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from dataclasses import dataclass
from typing import List, Dict, Any
import json
@dataclass
class WheelSpec:
radius: float
width: float
position: List[float]
friction: float
@dataclass
class MotorSpec:
max_force: float
max_velocity: float
@dataclass
class BodySpec:
mass: float
dimensions: List[float]
class RobotDesign:
def __init__(self):
self.body: BodySpec = None
self.wheels: List[WheelSpec] = []
self.motors: List[MotorSpec] = []
def to_dict(self) -> Dict[str, Any]:
return {
"body": {
"mass": self.body.mass,
"dimensions": self.body.dimensions
},
"wheels": [
{
"radius": w.radius,
"width": w.width,
"position": w.position,
"friction": w.friction
} for w in self.wheels
],
"motors": [
{
"max_force": m.max_force,
"max_velocity": m.max_velocity
} for m in self.motors
]
}
def to_json(self) -> str:
return json.dumps(self.to_dict())
class RobotDesignBuilder:
def __init__(self):
self._design = RobotDesign()
def set_body(self, mass: float, dimensions: List[float]) -> 'RobotDesignBuilder':
self._design.body = BodySpec(mass=mass, dimensions=dimensions)
return self
def add_wheel(self, radius: float, width: float, position: List[float], friction: float) -> 'RobotDesignBuilder':
self._design.wheels.append(WheelSpec(radius, width, position, friction))
return self
def add_motor(self, max_force: float, max_velocity: float) -> 'RobotDesignBuilder':
self._design.motors.append(MotorSpec(max_force, max_velocity))
return self
def build(self) -> RobotDesign:
if not self._design.body:
raise ValueError("Robot design must have a body")
if not self._design.wheels:
raise ValueError("Robot design must have at least one wheel")
if not self._design.motors:
raise ValueError("Robot design must have at least one motor")
return self._design
@staticmethod
def get_default_design() -> RobotDesign:
builder = RobotDesignBuilder()
builder.set_body(10.0, [1.0, 1.0, 0.5])
# Add four wheels
wheel_positions = [
[0.5, 0.5, 0.2],
[-0.5, 0.5, 0.2],
[0.5, -0.5, 0.2],
[-0.5, -0.5, 0.2]
]
for pos in wheel_positions:
builder.add_wheel(0.2, 0.1, pos, 0.8)
# Add four motors
for _ in range(4):
builder.add_motor(100.0, 10.0)
return builder.build() |