sunxianghui
93773f3887
Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
75 lines
2.5 KiB
Python
75 lines
2.5 KiB
Python
from __future__ import annotations
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from pathlib import Path
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from typing import Any
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def geometry_backend_status() -> dict[str, Any]:
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status = {"ocp": False, "cascadio": False, "available": False, "detail": []}
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try:
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import OCP # noqa: F401
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status["ocp"] = True
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status["detail"].append("OCP import OK")
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except Exception as e: # noqa: BLE001
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status["detail"].append(f"OCP unavailable: {e}")
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try:
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import cascadio # noqa: F401
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status["cascadio"] = True
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status["detail"].append("cascadio import OK")
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except Exception as e: # noqa: BLE001
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status["detail"].append(f"cascadio unavailable: {e}")
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status["available"] = bool(status["ocp"] or status["cascadio"])
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return status
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def export_meshes_stub(step_path: Path, meshes_dir: Path, link_names: list[str]) -> dict[str, Any]:
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"""MVP mesh export.
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Full per-link tessellation needs OCP/pythonocc. Until then we record
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intended mesh filenames and leave placeholders.
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"""
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meshes_dir.mkdir(parents=True, exist_ok=True)
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status = geometry_backend_status()
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created: list[str] = []
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pending: list[str] = []
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if status["cascadio"]:
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try:
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import cascadio
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# Whole-assembly export as a starting point (not per-link).
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out = meshes_dir / "assembly.glb"
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# cascadio API: step_to_glb(in, out) in recent versions
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if hasattr(cascadio, "step_to_glb"):
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cascadio.step_to_glb(str(step_path), str(out))
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created.append(str(out))
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else:
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pending.append("cascadio installed but step_to_glb API not found")
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except Exception as e: # noqa: BLE001
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pending.append(f"cascadio export failed: {e}")
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for name in link_names:
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target = meshes_dir / f"{name}.stl"
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if not target.exists():
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# Tiny valid-ish ASCII STL placeholder so packages are non-empty.
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target.write_text(
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"solid placeholder\n"
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" facet normal 0 0 1\n"
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" outer loop\n"
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" vertex 0 0 0\n"
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" vertex 1 0 0\n"
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" vertex 0 1 0\n"
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" endloop\n"
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" endfacet\n"
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"endsolid placeholder\n",
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encoding="utf-8",
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)
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created.append(str(target))
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pending.append(f"{name}.stl is a placeholder triangle (replace after OCCT tessellation)")
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return {"backend": status, "created": created, "pending": pending}
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