菜单
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。
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
基于 SOC 职业分类
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