@ioai/robot_viewer 0.0.0-stage → 1.1.1

package/LICENSE

@@ -0,0 +1,201 @@
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package/README.md

@@ -1,3 +1,184 @@
-# Temporary Holding Version
+![screenshot](./docs/screenshot.png)
 
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.
+---
+
+# IO Robot Viewer
+
+**IO Robot Viewer** 是一个基于 [Three.js](https://threejs.org/) 的浏览器端机器人遥操作适配&调试工具，提供直观的界面用于可视化、编辑和仿真机器人模型。支持查看和分析机器人结构、关节和物理属性。
+
+**在线演示**：http://192.168.2.46:3000
+
+## 主要功能
+
+- **格式支持**：
+  - **URDF**：统一机器人描述格式
+  - **Xacro**：ROS Xacro 格式，支持宏展开和条件逻辑
+  - **MJCF**：MuJoCo XML 格式
+  - **USD**：通用场景描述格式（部分支持）
+- **机器人类型**：串联机器人结构（暂不支持并联机器人）
+- **ROS 集成**：通过 ROS topic 实时控制关节（WebSocket 桥接）
+- **可视化工具**：视觉/碰撞几何体、惯性张量、质心、坐标系、关节轴、阴影、坐标系方向，支持在坐标轴控制面板中按名称筛选、显示名称、调整显示尺寸，并在长列表下滚动查看全部名称
+- **交互控制**：实时拖拽关节、调整模型姿态
+- **测量工具**：测量关节和连杆之间的距离并进行 3D 可视化，显示 X/Y/Z 轴投影和总距离，支持离地高度测量
+- **代码编辑器**：内置 CodeMirror 编辑器，支持语法高亮和实时预览
+- **物理仿真**：集成 MuJoCo 引擎进行动力学仿真（MJCF 模型）
+- **实时监控**：`?plot=1` 参数打开关节曲线监控面板，实时对比 cmd/state 数据（Chrome 后台标签页不受节流）
+- **场景管理**：文件树和场景图可视化，支持层级结构
+
+## 快速开始
+
+本项目使用 **pnpm**，也支持 **npm** 或 **yarn**。
+
+克隆仓库并安装依赖：
+
+```bash
+pnpm install
+```
+
+启动开发服务器：
+
+```bash
+pnpm run dev
+```
+
+生产构建：
+
+```bash
+pnpm run build
+```
+
+构建产物输出到 `dist/` 目录。
+
+## 生产部署
+
+生产环境用 `deploy_on_server.sh`（`pnpm run build` + 静态服务托管 `dist/`），**不要**用 `deploy.sh`——它会注入 Vite HMR 客户端，后台标签页被强制刷新后模型丢失。
+
+```bash
+./deploy_on_server.sh              # 构建 + 启动前端(:3000)
+./deploy_on_server.sh --daemon     # 后台常驻（日志在 logs/，用 --stop 停止）
+./deploy_on_server.sh --skip-build # 复用已有 dist/
+./deploy_on_server.sh --port 8080  # 自定义前端端口
+./deploy_on_server.sh --stop       # 停止 daemon 服务
+```
+
+
+在生产服务器上配置开机自动启动：
+
+```bash
+# 复制 service 文件到 systemd 目录
+sudo cp io_robot_viewer/io_robot_viewer.service /etc/systemd/system/
+
+# 重新加载 systemd 配置
+sudo systemctl daemon-reload
+
+# 启用开机自启
+sudo systemctl enable io_robot_viewer
+
+# 立即启动服务
+sudo systemctl start io_robot_viewer
+
+# 查看服务状态
+sudo systemctl status io_robot_viewer
+```
+
+**常用管理命令**：
+```bash
+sudo systemctl start io_robot_viewer    # 启动服务
+sudo systemctl stop io_robot_viewer     # 停止服务
+sudo systemctl restart io_robot_viewer  # 重启服务
