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Generalize example-calibrated joint gates; remove servo and clamp wrappers - #1114
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Make the joint visual-exposure gate opt-in and drop its fallbacks, restrict the mate physical-realization gate to joint.clevis mates, require joint.clevis style.knuckleR, collapse the physical-use-case review flags into physicalUseCaseLevel, rename transmission kind direct-horn to direct, and remove joint.supportedServoRevolute and the lib.fixture wrappers.
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Part of trimming overfit tooling: gates and helpers calibrated on one example (the lamp clevis) or wrapping one product.
BREAKING changes
assembly.joint.not-visibleis opt-in per mate (exposure: 'exposed'on a revolute mate). The lamp-derived 3.5 mm pin fallback is gone; with no measurable pin radius it reports that instead of guessing.assembly.mate.not-physically-realizedonly evaluates mates built withjoint.clevis(...)(it reads pin/plate/knuckle sizes from the clevis structural record); no fallbacks, other joints are not evaluated.joint.clevisrequiresstyle.knuckleR; the 12 mm default derived from the lamp example and the [3, 25] clamp are gone (body sizes aren't measurable at capture time). Other style dimensions still derive fromknuckleR.review_cad/design_loop: the fourincludePhysicalUseCase*flags become onephysicalUseCaseLevel: 'reachability' | 'statics' | 'reactions'(+physicalUseCaseSamplesPerMate); the clevis structural check runs automatically atreactions.'direct-horn'is renamed'direct'.joint.supportedServoRevoluteis removed (usearm.part+ a fastened mate +arm.mechanicalJoint).lib.fixture.*typed clamp wrappers andclampSetare removed; the catalog parts stay reachable throughlib.part(<id>).Migrated examples evaluate with unchanged feature counts (two-finger gripper 12, desktop 3-axis arm 105, table clamp set 28, clevis robot hand 87). The lamp example (
examples/kinematic/luxo-lamp.kcad.ts) failed before this change and still fails: the old gate hid pre-existingunion.member-overlaperrors that now surface. That needs a separate fix.Merged with develop after #1113; the joint namespace now holds only
joint.clevis(#1108 removedarticulatedDigit).Local verification (Node 22): typecheck, qc:lint (0 errors), skills/cheat-sheet drift clean, 2068 targeted tests (joints, mates, diagnostics, MCP tools + integration, distGenerate, cookbook, example smoke). Full suite runs in CI.