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多引擎网页预览(STEP/STL/GLB/URDF/G-code/DXF 实跑;PCB/SCH/SIM 占位 P3)。一句话起 server,后缀决定引擎。
Install with Codex or Claude Copy this prompt, paste it into Codex, Claude, or another assistant, and let it review the skill page and install it for you.
Based on SOC occupation classification
硬件设计 Super Skill。一个父技能内含 25 个子技能（mechanical / viewer / urdf / srdf / sdf / simulation / gcode / sendcutsend / parts-catalog / bambu-labs / pcb / electronics-bom / requirements-verification / actuator-sizing / pcb-mechanical-reliability / circuit-simulation / gait-optimization / motion-control / firmware / sim2real-calibration / integration / fea / wear-fatigue / mujoco-simulation / robot-dog-digital-twin）， 覆盖机械建模 → 网页预览 → 机器人描述 → 动力学仿真 → 制造出工 → 电子域全链路。 触发词：build123d、CAD建模、做一个零件、参数化设计、装配、URDF、机器人描述、 MoveIt、Gazebo、SDF、动力学仿真、pybullet、跌落测试、步态仿真、headless sim、站得稳吗、 切片、3D打印、激光切割、SendCutSend、Bambu、找现成零件、 STEP、网页预览、分享链接、PCB、tscircuit、代码写PCB、Gerber、嘉立创、JLCPCB、下单打板、电子BOM、 需求合同、验证矩阵、执行器选型、扭矩裕量、热裕量、PCB刚度、PCB挠曲、连接器受力、 电源预算、电路保护、热风险、步态优化、行走算法、IK、FK、运动控制、轨迹生成、固件、嵌入式、CAN、校准、sim2real、仿真实机对齐、整机集成、bring-up、HIL、FEA、结构强度、刚度、磨损、疲劳、轴承寿命、维护周期、MuJoCo、MJCF、高保真动力学、数字孪生、虚拟样机、机械狗验证、 设计评分、实体样机 gate。 父级只做路由，详细能力在 skills/<name>/SKILL.md。
Robot-dog integration, bring-up, HIL planning, prototype readiness, hardware gate, assembly test, first power-on checklist, data capture, and physical test safety validation. Use this skill when the user asks whether a prototype is ready for assembly, power-on, HIL, bring-up, hardware testing, or real-world data collection after digital-twin gates.
Sim-to-real calibration skill for robot-dog virtual prototypes. Use this skill when comparing simulation logs against physical prototype logs, estimating friction/mass/latency/torque scale/contact parameter corrections, reducing sim-real gap, or generating parameter updates for MuJoCo/PyBullet/digital twin.
Robot-dog firmware dry-run planning and validation skill for MCU target, motor-control loop, CAN protocol, safety state machine, calibration contract, build manifest, and hardware bring-up gates. Use this skill when the user asks for embedded firmware, motor firmware, FOC loop, CAN frames, calibration, firmware project scaffolding, or safe pre-flash validation.
Electronics BOM and robot-dog component selection MVP. Use this skill when the user asks for electronic BOM, MCU/driver/encoder/power/connector selection, JLCPCB/LCSC-ready part candidates, curated robot electronics library, BOM rationale, availability checks, or component choices to feed pcb, circuit simulation, firmware, and digital-twin gates.
Executable robot-dog motion-control MVP for leg IK, gait phase generation, trajectory contracts, controller parameters, and simulation/firmware handoff. Use this skill when the user asks for FK/IK, inverse kinematics, gait generator, trot/walk/bound trajectories, controller parameters, motion-control code, or a trajectory to feed simulation, MuJoCo, or firmware.
| name | viewer |
| description | 多引擎网页预览(STEP/STL/GLB/URDF/G-code/DXF 实跑;PCB/SCH/SIM 占位 P3)。一句话起 server,后缀决定引擎。 |
一句话起 server,后缀决定引擎。CAD 实跑(Three.js),PCB / SCH / SIM 占位待 P3 落地。
bash skills/viewer/scripts/start.sh /abs/path/to/<file> [workspace_root]
# stdout 唯一一行: http://127.0.0.1:<port>/?engine=<cad|pcb|sch|sim>&dir=...&file=...
from web_preview import start, snapshot
url = start("/abs/path/to/hip_bracket.step") # 拿 URL 直接打开
res = snapshot("/abs/path/to/hip_bracket.step") # 无浏览器时降级出图,见 headless-fallback.md
# res = {"tier":1|2|3, "kind":"url"|"png"|"json", "path":..., "fallback_reason":..., "duration_ms":...}
snapshot(mode=auto) 三档降级(P1-5 已落地):Tier 1 chromium 截图 → Tier 2 OCP/VTK PNG → Tier 3 dimensions JSON,逐级回落不静默。CLI:python web_preview.py --mode=auto|web|snapshot|probe <file>。
scripts/backend/router.mjs)| 后缀 | 引擎 | 状态 |
|---|---|---|
.step .stp .brep .stl .glb .gltf .3mf | cad | ready |
.iges .igs .obj | cad | P1 |
.fcstd | cad | P3(需 FreeCAD CLI) |
.urdf .srdf .sdf | cad | ready |
.gcode .nc | cad | ready(toolpath ribbon) |
.dxf | cad | ready(2D) |
.png .jpg .jpeg .webp | cad | ready(inline <img>) |
.kicad_pcb .gbr .ger .drl .gtl .gbl | pcb | stub(P3) |
.kicad_sch .sch .svg | sch | stub(P3) |
.csv .mp4 .webm | sim | stub(P3) |
.json | ambiguous | 需 ?engine=sim 显式透传(否则 server 回 409) |
扩支持新格式 = scripts/backend/router.mjs 加一行 + scripts/engines/<name>/ 放静态文件。
http://127.0.0.1:<port>/?engine=<cad|pcb|sch|sim>&dir=<abs-dir>&file=<rel-file>
完整字段约束 + 安全规则见 references/url-protocol.md。跨子技能改动须在 shared/dependencies.md 同步。
/__cad/server → app="build123d-cad/viewer" + serverApiVersion>=2 + workspaceRoot 一致 + git 一致。--shutdown-after 12h,每请求重置;POST /__cad/shutdown 优雅关停(仅 127.0.0.1)。0 成功 / 2 后缀不支持或参数错 / 3 文件不存在 / 4 端口分配失败
?dir 必须在 --workspace-root 内,否则 403?file 防 .. 穿越,否则 403.json/.yaml/.yml,其它 415cd skills/viewer && pytest tests/ -v
CI 必跑(无浏览器,~9s):test_routing / test_url_assembly / test_placeholders
本地必跑(起 server):test_start / test_server_reuse / test_cad_engine
P1-5 降级链:test_headless_fallback(纯逻辑 CI 必跑 / 真渲染缺 OCP·vtk 时 skip)
P3 待落地:test_{pcb,sch,sim}_engine.py(skip)
references/url-protocol.md — URL 协议字段约束 + 安全references/routing.md — 路由表(扩展核心)references/server-reuse.md — 端口/pid/git/workspace 复用规则references/cad-engine.md — Three.js + 各 loader 集成references/headless-fallback.md — P1-5 ✅:snapshot() 三档降级链(chromium URL → OCP/VTK PNG → dimensions JSON)references/viewer-features.md moveit2-server.md — 复刻 cad-viewer 细节references/pcb-engine.md sch-engine.md sim-engine.md — P3 路线docs/superpowers/specs/03-viewer.md §13