+sudo journalctl -u io_robot_viewer -f   # 查看实时日志
+```
+
+服务配置文件位于 `io_robot_viewer.service`，开机时会自动构建并启动 Web 服务器。
+
+
+## ROS 集成（可选功能）
+
+Robot Viewer 支持通过 ROS 2 实时控制机器人关节和应用 TF 变换数据。
+
+### 前置要求
+
+- ROS 2 环境（Humble/Iron/Jazzy）
+- rosbridge_suite 包
+
+### 快速启动
+
+**方式 1：一键启动（推荐）**
+```bash
+./scripts/start-rosbridge.sh --domain_id=xxx
+```
+
+**方式 2：手动启动**
+```bash
+# 如果未安装 rosbridge_suite
+sudo apt install ros-$ROS_DISTRO-rosbridge-suite
+
+# 启动 rosbridge_server
+ros2 run rosbridge_server rosbridge_websocket
+```
+
+### 连接使用
+
+1. 在 Web 页面打开 ROS 连接面板
+2. 输入 `ws://localhost:9090`
+3. 点击连接
+
+额外：在 URL 后追加 `?plot=1` 可打开实时关节曲线监控面板。
+
+### 功能支持
+
+**关节控制**：
+```bash
+# 发布关节控制消息
+ros2 topic pub /io_teleop/joint_cmd sensor_msgs/msg/JointState \
+  "{name: ['joint1'], position: [1.0]}"
+```
+
+**TF 数据应用**（适用于动捕/外骨骼场景）：
+- 订阅 `/tf` topic 自动将 TF 变换应用到对应 link
+- 自动处理坐标系转换（ROS Z-up → Three.js Y-up）
+- 首帧校准保证连接前后位置稳定
+- 支持手臂间距缩放和朝向调整（见 `src/controllers/TFController.js`）
+
+### 架构说明
+
+```
+用户浏览器 ←─ HTTP ─← Web 服务器（静态文件）
+     ↓
+  WebSocket (ws://localhost:9090)
+     ↓
+ros2 run rosbridge_server rosbridge_websocket
+     ↓
+本地 ROS 2 节点
+```
+
+- Web 服务器仅提供静态文件
+- ROS 消息在本地完成，不经过服务器中转
+- 延迟极低（< 10ms）
+
+## 贡献
+
+欢迎社区贡献！无论是修复 Bug、添加功能还是改进文档，我们都非常感谢您的参与。
+
+- **Bug 报告**：提交 [Issue](https://github.com/fan-ziqi/robot_viewer/issues) 并附上详细信息
+- **功能建议**：在 [Discussions](https://github.com/fan-ziqi/robot_viewer/discussions) 中讨论想法
+- **Pull Request**：提交 PR 时请附上清晰的描述和测试
+
+## 许可证
+
+本项目基于 [Apache License 2.0](LICENSE) 开源。
+
+## 致谢
+
+Robot Viewer 基于开源机器人社区的优秀成果构建，集成了以下开源项目：
+
+- **[urdf-loader](https://github.com/gkjohnson/urdf-loaders)** - Three.js 的 URDF 加载器
+- **[xacro-parser](https://github.com/gkjohnson/xacro-parser)** - JavaScript 的 ROS Xacro 文件格式解析器
+- **[mujoco_wasm](https://github.com/zalo/mujoco_wasm)** - 编译为 WebAssembly 的 MuJoCo 物理引擎
+- **[usd-viewer](https://github.com/needle-tools/usd-viewer)** - 支持丰富 USDStage 的 OpenUSD 查看器
+- **[roslibjs](https://github.com/RobotWebTools/roslibjs)** - ROS WebSocket 通信的 JavaScript 库
+- **[mechaverse](https://github.com/jurmy24/mechaverse)** - 通用 3D 机器人模型查看器，提供了宝贵的设计灵感
+
+感谢以上项目的维护者和贡献者的基础性工作。
+
+本项目部分开发借助了 [Cursor](https://cursor.sh)。

