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 +1,74 @@
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+
+def geometry_backend_status() -> dict[str, Any]:
+    status = {"ocp": False, "cascadio": False, "available": False, "detail": []}
+    try:
+        import OCP  # noqa: F401
+
+        status["ocp"] = True
+        status["detail"].append("OCP import OK")
+    except Exception as e:  # noqa: BLE001
+        status["detail"].append(f"OCP unavailable: {e}")
+
+    try:
+        import cascadio  # noqa: F401
+
+        status["cascadio"] = True
+        status["detail"].append("cascadio import OK")
+    except Exception as e:  # noqa: BLE001
+        status["detail"].append(f"cascadio unavailable: {e}")
+
+    status["available"] = bool(status["ocp"] or status["cascadio"])
+    return status
+
+
+def export_meshes_stub(step_path: Path, meshes_dir: Path, link_names: list[str]) -> dict[str, Any]:
+    """MVP mesh export.
+
+    Full per-link tessellation needs OCP/pythonocc. Until then we record
+    intended mesh filenames and leave placeholders.
+    """
+    meshes_dir.mkdir(parents=True, exist_ok=True)
+    status = geometry_backend_status()
+    created: list[str] = []
+    pending: list[str] = []
+
+    if status["cascadio"]:
+        try:
+            import cascadio
+
+            # Whole-assembly export as a starting point (not per-link).
+            out = meshes_dir / "assembly.glb"
+            # cascadio API: step_to_glb(in, out) in recent versions
+            if hasattr(cascadio, "step_to_glb"):
+                cascadio.step_to_glb(str(step_path), str(out))
+                created.append(str(out))
+            else:
+                pending.append("cascadio installed but step_to_glb API not found")
+        except Exception as e:  # noqa: BLE001
+            pending.append(f"cascadio export failed: {e}")
+
+    for name in link_names:
+        target = meshes_dir / f"{name}.stl"
+        if not target.exists():
+            # Tiny valid-ish ASCII STL placeholder so packages are non-empty.
+            target.write_text(
+                "solid placeholder\n"
+                "  facet normal 0 0 1\n"
+                "    outer loop\n"
+                "      vertex 0 0 0\n"
+                "      vertex 1 0 0\n"
+                "      vertex 0 1 0\n"
+                "    endloop\n"
+                "  endfacet\n"
+                "endsolid placeholder\n",
+                encoding="utf-8",
+            )
+            created.append(str(target))
+            pending.append(f"{name}.stl is a placeholder triangle (replace after OCCT tessellation)")
+
+    return {"backend": status, "created": created, "pending": pending}