Initial commit: step2urdf tool with handtuned JSON import.

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

app/services/pipeline.py

@@ -0,0 +1,119 @@
+from __future__ import annotations
+
+import json
+import shutil
+import uuid
+from pathlib import Path
+from typing import Any
+
+from app.config import settings
+from app.models import ParseResult, RobotDraft
+from app.services.a7_gold import enforce_a7_gold_kinematics
+from app.services.profiles import apply_profile
+from app.services.step_text import parse_step_products
+from app.services.urdf_builder import write_urdf_package
+from app.services.zhipu import propose_joints_with_zhipu
+from app.services.mesh_export import export_meshes_stub, geometry_backend_status
+
+
+def _job_dir(job_id: str) -> Path:
+    return settings.jobs_dir / job_id
+
+
+def create_job_from_upload(src: Path, filename: str) -> ParseResult:
+    job_id = uuid.uuid4().hex[:12]
+    jdir = _job_dir(job_id)
+    jdir.mkdir(parents=True, exist_ok=True)
+    dest = jdir / filename
+    shutil.copy2(src, dest)
+
+    parsed = parse_step_products(dest)
+    result = ParseResult(
+        job_id=job_id,
+        filename=filename,
+        root_name=parsed["root_name"],
+        parts=parsed["parts"],
+        product_names=parsed["product_names"],
+        stats={**parsed["stats"], "geometry": geometry_backend_status()},
+    )
+    (jdir / "parse.json").write_text(result.model_dump_json(indent=2), encoding="utf-8")
+    (jdir / "step_path.txt").write_text(str(dest), encoding="utf-8")
+    return result
+
+
+def load_parse(job_id: str) -> ParseResult:
+    path = _job_dir(job_id) / "parse.json"
+    if not path.exists():
+        raise FileNotFoundError(f"job not found: {job_id}")
+    return ParseResult.model_validate_json(path.read_text(encoding="utf-8"))
+
+
+def step_path_for_job(job_id: str) -> Path:
+    txt = _job_dir(job_id) / "step_path.txt"
+    return Path(txt.read_text(encoding="utf-8").strip())
+
+
+async def propose_draft(
+    job_id: str | None,
+    *,
+    profile: str,
+    robot_name: str,
+    extra_hint: str = "",
+    part_names: list[str] | None = None,
+    solids_geom: list[dict[str, Any]] | None = None,
+) -> RobotDraft:
+    """A7 → ARM7 gold URDF (no LLM). generic → Zhipu full propose."""
+    stats: dict[str, Any] = {}
+    names: list[str] = []
+
+    if part_names:
+        names = [n.strip() for n in part_names if n and str(n).strip()]
+        stats = {"source": "client", "part_count": len(names)}
+    elif job_id:
+        parsed = load_parse(job_id)
+        names = list(parsed.product_names)
+        stats = dict(parsed.stats)
+    else:
+        raise ValueError("Provide part_names (preferred) or job_id")
+
+    if not names:
+        raise ValueError("No part names available for proposal")
+
+    seed = apply_profile(profile, names, robot_name=robot_name)
+
+    # A7: always return gold kinematics (skip LLM — avoids JSON truncation).
+    if profile == "a7":
+        draft = enforce_a7_gold_kinematics(seed)
+        draft.notes = list(draft.notes) + [
+            "已使用 ARM7_urdf.urdf 金标关节（未调用智谱）。前端会按模型最长轴摆放。"
+        ]
+    else:
+        draft = await propose_joints_with_zhipu(
+            seed,
+            extra_hint=extra_hint,
+            stats=stats,
+            solids_geom=solids_geom,
+        )
+
+    if job_id:
+        out = _job_dir(job_id) / "draft.json"
+        out.write_text(draft.model_dump_json(indent=2), encoding="utf-8")
+    return draft
+
+
+def export_package(job_id: str, draft: RobotDraft, include_meshes: bool = True) -> dict[str, Any]:
+    jdir = _job_dir(job_id)
+    out_dir = jdir / "export" / draft.name
+    if out_dir.exists():
+        shutil.rmtree(out_dir)
+    paths = write_urdf_package(draft, out_dir)
+    mesh_info: dict[str, Any] = {}
+    if include_meshes:
+        mesh_info = export_meshes_stub(
+            step_path_for_job(job_id),
+            Path(paths["meshes_dir"]),
+            [l.name for l in draft.links],
+        )
+    meta = {"files": paths, "meshes": mesh_info, "job_id": job_id}
+    (out_dir / "export_meta.json").write_text(json.dumps(meta, indent=2, ensure_ascii=False), encoding="utf-8")
+    return meta