package/bin/cli.js

@@ -0,0 +1,83 @@
+#!/usr/bin/env node
+
+const path = require('path');
+const fs = require('fs');
+const { spawn } = require('child_process');
+
+const packageJson = JSON.parse(
+  fs.readFileSync(path.join(__dirname, '..', 'package.json'), 'utf8')
+);
+
+function usage() {
+  console.log(`
+IO Robot Viewer Mini v${packageJson.version}
+
+用法: robot-viewer [选项]
+
+选项:
+  -p, --port <port>  服务端口（默认 3000）
+  --host <host>      监听地址（默认 0.0.0.0）
+  -v, --version      显示版本
+  -h, --help         显示帮助
+`);
+}
+
+function parseArgs(argv) {
+  const options = { port: 3000, host: '0.0.0.0' };
+  for (let i = 0; i < argv.length; i += 1) {
+    const arg = argv[i];
+    if (arg === '-p' || arg === '--port') {
+      options.port = Number(argv[++i]);
+    } else if (arg === '--host') {
+      options.host = argv[++i];
+    } else if (arg === '-v' || arg === '--version') {
+      console.log(packageJson.version);
+      process.exit(0);
+    } else if (arg === '-h' || arg === '--help') {
+      usage();
+      process.exit(0);
+    } else {
+      console.error(`未知参数: ${arg}`);
+      usage();
+      process.exit(1);
+    }
+  }
+
+  if (!Number.isInteger(options.port) || options.port < 1 || options.port > 65535) {
+    console.error('端口必须是 1-65535 之间的整数');
+    process.exit(1);
+  }
+  return options;
+}
+
+const root = path.join(__dirname, '..');
+const distIndex = path.join(root, 'dist', 'index.html');
+const serverEntry = path.join(root, 'server', 'static-server.js');
+
+if (!fs.existsSync(distIndex) || !fs.existsSync(serverEntry)) {
+  console.error('npm 包缺少构建产物，无法启动 Robot Viewer。');
+  process.exit(1);
+}
+
+const options = parseArgs(process.argv.slice(2));
+const child = spawn(process.execPath, [serverEntry], {
+  cwd: root,
+  env: {
+    ...process.env,
+    PORT: String(options.port),
+    HOST: options.host,
+    DIST_DIR: path.join(root, 'dist')
+  },
+  stdio: 'inherit'
+});
+
+child.on('error', error => {
+  console.error(`启动失败: ${error.message}`);
+  process.exit(1);
+});
+
+child.on('exit', code => process.exit(code ?? 1));
+
+for (const signal of ['SIGINT', 'SIGTERM']) {
+  process.on(signal, () => child.kill(signal));
+}

package/dist/assets/css/PlotPanel-3e7d7555.css

@@ -0,0 +1 @@
+.uplot,.uplot *,.uplot *:before,.uplot *:after{box-sizing:border-box}.uplot{font-family:system-ui,-apple-system,Segoe UI,Roboto,Helvetica Neue,Arial,Noto Sans,sans-serif,"Apple Color Emoji","Segoe UI Emoji",Segoe UI Symbol,"Noto Color Emoji";line-height:1.5;width:min-content}.u-title{text-align:center;font-size:18px;font-weight:700}.u-wrap{position:relative;-webkit-user-select:none;user-select:none}.u-over,.u-under{position:absolute}.u-under{overflow:hidden}.uplot canvas{display:block;position:relative;width:100%;height:100%}.u-axis{position:absolute}.u-legend{font-size:14px;margin:auto;text-align:center}.u-inline{display:block}.u-inline *{display:inline-block}.u-inline tr{margin-right:16px}.u-legend th{font-weight:600}.u-legend th>*{vertical-align:middle;display:inline-block}.u-legend .u-marker{width:1em;height:1em;margin-right:4px;background-clip:padding-box!important}.u-inline.u-live th:after{content:":";vertical-align:middle}.u-inline:not(.u-live) .u-value{display:none}.u-series>*{padding:4px}.u-series th{cursor:pointer}.u-legend .u-off>*{opacity:.3}.u-select{background:rgba(0,0,0,.07);position:absolute;pointer-events:none}.u-cursor-x,.u-cursor-y{position:absolute;left:0;top:0;pointer-events:none;will-change:transform}.u-hz .u-cursor-x,.u-vt .u-cursor-y{height:100%;border-right:1px dashed #607D8B}.u-hz .u-cursor-y,.u-vt .u-cursor-x{width:100%;border-bottom:1px dashed #607D8B}.u-cursor-pt{position:absolute;top:0;left:0;border-radius:50%;border:0 solid;pointer-events:none;will-change:transform;background-clip:padding-box!important}.u-axis.u-off,.u-select.u-off,.u-cursor-x.u-off,.u-cursor-y.u-off,.u-cursor-pt.u-off{display:none}

