feat: add layout_optimizer package for automatic layout of devices

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

unilabos/layout_optimizer/models.py

@@ -0,0 +1,95 @@
+"""数据模型定义：Device, Lab, Placement, Constraint 及 API 请求/响应。"""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass, field
+from typing import Literal
+
+
+@dataclass
+class Opening:
+    """设备的访问开口（用于方向约束）。"""
+
+    # 设备局部坐标系中的方向单位向量，如 (0, -1) = 正前方
+    direction: tuple[float, float] = (0.0, -1.0)
+    label: str = ""
+
+
+@dataclass
+class Device:
+    """设备描述。"""
+
+    id: str
+    name: str
+    # 碰撞包围盒 (width along X, depth along Y)，单位：米
+    bbox: tuple[float, float] = (0.6, 0.4)
+    device_type: Literal["static", "articulation", "rigid"] = "static"
+    # 以下为可选扩展字段（向后兼容）
+    height: float = 0.4
+    origin_offset: tuple[float, float] = (0.0, 0.0)
+    openings: list[Opening] = field(default_factory=list)
+    source: Literal["registry", "assets", "manual"] = "manual"
+    model_path: str = ""
+    model_type: str = ""
+    thumbnail_url: str = ""
+
+
+@dataclass
+class Obstacle:
+    """实验室内固定障碍物（矩形）。"""
+
+    x: float
+    y: float
+    width: float
+    depth: float
+
+
+@dataclass
+class Lab:
+    """实验室平面图。"""
+
+    width: float  # X 方向，单位：米
+    depth: float  # Y 方向，单位：米
+    obstacles: list[Obstacle] = field(default_factory=list)
+
+
+@dataclass
+class Placement:
+    """单个设备的布局位姿。"""
+
+    device_id: str
+    x: float
+    y: float
+    theta: float  # 旋转角，弧度
+    uuid: str = ""  # 前端分配的唯一标识，透传不生成
+
+    def rotated_bbox(self, device: Device) -> tuple[float, float]:
+        """返回旋转后的 AABB 尺寸 (half_w, half_h)。"""
+        w, d = device.bbox
+        cos_t = abs(math.cos(self.theta))
+        sin_t = abs(math.sin(self.theta))
+        half_w = (w * cos_t + d * sin_t) / 2
+        half_h = (w * sin_t + d * cos_t) / 2
+        return half_w, half_h
+
+
+@dataclass
+class Constraint:
+    """约束规则。"""
+
+    type: Literal["hard", "soft"]
+    rule_name: str
+    # 规则参数，含义因 rule_name 而异
+    params: dict = field(default_factory=dict)
+    # 仅 soft 约束使用
+    weight: float = 1.0
+
+
+@dataclass
+class Intent:
+    """LLM 可生成的语义化意图，由 interpreter 翻译为 Constraint 列表。"""
+
+    intent: str  # 意图类型，如 "reachable_by", "close_together"
+    params: dict = field(default_factory=dict)
+    description: str = ""  # 可选的自然语言描述（用于审计/调试）