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https://github.com/deepmodeling/Uni-Lab-OS
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42 lines
1.1 KiB
Python
42 lines
1.1 KiB
Python
"""Protocol 接口定义，隔离 ROS 依赖。
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开发阶段使用 mock_checkers.py 中的 Mock 实现，
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集成阶段替换为 ros_checkers.py 中的 MoveIt2 / IKFast 实现。
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"""
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from __future__ import annotations
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from typing import Protocol
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class CollisionChecker(Protocol):
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"""碰撞检测接口。"""
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def check(self, placements: list[dict]) -> list[tuple[str, str]]:
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"""返回碰撞设备对列表。
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Args:
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placements: [{"id": str, "bbox": (w, d), "pos": (x, y, θ)}, ...]
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Returns:
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[("device_a", "device_b"), ...] 存在碰撞的设备对
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"""
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...
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class ReachabilityChecker(Protocol):
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"""可达性检测接口。"""
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def is_reachable(self, arm_id: str, arm_pose: dict, target: dict) -> bool:
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"""判断机械臂在给定位姿下能否到达目标点。
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Args:
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arm_id: 机械臂设备 ID
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arm_pose: {"x": float, "y": float, "theta": float}
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target: {"x": float, "y": float, "z": float}
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Returns:
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True 如果可达
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"""
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...
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