package/dist/assets/js/ColladaLoader-2a0c4638.js

@@ -0,0 +1 @@
+import{DataTextureLoader as e,LinearMipmapLinearFilter as t,Loader as n,LoaderUtils as s,FileLoader as i,Vector3 as o,Matrix4 as r,MeshBasicMaterial as a,Scene as c,TextureLoader as l,Color as d,MathUtils as u,AnimationClip as f,VectorKeyframeTrack as h,QuaternionKeyframeTrack as m,MeshLambertMaterial as p,MeshPhongMaterial as g,Vector2 as b,DoubleSide as y,FrontSide as N,PerspectiveCamera as w,OrthographicCamera as x,AmbientLight as A,SpotLight as k,PointLight as v,DirectionalLight as T,BufferGeometry as _,Float32BufferAttribute as C,Group as E,Quaternion as O,SRGBColorSpace as j,Bone as I,LineBasicMaterial as R,SkinnedMesh as q,Mesh as M,Line as S,LineSegments as z,RepeatWrapping as L,ClampToEdgeWrapping as U,Skeleton as G}from"./three-9c891de0.js";class B extends e{constructor(e){super(e)}parse(e){const n=0,s=1,i=2,o=3,r=9,a=10,c=11,l=48,d=4,u=0,f=1,h=2,m=3;if(e.length<19)throw new Error("THREE.TGALoader: Not enough data to contain header.");let p=0;const g=new 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r;switch(o.nodeName){case"source":r=o.getAttribute("id"),n.sources[r]=Ve(o);break;case"sampler":r=o.getAttribute("id"),n.samplers[r]=Y(o);break;case"channel":r=o.getAttribute("target"),n.channels[r]=Q(o);break;case"animation":e(o),s=!0}}!1===s&&(zt.animations[t.getAttribute("id")||u.generateUUID()]=n)}),X(_t,"library_animation_clips","animation_clip",function(e){const t={name:e.getAttribute("id")||"default",start:parseFloat(e.getAttribute("start")||0),end:parseFloat(e.getAttribute("end")||0),animations:[]};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType&&"instance_animation"===s.nodeName)t.animations.push(H(s.getAttribute("url")))}zt.clips[e.getAttribute("id")]=t}),X(_t,"library_controllers","controller",function(e){const t={};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType)switch(s.nodeName){case"skin":t.id=H(s.getAttribute("source")),t.skin=fe(s);break;case"morph":t.id=H(s.getAttribute("source"))}}zt.controllers[e.getAttribute("id")]=t}),X(_t,"library_images","image",function(e){const t={init_from:s(e,"init_from")[0].textContent};zt.images[e.getAttribute("id")]=t}),X(_t,"library_effects","effect",function(e){const t={};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType&&"profile_COMMON"===s.nodeName)t.profile=Ne(s)}zt.effects[e.getAttribute("id")]=t}),X(_t,"library_materials","material",function(e){const t={name:e.getAttribute("name")};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType&&"instance_effect"===s.nodeName)t.url=H(s.getAttribute("url"))}zt.materials[e.getAttribute("id")]=t}),X(_t,"library_cameras","camera",function(e){const t={name:e.getAttribute("name")};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType&&"optics"===s.nodeName)t.optics=Se(s)}zt.cameras[e.getAttribute("id")]=t}),X(_t,"library_lights","light",function(e){let t={};for(let n=0,s=e.childNodes.length;n<s;n++){const s=e.childNodes[n];if(1===s.nodeType&&"technique_common"===s.nodeName)t=Be(s)}zt.lights[e.getAttribute("id")]=t}),X(_t,"library_geometries","geometry",function(e){const t={name:e.getAttribute("name"),sources:{},vertices:{},primitives:[]},n=s(e,"mesh")[0];if(void 0!==n){for(let e=0;e<n.childNodes.length;e++){const s=n.childNodes[e];if(1!