@ioai/robot_viewer 0.0.0-stage → 1.1.1

package/dist/usd-viewer/usd.html

@@ -0,0 +1,36 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <title>Mechaverse-USD</title>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8"/>
+    <meta name="application-name" content="mechaverse-usd" />
+    <meta name="description" content="Mechaverse USD Viewer" />
+    <meta name="keywords" content="USD, Hydra, Three.js" />
+    <meta name="author" content="jurmy24" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, viewport-fit=cover, user-scalable=no, shrink-to-fit=0" />
+    <link rel="icon" type="image/x-icon" href="/favicon.png" />
+  </head>
+
+  <body style="margin:0px; padding:0px; width:100%; height:100vh; overflow:hidden;
+               touch-action: none;
+               -webkit-touch-callout: none;
+               -webkit-user-select: none;
+               -khtml-user-select: none;
+               -moz-user-select: none;
+               -ms-user-select: none;
+               user-select: none;
+               background: transparent;">
+
+    <!-- Import maps for three.js - use local version to avoid COEP issues -->
+    <script type="importmap">
+      {"imports": {
+        "three": "/node_modules/three/build/three.module.js",
+        "three/addons/": "/node_modules/three/examples/jsm/"
+      }}
+    </script>
+    <!-- Error handler - must be loaded before main.js -->
+    <script src="error-handler.js"></script>
+    <script type="module" src="main.js"></script>
+  </body>
+</html>
+

package/dist/usd-viewer/usdUtils.js

@@ -0,0 +1,67 @@
+// Common utilities for the USD viewer
+
+export const USD_EXTENSIONS = ["usd", "usdc", "usda", "usdz"];
+
+export const ASSET_EXTENSIONS = [
+  "png",
+  "jpg",
+  "jpeg",
+  "exr",
+  "hdr",
+  "tiff",
+  "tga",
+  "bmp",
+  "webp",
+  "obj",
+  "fbx",
+  "dae",
+  "stl",
+  "ply",
+  "gltf",
+  "glb",
+  "wav",
+  "mp3",
+  "ogg",
+  "json",
+  "xml",
+];
+
+export function shouldInclude(name) {
+  const ext = name.split(".").pop()?.toLowerCase();
+  return USD_EXTENSIONS.includes(ext) || ASSET_EXTENSIONS.includes(ext);
+}
+
+export function isUsdFile(filename) {
+  return USD_EXTENSIONS.includes(filename.split(".").pop()?.toLowerCase());
+}
+
+export async function getFileFromHandle(fileOrHandle) {
+  return fileOrHandle.getFile ? await fileOrHandle.getFile() : fileOrHandle;
+}
+
+export function parseFilePath(fullPath, defaultName) {
+  if (!fullPath) return { fileName: defaultName, directory: "/" };
+  const fileName = fullPath.split("/").pop();
+  const directory = fullPath.substring(0, fullPath.length - fileName.length);
+  return { fileName, directory };
+}
+
+export function safeCall(obj, method, ...args) {
+  try {
+    if (obj && typeof obj[method] === "function") {
+      return obj[method](...args);
+    }
+  } catch {}
+  return null;
+}
+
+export async function getEntryFile(fileEntry) {
+  try {
+    return await new Promise((resolve, reject) =>
+      fileEntry.file(resolve, reject)
+    );
+  } catch (err) {
+    console.warn("Error getting file:", err);
+    return null;
+  }
+}

package/package.json

@@ -1,6 +1,72 @@
 {
   "name": "@ioai/robot_viewer",
-  "version": "0.0.0-stage",
-  "stub": true,
-  "description": "Temporary package placeholder for staged publishing"
-}
+  "version": "1.1.1",
+  "description": "Lightweight browser-based robot model viewer supporting URDF, MJCF, and USD formats",
+  "main": "bin/cli.js",
+  "bin": {
+    "robot-viewer": "./bin/cli.js",
+    "io-robot-viewer": "./bin/cli.js"
+  },
+  "files": [
+    "bin/cli.js",
+    "dist/",
+    "server/static-server.js",
+    "server/package.json"
+  ],
+  "packageManager": "pnpm@9.0.0",
+  "scripts": {
+    "start": "node bin/cli.js",
+    "dev": "vite",
+    "build": "vite build",
+    "build:obfuscated": "NODE_ENV=production vite build --config vite.config.obfuscated.js && node scripts/obfuscate-workers.cjs",
+    "preview": "vite preview",
+    "prepublishOnly": "npm run build:obfuscated",
+    "pack:check": "npm pack --dry-run",
+    "publish:safe": "npm run build:obfuscated && npm run pack:check && npm publish --access public"
+  },
+  "engines": {
+    "node": ">=18.0.0"
+  },
+  "keywords": [
+    "robot",
+    "urdf",
+    "xacro",
+    "mjcf",
+    "usd",
+    "three.js",
+    "viewer"
+  ],
+  "author": "IOAI",
+  "license": "Apache-2.0",
+  "private": false,
+  "publishConfig": {
+    "access": "public"
+  },
+  "dependencies": {
+    "@babel/runtime": "^7.23.0",
+    "@codemirror/autocomplete": "^6.12.0",
+    "@codemirror/commands": "^6.3.3",
+    "@codemirror/lang-xml": "^6.0.2",
+    "@codemirror/search": "^6.5.5",
+    "@codemirror/state": "^6.4.0",
+    "@codemirror/view": "^6.23.0",
+    "@uiw/codemirror-theme-dracula": "^4.21.21",
+    "@uiw/codemirror-theme-github": "^4.21.21",
+    "@uiw/codemirror-theme-vscode": "^4.21.21",
+    "codemirror": "^6.0.1",
+    "d3": "^7.9.0",
+    "express": "^4.18.2",
+    "fflate": "^0.8.2",
+    "mujoco-js": "^0.0.7",
+    "roslib": "^1.3.0",
+    "three": "^0.163.0",
+    "uplot": "^1.6.32",
+    "urdf-loader": "^0.12.5",
+    "xacro-parser": "^0.3.11"
+  },
+  "devDependencies": {
+    "javascript-obfuscator": "^5.6.0",
+    "terser": "^5.26.0",
+    "vite": "^4.5.0"
+  }
+}

