@ioai/robot_viewer 0.0.0-stage → 1.1.2

package/LICENSE

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

@@ -1,3 +1,218 @@
-# 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
+
+## 通过 npm 本地启动
+
+首次联网下载并启动最新版：
+
+```bash
+npx -y --prefer-offline @ioai/robot_viewer
+```
+
+启动后按终端提示访问：
+
+```text
+http://127.0.0.1:3000
+http://localhost:3000
+```
+
+`--prefer-offline` 表示优先复用 npm 缓存，缓存缺失时仍会联网。确认指定版本已经缓存后，可以在无网络环境下运行：
+
+```bash
+npx -y --offline @ioai/robot_viewer@1.1.2
+```
+
+如果需要长期离线使用和最简启动命令，推荐首次联网时全局安装：
+
+```bash
+npm install -g @ioai/robot_viewer@1.1.2
+robot-viewer
+```
+
+默认仅监听本机地址。需要允许局域网其他设备访问时：
+
+```bash
+npx -y --prefer-offline @ioai/robot_viewer --host 0.0.0.0
+```
+
+## 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

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+#!/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 127.0.0.1）
+  -v, --version      显示版本
+  -h, --help         显示帮助
+`);
+}
+
+function parseArgs(argv) {
+  const options = { port: 3000, host: '127.0.0.1' };
+  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

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+.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 @@
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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};