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
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+from __future__ import annotations
+
+from app.models import LinkDef, RobotDraft
+from app.services.a7_gold import A7_LINK_ORDER, enforce_a7_gold_kinematics, gold_joint_defs
+
+
+def _norm(name: str) -> str:
+    return name.strip()
+
+
+def group_links_a7(product_names: list[str], robot_name: str = "ARM7_urdf") -> RobotDraft:
+    """ARM7 gold kinematics; part_names filled later (Solid_N clustered on client)."""
+    names = [_norm(n) for n in product_names if _norm(n)]
+    # Spread Solid_* across gold links by index so apply has a starting bind.
+    links = [LinkDef(name=n, part_names=[]) for n in A7_LINK_ORDER]
+    solids = [n for n in names if n.lower().startswith("solid")]
+    other = [n for n in names if not n.lower().startswith("solid")]
+    if solids:
+        n_link = len(links)
+        for i, sn in enumerate(solids):
+            links[min(i * n_link // max(len(solids), 1), n_link - 1)].part_names.append(sn)
+    if other:
+        links[0].part_names.extend(other)
+
+    draft = RobotDraft(
+        name=robot_name or "ARM7_urdf",
+        profile="a7",
+        links=links,
+        joints=gold_joint_defs(),
+        notes=[
+            "A7 profile: joints from ARM7_urdf.urdf gold standard.",
+            "Axes: A1/3/5=[0,0,-1], A2/4/6=[1,0,0], A7=[0,1,0], A8=fixed.",
+        ],
+        raw_parts=names,
+    )
+    return enforce_a7_gold_kinematics(draft)
+
+
+def seed_generic(product_names: list[str], robot_name: str = "robot") -> RobotDraft:
+    names = [_norm(n) for n in product_names if _norm(n)]
+    return RobotDraft(
+        name=robot_name or "robot",
+        profile="generic",
+        links=[LinkDef(name="base_link", part_names=[])],
+        joints=[],
+        notes=["Generic seed; joints come from LLM."],
+        raw_parts=names,
+    )
+
+
+def apply_profile(profile: str, product_names: list[str], robot_name: str) -> RobotDraft:
+    if profile == "a7":
+        return group_links_a7(product_names, robot_name=robot_name)
+    return seed_generic(product_names, robot_name=robot_name)