package/server/package.json

@@ -0,0 +1,14 @@
+{
+  "name": "io-robot-viewer-server",
+  "version": "2.0.0",
+  "description": "Static file server for io_robot_viewer production builds (dist/), with COEP/COOP headers.",
+  "main": "static-server.js",
+  "type": "module",
+  "scripts": {
+    "start": "node static-server.js",
+    "dev": "node --watch static-server.js"
+  },
+  "dependencies": {
+    "express": "^4.18.2"
+  }
+}

package/server/static-server.js

@@ -0,0 +1,88 @@
+/**
+ * io_robot_viewer 生产静态服务器
+ *
+ * 托管 `vite build` 的产物（dist/），并补齐 vite.config.js 中只配在
+ * `configureServer`（dev 专用）里的跨域隔离响应头 —— 少了它们，
+ * USD viewer 的 SharedArrayBuffer 和 MuJoCo WASM 会失效。
+ *
+ * 相对开发服务器（vite dev）的关键差别：产物里没有 Vite HMR 客户端，
+ * 因此不存在「后台 WebSocket 断开 → 轮询到服务器可达 → location.reload()」
+ * 这条链路。标签页在后台放久了不会被强制刷新，模型也就不会莫名消失。
+ *
+ * 环境变量：
+ *   PORT        监听端口（默认 3000）
+ *   HOST        监听地址（默认 0.0.0.0）
+ *   DIST_DIR    静态产物目录（默认 ../dist）
+ */
+
+import express from 'express';
+import path from 'path';
+import fs from 'fs';
+import { fileURLToPath } from 'url';
+
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
+
+const PORT = Number(process.env.PORT || 3000);
+const HOST = process.env.HOST || '0.0.0.0';
+const DIST_DIR = path.resolve(process.env.DIST_DIR || path.join(__dirname, '..', 'dist'));
+
+if (!fs.existsSync(path.join(DIST_DIR, 'index.html'))) {
+    console.error(`✗ 找不到构建产物: ${DIST_DIR}/index.html`);
+    console.error('  请先执行 pnpm run build，或用 deploy_on_server.sh 一键部署。');
+    process.exit(1);
+}
+
+const app = express();
+
+// ── 跨域隔离响应头 ──────────────────────────────────────────────────────────
+// 与 vite.config.js 的 configureServer 中间件保持一致：
+// USD iframe 需要 require-corp 才能拿到 SharedArrayBuffer；
+// 其余页面用 credentialless，避免第三方资源被 CORP 拦掉。
+app.use((req, res, next) => {
+    const url = req.url || '';
+    if (url.includes('usd-iframe.html') ||
+        url.includes('usd-viewer/') ||
+        url.includes('usd.html')) {
+        res.setHeader('Cross-Origin-Embedder-Policy', 'require-corp');
+        res.setHeader('Cross-Origin-Opener-Policy', 'same-origin');
+        res.setHeader('Cross-Origin-Resource-Policy', 'cross-origin');
+        return next();
+    }
+    res.setHeader('Cross-Origin-Embedder-Policy', 'credentialless');
+    res.setHeader('Cross-Origin-Opener-Policy', 'same-origin');
+    next();
+});
+
+// ── 静态资源 ────────────────────────────────────────────────────────────────
+// 带 hash 的产物可以长缓存；index.html 与 public/ 下的散文件不带 hash，
+// 必须每次校验，否则前端更新后用户拿到的还是旧壳子。
+app.use(express.static(DIST_DIR, {
+    setHeaders: (res, filePath) => {
+        if (/[.-][0-9a-f]{8,}\.[a-z0-9]+$/i.test(path.basename(filePath))) {
+            res.setHeader('Cache-Control', 'public, max-age=31536000, immutable');
+        } else {
+            res.setHeader('Cache-Control', 'no-cache');
+        }
+    }
+}));
+
+// 单页应用兜底：非文件请求都回 index.html，
+// 保证 ?plot=1 / ?mocap=... 这类带查询参数的入口直接访问也能打开。
+app.get('*', (req, res, next) => {
+    if (path.extname(req.path)) return next();
+    res.setHeader('Cache-Control', 'no-cache');
+    res.sendFile(path.join(DIST_DIR, 'index.html'));
+});
+
+const server = app.listen(PORT, HOST, () => {
+    console.log(`io_robot_viewer 生产服务运行在 http://${HOST}:${PORT}`);
+    console.log(`  静态目录: ${DIST_DIR}`);
+});
+
+// 容器/systemd 里用 SIGTERM 停服，需要优雅关闭，否则连接会被硬断
+for (const sig of ['SIGTERM', 'SIGINT']) {
+    process.on(sig, () => {
+        console.log(`\n收到 ${sig}，正在关闭…`);
+        server.close(() => process.exit(0));
+    });
+}