#!/usr/bin/env python3 """Minimal URDF viewer server (stdlib only) — stand-in for the lab's cad viewer while phe108 is down. Same URL interface: /?dir=&file= + /__cad/catalog?dir=&file= (200 if loadable). Serves files under ALLOW_ROOT via /files/; the page uses three.js + urdf-loader (CDN) with orbit controls + joint sliders. Runs on 127.0.0.1:4178 behind the cloudflared ingress (cad.omidlab.net).""" import json import os import posixpath import urllib.parse from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer ALLOW_ROOT = "/data/cameron" PORT = 4178 PAGE = """ cad viewer (recovery)

cad viewer (recovery host)

temporary viewer on omid-fleet while phe108 is down — drag to orbit, scroll to zoom
""" def safe(path): p = posixpath.normpath(path) return p.startswith(ALLOW_ROOT + "/") or p == ALLOW_ROOT class H(BaseHTTPRequestHandler): def _send(self, code, body, ctype="text/html; charset=utf-8"): self.send_response(code) self.send_header("Content-Type", ctype) self.send_header("Content-Length", str(len(body))) self.send_header("Access-Control-Allow-Origin", "*") self.end_headers() self.wfile.write(body) def do_GET(self): u = urllib.parse.urlparse(self.path) if u.path == "/" or u.path == "": return self._send(200, PAGE.encode()) if u.path == "/__cad/catalog": qs = urllib.parse.parse_qs(u.query) f = posixpath.join(qs.get("dir", [""])[0], qs.get("file", [""])[0]) ok = safe(f) and os.path.isfile(f) return self._send(200 if ok else 404, json.dumps({"ok": ok, "path": f}).encode(), "application/json") if u.path.startswith("/files/"): f = posixpath.normpath(urllib.parse.unquote(u.path[len("/files"):])) if not (safe(f) and os.path.isfile(f)): return self._send(404, b"not found", "text/plain") ext = f.rsplit(".", 1)[-1].lower() ctype = {"urdf": "application/xml", "stl": "application/octet-stream", "glb": "model/gltf-binary", "png": "image/png"}.get(ext, "application/octet-stream") with open(f, "rb") as fh: return self._send(200, fh.read(), ctype) return self._send(404, b"not found", "text/plain") def log_message(self, *a): pass if __name__ == "__main__": print(f"cad recovery viewer on 127.0.0.1:{PORT}, root {ALLOW_ROOT}") ThreadingHTTPServer(("127.0.0.1", PORT), H).serve_forever()