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armbot ui added

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This commit is contained in:
Gomathi
2025-04-28 17:54:55 +05:30
parent 60949ea8f5
commit 1182850a1f
6 changed files with 89 additions and 229 deletions
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2
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
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@@ -67,7 +67,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
}
//Waiting for trigger.
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && !robot.currentAction) {
console.log("trigger");
logStatus(robot.modelUuid, "Waiting to trigger CurrentAction")
setTimeout(() => {
addCurrentAction(robot.modelUuid, 'action-003');
}, 3000);

15
app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
View File

@@ -15,7 +15,7 @@ type IKInstanceProps = {
setArmBotCurvePoints: any
};
function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processes, setArmBotCurvePoints }: IKInstanceProps) {
const { scene } = useThree();
const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
const draco = new DRACOLoader();
@@ -65,17 +65,8 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processe
const solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
setIkSolver(solver);
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05);
// if (solver) {
// const bone = solver.mesh.skeleton.bones.find(
// (b: any) => b.name === targetBoneName
// ) ?? "";
// if (bone) {
// const position = new THREE.Vector3();
// bone.getWorldPosition(position);
// console.log("world position", position.x, position.y, position.z); // this is the bone's world position
// }
// }
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
scene.add(helper)