==s.nodeType)continue;const i=s.getAttribute("id");switch(s.nodeName){case"source":t.sources[i]=Ve(s);break;case"vertices":t.vertices=De(s);break;case"polygons":break;case"lines":case"linestrips":case"polylist":case"triangles":t.primitives.push(Je(s))}}zt.geometries[e.getAttribute("id")]=t}}),X(_t,"library_nodes","node",ft),X(_t,"library_visual_scenes","visual_scene",function(e){const t={name:e.getAttribute("name"),children:[]};!function(e){const t=e.getElementsByTagName("node");for(let n=0;n<t.length;n++){const e=t[n];!1===e.hasAttribute("id")&&e.setAttribute("id",V())}}(e);const n=s(e,"node");for(let s=0;s<n.length;s++)t.children.push(ft(n[s]));zt.visualScenes[e.getAttribute("id")]=t}),X(_t,"library_kinematics_models","kinematics_model",function(e){const t={name:e.getAttribute("name")||"",joints:{},links:[]};for(let n=0;n<e.childNodes.length;n++){const s=e.childNodes[n];if(1===s.nodeType&&"technique_common"===s.nodeName)$e(s,t)}zt.kinematicsModels[e.getAttribute("id")]=t}),X(_t,"library_physics_models","physics_model",function(e){const t={name:e.getAttribute("name")||"",rigidBodies:{}};for(let n=0;n<e.childNodes.length;n++){const s=e.childNodes[n];if(1===s.nodeType&&"rigid_body"===s.nodeName)t.rigidBodies[s.getAttribute("name")]={},ot(s,t.rigidBodies[s.getAttribute("name")])}zt.physicsModels[e.getAttribute("id")]=t}),X(_t,"scene","instance_kinematics_scene",function(e){const t={bindJointAxis:[]};for(let n=0;n<e.childNodes.length;n++){const s=e.childNodes[n];if(1===s.nodeType&&"bind_joint_axis"===s.nodeName)t.bindJointAxis.push(at(s))}zt.kinematicsScenes[H(e.getAttribute("url"))]=t}),Z(zt.animations,$),Z(zt.clips,de),Z(zt.controllers,pe),Z(zt.images,be),Z(zt.effects,Re),Z(zt.materials,qe),Z(zt.cameras,Ue),Z(zt.lights,Pe),Z(zt.geometries,Xe),Z(zt.visualScenes,At),function(){const e=zt.clips;if(!0===D(e)){if(!1===D(zt.animations)){const e=[];for(const t in zt.animations){const n=ee(t);for(let t=0,s=n.length;t<s;t++)e.push(n[t])}qt.push(new f("default",-1,e))}}else for(const t in e)qt.push(ue(t))}(),function(){const e=Object.keys(zt.kinematicsModels)[0],t=Object.keys(zt.kinematicsScenes)[0],n=Object.keys(zt.visualScenes)[0];if(void 0===e||void 0===t)return;const s=(i=e,K(zt.kinematicsModels[i],Qe));var i;const o=function(e){return K(zt.kinematicsScenes[e],ct)}(t),a=vt(n),c=o.bindJointAxis,l={};for(let r=0,u=c.length;r<u;r++){const e=c[r],t=_t.querySelector('[sid="'+e.target+'"]');if(t){const n=t.parentElement;d(e.jointIndex,n)}}function d(e,t){const n=t.getAttribute("name"),i=s.joints[e];a.traverse(function(s){s.name===n&&(l[e]={object:s,transforms:lt(t),joint:i,position:i.zeroPosition})})}const f=new r;Mt={joints:s&&s.joints,getJointValue:function(e){const t=l[e];if(t)return t.position},setJointValue:function(e,t){const n=l[e];if(n){const s=n.joint;if(t>s.limits.max||t<s.limits.min);else if(s.static);else{const i=n.object,o=s.axis,r=n.transforms;dt.identity();for(let n=0;n<r.length;n++){const i=r[n];if(i.sid&&-1!==i.sid.indexOf(e))switch(s.type){case"revolute":dt.multiply(f.makeRotationAxis(o,u.degToRad(t)));break;case"prismatic":dt.multiply(f.makeTranslation(o.x*t,o.y*t,o.z*t))}else switch(i.type){case"matrix":dt.multiply(i.obj);break;case"translate":dt.multiply(f.makeTranslation(i.obj.x,i.obj.y,i.obj.z));break;case"scale":dt.scale(i.obj);break;case"rotate":dt.multiply(f.makeRotationAxis(i.obj,i.angle))}}i.matrix.copy(dt),i.matrix.decompose(i.position,i.quaternion,i.scale),l[e].position=t}}}}}();const Lt=function(e){return vt(H(s(e,"instance_visual_scene")[0].getAttribute("url")))}(s(_t,"scene")[0]);return Lt.animations=qt,"Z_UP"===Et.upAxis&&Lt.rotation.set(-Math.PI/2,0,0),Lt.scale.multiplyScalar(Et.unit),{get animations(){return qt},kinematics:Mt,library:zt,scene:Lt}}}export{F as ColladaLoader};