Initial commit: step2urdf tool with handtuned JSON import.

Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
2026-08-26 15:32:47 +08:00
commit 93773f3887
128 changed files with 20119 additions and 0 deletions
@@ -0,0 +1,85 @@
+import { fileURLToPath, URL } from "node:url";
+
+import { defineConfig } from "vite";
+import vue from "@vitejs/plugin-vue";
+import { resolve } from "path";
+import { createSvgIconsPlugin } from "vite-plugin-svg-icons";
+// https://vite.dev/config/
+export default defineConfig({
+  plugins: [vue(), createSvgIconsPlugin({
+    iconDirs: [resolve(process.cwd(), "src/assets/svgs")],
+    symbolId: "icon-[dir]-[name]"
+  })],
+  // 包含 wasm 文件作为静态资源
+  assetsInclude: ['**/*.wasm'],
+  // opencascade.js 不能被 Vite 预构建优化
+  // jszip/comlink: ExportWorker 懒加载；若不预构建，首次点「导出 URDF」会触发
+  // Vite “new dependencies optimized → reloading”，整页刷新导致模型丢失、ZIP 下不来。
+  optimizeDeps: {
+    exclude: ['opencascade.js'],
+    include: ['jszip', 'comlink']
+  },
+  // Worker 构建配置
+  worker: {
+    format: 'es', // 使用 ES module 格式，支持 Worker 内 dynamic import
+    rollupOptions: {
+      output: {
+        // Worker 输出格式
+        format: 'es'
+      }
+    }
+  },
+  resolve: {
+    alias: {
+      "@": fileURLToPath(new URL("./src", import.meta.url))
+    }
+  },
+  server: {
+    host: "0.0.0.0",
+    port: 5678,
+    open: true,
+    headers: {
+      'Cross-Origin-Opener-Policy': 'same-origin',
+      'Cross-Origin-Embedder-Policy': 'require-corp'
+    },
+    proxy: {
+      // Proxy LLM / helper API to local FastAPI (Zhipu key stays server-side)
+      "/api": {
+        target: "http://127.0.0.1:8787",
+        changeOrigin: true,
+      }
+    }
+  },
+  css: {
+    preprocessorOptions: {
+      scss: {
+        api: 'modern',
+      }
+    }
+  },
+  build: {
+    outDir: "dist",
+    minify: "esbuild",
+    // esbuild 打包更快，但是不能去除 console.log，terser打包慢，但能去除 console.log
+    // minify: "terser",
+    // terserOptions: {
+    // 	compress: {
+    // 		drop_console: viteEnv.VITE_DROP_CONSOLE,
+    // 		drop_debugger: true
+    // 	}
+    // },
+    sourcemap: false,
+    // 禁用 gzip 压缩大小报告，可略微减少打包时间
+    reportCompressedSize: false,
+    // 规定触发警告的 chunk 大小
+    chunkSizeWarningLimit: 2000,
+    rollupOptions: {
+      output: {
+        // Static resource classification and packaging
+        chunkFileNames: "assets/js/[name]-[hash].js",
+        entryFileNames: "assets/js/[name]-[hash].js",
+        assetFileNames: "assets/[ext]/[name]-[hash].[ext]"
+      }
+    }
+  }
+});