Initial commit: step2urdf tool with handtuned JSON import.

Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.

app/main.py

@@ -0,0 +1,155 @@
+from __future__ import annotations
+
+import shutil
+import tempfile
+from pathlib import Path
+
+from fastapi import FastAPI, File, HTTPException, UploadFile
+from fastapi.middleware.cors import CORSMiddleware
+from fastapi.responses import FileResponse, RedirectResponse
+from fastapi.staticfiles import StaticFiles
+
+from app.config import settings
+from app.models import ExportRequest, ProposeRequest
+from app.services.mesh_export import geometry_backend_status
+from app.services.pipeline import create_job_from_upload, export_package, load_parse, propose_draft
+
+ROOT = Path(__file__).resolve().parents[1]
+LEGACY_STATIC = ROOT / "app" / "static"
+FRONTEND_DIST = ROOT / "frontend" / "dist"
+
+app = FastAPI(title="step2urdf-tool", version="0.2.0")
+
+app.add_middleware(
+    CORSMiddleware,
+    allow_origins=[
+        "http://127.0.0.1:5678",
+        "http://localhost:5678",
+        "http://127.0.0.1:8787",
+        "http://localhost:8787",
+    ],
+    allow_credentials=True,
+    allow_methods=["*"],
+    allow_headers=["*"],
+)
+
+
+@app.get("/api/health")
+async def health():
+    return {
+        "ok": True,
+        "zhipu_configured": bool(settings.zhipu_api_key),
+        "zhipu_model": settings.zhipu_model,
+        "geometry": geometry_backend_status(),
+        "primary_ui": "step2urdf frontend (Vite :5678 in dev)",
+    }
+
+
+@app.post("/api/parse")
+async def parse_step(file: UploadFile = File(...)):
+    """Optional server-side STEP text parse (legacy / debug). Geometry stays in the browser."""
+    suffix = Path(file.filename or "model.STEP").suffix or ".STEP"
+    with tempfile.NamedTemporaryFile(delete=False, suffix=suffix) as tmp:
+        tmp_path = Path(tmp.name)
+        shutil.copyfileobj(file.file, tmp)
+    try:
+        result = create_job_from_upload(tmp_path, file.filename or "model.STEP")
+    finally:
+        tmp_path.unlink(missing_ok=True)
+    return result
+
+
+@app.get("/api/jobs/{job_id}")
+async def get_job(job_id: str):
+    try:
+        return load_parse(job_id)
+    except FileNotFoundError as e:
+        raise HTTPException(404, str(e)) from e
+
+
+@app.post("/api/propose")
+async def propose(req: ProposeRequest):
+    """Zhipu-assisted link/joint proposal.
+
+    Preferred body (from step2urdf UI)::
+
+        {"part_names": [...], "profile": "a7", "robot_name": "A7", "extra_hint": "..."}
+
+    Legacy: ``job_id`` from ``/api/parse``.
+    """
+    names = list(req.part_names or [])
+    if req.solid_names:
+        # Deduplicate while preserving order
+        seen: set[str] = set()
+        merged: list[str] = []
+        for n in names + list(req.solid_names):
+            if n and n not in seen:
+                seen.add(n)
+                merged.append(n)
+        names = merged
+
+    try:
+        draft = await propose_draft(
+            req.job_id,
+            profile=req.profile,
+            robot_name=req.robot_name,
+            extra_hint=req.extra_hint,
+            part_names=names or None,
+            solids_geom=list(req.solids or []),
+        )
+    except FileNotFoundError as e:
+        raise HTTPException(404, str(e)) from e
+    except ValueError as e:
+        raise HTTPException(400, str(e)) from e
+    except Exception as e:  # noqa: BLE001
+        raise HTTPException(502, f"Zhipu/propose failed: {e}") from e
+    return draft
+
+
+@app.post("/api/export")
+async def export(req: ExportRequest):
+    """Legacy server-side URDF write. Prefer Export URDF in the step2urdf UI."""
+    try:
+        meta = export_package(req.job_id, req.draft, include_meshes=req.include_meshes)
+    except FileNotFoundError as e:
+        raise HTTPException(404, str(e)) from e
+    return meta
+
+
+@app.get("/api/jobs/{job_id}/download/{robot_name}")
+async def download_urdf(job_id: str, robot_name: str):
+    path = settings.jobs_dir / job_id / "export" / robot_name / f"{robot_name}.urdf"
+    if not path.exists():
+        raise HTTPException(404, "URDF not found; export first")
+    return FileResponse(path, filename=f"{robot_name}.urdf", media_type="application/xml")
+
+
+@app.get("/")
+async def root():
+    if FRONTEND_DIST.is_dir() and (FRONTEND_DIST / "index.html").exists():
+        return FileResponse(FRONTEND_DIST / "index.html")
+    return RedirectResponse(url="/legacy/")
+
+
+# Built step2urdf UI (after `pnpm build` in frontend/)
+if FRONTEND_DIST.is_dir():
+    app.mount("/assets", StaticFiles(directory=str(FRONTEND_DIST / "assets")), name="frontend-assets")
+
+# Previous MVP static UI kept under /legacy only
+if LEGACY_STATIC.is_dir():
+    app.mount("/legacy", StaticFiles(directory=str(LEGACY_STATIC), html=True), name="legacy")
+
+
+def main() -> None:
+    import uvicorn
+
+    uvicorn.run(
+        "app.main:app",
+        host=settings.host,
+        port=settings.port,
+        reload=True,
+    )
+
+
+if __name__ == "__main__":
+    main()