Import CAD projects and cad-router v1

2026-07-22 19:38:36 +08:00
parent e4e0199bd5
commit af9f630c11
2253 changed files with 1994207 additions and 0 deletions
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+
+MOVEIT2_SERVER_CONDA_ENV_NAME="${MOVEIT2_SERVER_CONDA_ENV_NAME:-moveit2-server}"
+
+find_conda() {
+  if [[ -n "${MOVEIT2_SERVER_CONDA_EXE:-}" && -x "${MOVEIT2_SERVER_CONDA_EXE}" ]]; then
+    printf '%s\n' "${MOVEIT2_SERVER_CONDA_EXE}"
+    return 0
+  fi
+  if [[ -n "${CONDA_EXE:-}" && -x "${CONDA_EXE}" ]]; then
+    printf '%s\n' "${CONDA_EXE}"
+    return 0
+  fi
+  if command -v conda >/dev/null 2>&1; then
+    command -v conda
+    return 0
+  fi
+  local candidate
+  for candidate in \
+    "${HOME}/miniforge3/bin/conda" \
+    "${HOME}/mambaforge/bin/conda" \
+    "${HOME}/miniconda3/bin/conda" \
+    "${HOME}/anaconda3/bin/conda" \
+    "/opt/conda/bin/conda"
+  do
+    if [[ -x "${candidate}" ]]; then
+      printf '%s\n' "${candidate}"
+      return 0
+    fi
+  done
+  printf 'Could not find conda. Install Miniforge, put conda on PATH, or set MOVEIT2_SERVER_CONDA_EXE/CONDA_EXE.\n' >&2
+  return 1
+}
+
+find_repo_root() {
+  if [[ -n "${MOVEIT2_SERVER_REPO_ROOT:-}" ]]; then
+    if [[ ! -d "${MOVEIT2_SERVER_REPO_ROOT}" ]]; then
+      printf 'MOVEIT2_SERVER_REPO_ROOT does not exist: %s\n' "${MOVEIT2_SERVER_REPO_ROOT}" >&2
+      return 1
+    fi
+    (cd "${MOVEIT2_SERVER_REPO_ROOT}" && pwd -P)
+    return 0
+  fi
+
+  local root
+  if root="$(git -C "${PWD}" rev-parse --show-toplevel 2>/dev/null)"; then
+    printf '%s\n' "${root}"
+    return 0
+  fi
+
+  printf 'Could not find a repository root from the current directory. Run from the robot project repo or set MOVEIT2_SERVER_REPO_ROOT.\n' >&2
+  return 1
+}