
|
|
"tolerance": 0.01,
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "flexspline_output_torque",
|
|
"type": "torque_lock",
|
|
"a": "flexspline.output_torque_interface",
|
|
"b": "output_flange.external_bolt_pattern",
|
|
"intent": "Transmit flexspline torque to the output flange.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "front_cover_centering",
|
|
"type": "coaxial",
|
|
"a": "housing.main_axis",
|
|
"b": "front_cover.main_axis",
|
|
"intent": "Center the front closure.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "front_cover_seating",
|
|
"type": "face_mate",
|
|
"a": "housing.front_closure_seat",
|
|
"b": "front_cover.housing_mate",
|
|
"intent": "Close the front housing interface.",
|
|
"value": 0.0,
|
|
"tolerance": 0.02,
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "rear_cover_centering",
|
|
"type": "coaxial",
|
|
"a": "housing.main_axis",
|
|
"b": "rear_cover.main_axis",
|
|
"intent": "Center the rear closure.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "rear_cover_seating",
|
|
"type": "face_mate",
|
|
"a": "housing.rear_closure_seat",
|
|
"b": "rear_cover.housing_mate",
|
|
"intent": "Close the rear housing interface.",
|
|
"value": 0.0,
|
|
"tolerance": 0.02,
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "housing_fastener_alignment",
|
|
"type": "fasten_pattern",
|
|
"a": "housing.closure_pattern",
|
|
"b": "housing_fasteners.fastener_axes",
|
|
"intent": "Instantiate and align the housing closure screws.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_fastener_alignment",
|
|
"type": "fasten_pattern",
|
|
"a": "output_flange.external_bolt_pattern",
|
|
"b": "output_fasteners.fastener_axes",
|
|
"intent": "Instantiate and align output flange screws.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_shaft_centering",
|
|
"type": "coaxial",
|
|
"a": "output_flange.rotation_axis",
|
|
"b": "output_shaft.shaft_axis",
|
|
"intent": "Center the new shaft on the solved output axis.",
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_shaft_seating",
|
|
"type": "face_mate",
|
|
"a": "output_flange.external_mount_face",
|
|
"b": "output_shaft.mounting_shoulder",
|
|
"intent": "Locate the shaft shoulder from the output flange mounting face.",
|
|
"value": 0.0,
|
|
"tolerance": 0.01,
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_shaft_fit",
|
|
"type": "insert",
|
|
"a": "output_flange.output_bore",
|
|
"b": "output_shaft.flange_fit",
|
|
"intent": "Fit the shaft journal into the output flange bore.",
|
|
"tolerance": 0.01,
|
|
"mobility": "fixed"
|
|
},
|
|
{
|
|
"id": "output_shaft_torque_lock",
|
|
"type": "torque_lock",
|
|
"a": "output_flange.output_bore",
|
|
"b": "output_shaft.torque_drive",
|
|
"intent": "Transfer output torque through a keyed or splined interface.",
|
|
"mobility": "fixed"
|
|
}
|
|
],
|
|
"kinematics": {
|
|
"anchor_component": "housing",
|
|
"rigid_groups": [
|
|
{
|
|
"id": "fixed_group",
|
|
"members": [
|
|
"housing",
|
|
"circular_spline",
|
|
"front_cover",
|
|
"rear_cover",
|
|
"housing_fasteners"
|
|
]
|
|
},
|
|
{
|
|
"id": "output_group",
|
|
"members": [
|
|
"flexspline",
|
|
"output_flange",
|
|
"output_fasteners",
|
|
"output_shaft"
|
|
]
|
|
},
|
|
{
|
|
"id": "input_group",
|
|
"members": [
|
|
"wave_generator"
|
|
]
|
|
}
|
|
],
|
|
"joints": [
|
|
{
|
|
"id": "input_joint",
|
|
"type": "continuous",
|
|
"parent_group": "fixed_group",
|
|
"child_group": "input_group",
|
|
"axis_ref": "wave_generator.rotation_axis",
|
|
"station_ref": "flexspline.wave_generator_seat",
|
|
"dynamics": {
|
|
"damping": 0.002,
|
|
"friction": 0.003,
|
|
"parameter_status": "estimated"
|
|
}
|
|
},
|
|
{
|
|
"id": "output_joint",
|
|
"type": "continuous",
|
|
"parent_group": "fixed_group",
|
|
"child_group": "output_group",
|
|
"axis_ref": "output_flange.rotation_axis",
|
|
"station_ref": "output_bearing.axial_reference",
|
|
"dynamics": {
|
|
"damping": 0.08,
|
|
"friction": 0.12,
|
|
"effort_limit": "output_torque_limit",
|
|
"velocity_limit": "output_speed_limit",
|
|
"parameter_status": "estimated"
|
|
}
|
|
}
|
|
],
|
|
"transmissions": [
|
|
{
|
|
"id": "harmonic_stage_transmission",
|
|
"type": "harmonic",
|
|
"input_joint": "input_joint",
|
|
"output_joint": "output_joint",
|
|
"ratio_expression": "output_angle = -input_angle / reduction_ratio",
|
|
"fixed_member": "circular_spline",
|
|
"compliance_model": "reduced_order_torsional_compliance"
|
|
}
|
|
]
|
|
},
|
|
"edit_interface": {
|
|
"editable_parameters": [
|
|
"nominal_size",
|
|
"reduction_ratio",
|
|
"outer_envelope_diameter",
|
|
"axial_envelope",
|
|
"output_bore_diameter",
|
|
"housing_wall",
|
|
"output_bolt_count",
|
|
"housing_bolt_count",
|
|
"output_torque_limit",
|
|
"output_speed_limit",
|
|
"output_shaft_diameter",
|
|
"output_shaft_length"
|
|
],
|
|
"structural_operations": [
|
|
"add_component",
|
|
"remove_component",
|
|
"replace_component",
|
|
"change_relation",
|
|
"change_transmission",
|
|
"add_module"
|
|
],
|
|
"preserved_interfaces": [
|
|
"housing.main_axis",
|
|
"housing.front_closure_seat",
|
|
"output_flange.external_mount_face",
|
|
"output_flange.external_bolt_pattern",
|
|
"output_flange.output_bore",
|
|
"output_shaft.external_shaft_end"
|
|
]
|
|
},
|
|
"validation_contract": {
|
|
"coordinate_free_source": true,
|
|
"required_checks": [
|
|
"schema_valid",
|
|
"reference_integrity",
|
|
"constraint_graph_connected",
|
|
"assembly_solvable_from_scrambled_state",
|
|
"no_overconstraint",
|
|
"interface_compatibility",
|
|
"clearance",
|
|
"interference",
|
|
"joint_mobility",
|
|
"parameter_perturbation",
|
|
"preserved_interface",
|
|
"urdf_load",
|
|
"mjcf_load"
|
|
],
|
|
"acceptance_rules": [
|
|
"No component placement may be authored as a coordinate or transform.",
|
|
"The solver must recover a unique assembly from semantic interfaces and relations.",
|
|
"Changing an editable parameter must rebuild affected components and re-solve all relations.",
|
|
"Structural edits must preserve declared public interfaces unless the patch explicitly changes the contract."
|
|
]
|
|
}
|
|
} |