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 +1,114 @@
+const state = {
+  jobId: null,
+  draft: null,
+};
+
+const $ = (id) => document.getElementById(id);
+
+function pretty(obj) {
+  return JSON.stringify(obj, null, 2);
+}
+
+async function refreshHealth() {
+  const el = $("health");
+  try {
+    const res = await fetch("/api/health");
+    const data = await res.json();
+    const z = data.zhipu_configured ? `智谱 OK (${data.zhipu_model})` : "智谱未配置";
+    const g = data.geometry?.available ? "几何后端可用" : "几何后端未装(占位 mesh)";
+    el.textContent = `${z} · ${g}`;
+    el.className = "pill " + (data.zhipu_configured ? "ok" : "warn");
+  } catch (e) {
+    el.textContent = "后端未连接";
+    el.className = "pill warn";
+  }
+}
+
+$("btnParse").addEventListener("click", async () => {
+  const file = $("file").files?.[0];
+  if (!file) {
+    $("parseOut").textContent = "请先选择 STEP 文件";
+    $("parseOut").classList.add("error");
+    return;
+  }
+  $("parseOut").classList.remove("error");
+  $("parseOut").textContent = "解析中…";
+  const fd = new FormData();
+  fd.append("file", file);
+  try {
+    const res = await fetch("/api/parse", { method: "POST", body: fd });
+    if (!res.ok) throw new Error(await res.text());
+    const data = await res.json();
+    state.jobId = data.job_id;
+    $("btnPropose").disabled = false;
+    $("parseOut").textContent = pretty({
+      job_id: data.job_id,
+      root_name: data.root_name,
+      product_count: data.product_names?.length,
+      product_names: data.product_names,
+      stats: data.stats,
+    });
+  } catch (e) {
+    $("parseOut").textContent = String(e);
+    $("parseOut").classList.add("error");
+  }
+});
+
+$("btnPropose").addEventListener("click", async () => {
+  if (!state.jobId) return;
+  $("proposeOut").classList.remove("error");
+  $("proposeOut").textContent = "调用智谱中（可能需要几十秒）…";
+  try {
+    const res = await fetch("/api/propose", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        job_id: state.jobId,
+        profile: $("profile").value,
+        robot_name: $("robotName").value || "A7",
+        extra_hint: $("hint").value || "",
+      }),
+    });
+    if (!res.ok) throw new Error(await res.text());
+    const draft = await res.json();
+    state.draft = draft;
+    $("draftEditor").value = pretty(draft);
+    $("btnExport").disabled = false;
+    $("proposeOut").textContent = `links=${draft.links?.length || 0}, joints=${draft.joints?.length || 0}\n` +
+      (draft.notes || []).map((n) => `- ${n}`).join("\n");
+  } catch (e) {
+    $("proposeOut").textContent = String(e);
+    $("proposeOut").classList.add("error");
+  }
+});
+
+$("btnExport").addEventListener("click", async () => {
+  if (!state.jobId) return;
+  $("exportOut").classList.remove("error");
+  try {
+    const draft = JSON.parse($("draftEditor").value);
+    state.draft = draft;
+    const res = await fetch("/api/export", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        job_id: state.jobId,
+        draft,
+        include_meshes: true,
+      }),
+    });
+    if (!res.ok) throw new Error(await res.text());
+    const meta = await res.json();
+    $("exportOut").textContent = pretty(meta);
+    const name = draft.name || "robot";
+    const a = $("dlLink");
+    a.hidden = false;
+    a.href = `/api/jobs/${state.jobId}/download/${encodeURIComponent(name)}`;
+    a.textContent = `下载 ${name}.urdf`;
+  } catch (e) {
+    $("exportOut").textContent = String(e);
+    $("exportOut").classList.add("error");
+  }
+});
+
+refreshHealth();