sunxianghui
93773f3887
Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
82 lines
2.3 KiB
Python
82 lines
2.3 KiB
Python
from __future__ import annotations
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from typing import Any, Literal
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from pydantic import BaseModel, Field
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class PartNode(BaseModel):
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id: str
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name: str
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parent_id: str | None = None
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children: list[str] = Field(default_factory=list)
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class AxisCandidate(BaseModel):
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id: str
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origin: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
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direction: list[float] = Field(default_factory=lambda: [0.0, 0.0, 1.0])
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kind: str = "unknown"
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score: float = 0.0
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note: str = ""
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class LinkDef(BaseModel):
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name: str
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part_names: list[str] = Field(default_factory=list)
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mesh: str | None = None
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class JointDef(BaseModel):
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name: str
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joint_type: Literal["revolute", "prismatic", "fixed", "continuous"] = "revolute"
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parent: str
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child: str
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origin_xyz: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
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origin_rpy: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
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axis: list[float] = Field(default_factory=lambda: [0.0, 0.0, 1.0])
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lower: float = -3.14
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upper: float = 3.14
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effort: float = 100.0
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velocity: float = 1.0
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rationale: str = ""
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class RobotDraft(BaseModel):
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name: str = "robot"
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profile: str = "generic"
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links: list[LinkDef] = Field(default_factory=list)
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joints: list[JointDef] = Field(default_factory=list)
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notes: list[str] = Field(default_factory=list)
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raw_parts: list[str] = Field(default_factory=list)
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axis_candidates: list[AxisCandidate] = Field(default_factory=list)
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llm_raw: dict[str, Any] | None = None
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class ParseResult(BaseModel):
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job_id: str
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filename: str
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root_name: str
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parts: list[PartNode]
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product_names: list[str]
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stats: dict[str, Any] = Field(default_factory=dict)
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class ProposeRequest(BaseModel):
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"""Zhipu propose: prefer client ``part_names``; optional legacy ``job_id``."""
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job_id: str | None = None
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profile: Literal["a7", "generic"] = "generic"
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robot_name: str = "robot"
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total_mass_kg: float | None = None
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extra_hint: str = ""
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part_names: list[str] = Field(default_factory=list)
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solid_names: list[str] = Field(default_factory=list)
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solids: list[dict[str, Any]] = Field(default_factory=list)
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class ExportRequest(BaseModel):
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job_id: str
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draft: RobotDraft
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include_meshes: bool = True
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