Initial commit: step2urdf tool with handtuned JSON import.

Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
2026-08-26 15:32:47 +08:00
commit 93773f3887
128 changed files with 20119 additions and 0 deletions
@@ -0,0 +1,81 @@
+from __future__ import annotations
+
+from typing import Any, Literal
+
+from pydantic import BaseModel, Field
+
+
+class PartNode(BaseModel):
+    id: str
+    name: str
+    parent_id: str | None = None
+    children: list[str] = Field(default_factory=list)
+
+
+class AxisCandidate(BaseModel):
+    id: str
+    origin: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
+    direction: list[float] = Field(default_factory=lambda: [0.0, 0.0, 1.0])
+    kind: str = "unknown"
+    score: float = 0.0
+    note: str = ""
+
+
+class LinkDef(BaseModel):
+    name: str
+    part_names: list[str] = Field(default_factory=list)
+    mesh: str | None = None
+
+
+class JointDef(BaseModel):
+    name: str
+    joint_type: Literal["revolute", "prismatic", "fixed", "continuous"] = "revolute"
+    parent: str
+    child: str
+    origin_xyz: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
+    origin_rpy: list[float] = Field(default_factory=lambda: [0.0, 0.0, 0.0])
+    axis: list[float] = Field(default_factory=lambda: [0.0, 0.0, 1.0])
+    lower: float = -3.14
+    upper: float = 3.14
+    effort: float = 100.0
+    velocity: float = 1.0
+    rationale: str = ""
+
+
+class RobotDraft(BaseModel):
+    name: str = "robot"
+    profile: str = "generic"
+    links: list[LinkDef] = Field(default_factory=list)
+    joints: list[JointDef] = Field(default_factory=list)
+    notes: list[str] = Field(default_factory=list)
+    raw_parts: list[str] = Field(default_factory=list)
+    axis_candidates: list[AxisCandidate] = Field(default_factory=list)
+    llm_raw: dict[str, Any] | None = None
+
+
+class ParseResult(BaseModel):
+    job_id: str
+    filename: str
+    root_name: str
+    parts: list[PartNode]
+    product_names: list[str]
+    stats: dict[str, Any] = Field(default_factory=dict)
+
+
+class ProposeRequest(BaseModel):
+    """Zhipu propose: prefer client ``part_names``; optional legacy ``job_id``."""
+
+    job_id: str | None = None
+    profile: Literal["a7", "generic"] = "generic"
+    robot_name: str = "robot"
+    total_mass_kg: float | None = None
+    extra_hint: str = ""
+    part_names: list[str] = Field(default_factory=list)
+    solid_names: list[str] = Field(default_factory=list)
+    solids: list[dict[str, Any]] = Field(default_factory=list)
+
+
+class ExportRequest(BaseModel):
+    job_id: str
+    draft: RobotDraft
+    include_meshes: bool = True