sunxianghui
93773f3887
Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
55 lines
2.0 KiB
Python
55 lines
2.0 KiB
Python
from __future__ import annotations
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from app.models import LinkDef, RobotDraft
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from app.services.a7_gold import A7_LINK_ORDER, enforce_a7_gold_kinematics, gold_joint_defs
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def _norm(name: str) -> str:
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return name.strip()
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def group_links_a7(product_names: list[str], robot_name: str = "ARM7_urdf") -> RobotDraft:
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"""ARM7 gold kinematics; part_names filled later (Solid_N clustered on client)."""
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names = [_norm(n) for n in product_names if _norm(n)]
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# Spread Solid_* across gold links by index so apply has a starting bind.
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links = [LinkDef(name=n, part_names=[]) for n in A7_LINK_ORDER]
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solids = [n for n in names if n.lower().startswith("solid")]
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other = [n for n in names if not n.lower().startswith("solid")]
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if solids:
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n_link = len(links)
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for i, sn in enumerate(solids):
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links[min(i * n_link // max(len(solids), 1), n_link - 1)].part_names.append(sn)
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if other:
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links[0].part_names.extend(other)
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draft = RobotDraft(
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name=robot_name or "ARM7_urdf",
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profile="a7",
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links=links,
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joints=gold_joint_defs(),
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notes=[
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"A7 profile: joints from ARM7_urdf.urdf gold standard.",
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"Axes: A1/3/5=[0,0,-1], A2/4/6=[1,0,0], A7=[0,1,0], A8=fixed.",
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],
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raw_parts=names,
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)
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return enforce_a7_gold_kinematics(draft)
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def seed_generic(product_names: list[str], robot_name: str = "robot") -> RobotDraft:
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names = [_norm(n) for n in product_names if _norm(n)]
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return RobotDraft(
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name=robot_name or "robot",
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profile="generic",
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links=[LinkDef(name="base_link", part_names=[])],
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joints=[],
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notes=["Generic seed; joints come from LLM."],
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raw_parts=names,
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)
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def apply_profile(profile: str, product_names: list[str], robot_name: str) -> RobotDraft:
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if profile == "a7":
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return group_links_a7(product_names, robot_name=robot_name)
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return seed_generic(product_names, robot_name=robot_name)
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