armbot ui added

app/src/modules/simulation/events/points/creator/pointsCreator.tsx

@@ -8,11 +8,13 @@ import {
   useSelectedEventSphere,
   useSelectedEventData,
 } from "../../../../../store/simulation/useSimulationStore";
-import PickDropPoints from "../../../../../components/ui/arm/PickDropPoints";
+import PickDropPoints from "../../../ui/arm/PickDropPoints";
 
 import armPick from "../../../../../assets/gltf-glb/arm_ui_pick.glb";
 import armDrop from "../../../../../assets/gltf-glb/arm_ui_drop.glb";
-import useDraggableGLTF from "../../../../../components/ui/arm/useDraggableGLTF";
+import useDraggableGLTF from "../../../ui/arm/useDraggableGLTF";
+import { useArmBotStore } from "../../../../../store/simulation/useArmBotStore";
+import { useThree } from "@react-three/fiber";
 
 interface Process {
   startPoint: number[] | null;
@@ -47,91 +49,30 @@ interface RoboticArmEvent {
 function PointsCreator() {
   const { events, updatePoint, getPointByUuid, getEventByModelUuid } =
     useEventsStore();
-
+  const { armBots, updateArmBot, addArmBot, removeArmBot } = useArmBotStore()
-  const [armBotStatusSample, setArmBotStatusSample] = useState<
-    RoboticArmEvent[]
-  >([
-    {
-      modelUuid: "b3556818-9e46-48b0-a869-a75c92857125",
-      modelName: "robotic_arm",
-      position: [0, 0, 0],
-      rotation: [0, 0, 0],
-      state: "idle",
-      type: "roboticArm",
-      speed: 1.5,
-      point: {
-        uuid: "point-123",
-        position: [0, 1.5, 0],
-        rotation: [0, 0, 0],
-        actions: [
-          {
-            actionUuid: "action-001",
-            actionName: "Pick Component",
-            actionType: "pickAndPlace",
-            process: {
-              startPoint: null,
-              endPoint: null,
-            },
-            triggers: [],
-          },
-          {
-            actionUuid: "action-002",
-            actionName: "Pick Component",
-            actionType: "pickAndPlace",
-            process: {
-              startPoint: null,
-              endPoint: null,
-            },
-            triggers: [],
-          },
-        ],
-      },
-    },
-    {
-      modelUuid: "16a394c7-0808-4bdf-a5d3-e5ca141ffb9f",
-      modelName: "arm without rig (1)",
-      position: [0, 0, 0],
-      rotation: [0, 0, 0],
-      state: "idle",
-      type: "roboticArm",
-      speed: 1.5,
-      point: {
-        uuid: "point-123",
-        position: [0, 1.5, 0],
-        rotation: [0, 0, 0],
-        actions: [
-          {
-            actionUuid: "action-001",
-            actionName: "Pick Component",
-            actionType: "pickAndPlace",
-            process: {
-              startPoint: null,
-              endPoint: null,
-            },
-            triggers: [],
-          },
-        ],
-      },
-    },
-  ]);
 
   const armUiPick = useGLTF(armPick) as any;
   const armUiDrop = useGLTF(armDrop) as any;
 
   const updatePointToState = (obj: THREE.Object3D) => {
     const { modelUuid, pointUuid, actionType, actionUuid } = obj.userData;
-    const newPosition = obj.position.toArray();
  
-    setArmBotStatusSample((prev) =>
+    const newPosition = new THREE.Vector3();
-      prev.map((event) => {
+    obj.getWorldPosition(newPosition);
-        if (event.modelUuid === modelUuid) {
+    const worldPositionArray = newPosition.toArray();
-          const updatedActions = event.point.actions.map((action) => {
+
+    const armBot = armBots.find((a) => a.modelUuid === modelUuid);
+    if (!armBot) return;
+
+    const updatedActions = armBot.point.actions.map((action: any) => {
       if (action.actionUuid === actionUuid) {
         const updatedProcess = { ...action.process };
+        
         if (actionType === "pick") {
-                updatedProcess.startPoint = newPosition;
+          updatedProcess.startPoint = getLocalPosition(modelUuid, worldPositionArray);
-              } else if (actionType === "drop") {
+        }
-                updatedProcess.endPoint = newPosition;
+        if (actionType === "drop") {
+          updatedProcess.endPoint = getLocalPosition(modelUuid, worldPositionArray);
         }
         return {
           ...action,
@@ -141,23 +82,20 @@ function PointsCreator() {
       return action;
     });
 
-          return {
+    updateArmBot(modelUuid, {
-            ...event,
       point: {
-              ...event.point,
+        ...armBot.point,
         actions: updatedActions,
       },
+    });
   };
-        }
+
-        return event;
-      })
-    );
-  };
 
   const { handlePointerDown } = useDraggableGLTF(updatePointToState);
-
+  const { scene } = useThree();
   const { activeModule } = useModuleStore();
   const transformRef = useRef<any>(null);
+  const groupRef = useRef<any>(null);
   const [transformMode, setTransformMode] = useState<
     "translate" | "rotate" | null
   >(null);
@@ -206,12 +144,13 @@ function PointsCreator() {
   const getDefaultPositions = (modelUuid: string) => {
     const modelData = getModelByUuid(modelUuid);
     if (modelData) {
+      
       const baseX = modelData.position?.[0] || 0;
-      const baseY = modelData.position?.[1] + 2.8 || 1.5;
+      const baseY = 2.6;
       const baseZ = modelData.position?.[2] || 0;
       return {
-        pick: [baseX, baseY, baseZ - 2.5],
+        pick: [baseX, baseY, baseZ + 0.4],
-        drop: [baseX, baseY, baseZ - 0.5],
+        drop: [baseX, baseY, baseZ - 1.2],
         default: [baseX, baseY, baseZ - 1.5],
       };
     }
@@ -235,109 +174,57 @@ function PointsCreator() {
     return null;
   };
 
+  function getLocalPosition(parentUuid: string, worldPosArray: [number, number, number] | null): [number, number, number] | null {
+    if (worldPosArray) {
+      const worldPos = new THREE.Vector3(...worldPosArray);
+      const localPos = worldPos.clone();
+
+      const parentObject = scene.getObjectByProperty('uuid', parentUuid);
+      if (parentObject) {
+        parentObject.worldToLocal(localPos);
+        
+        return [localPos.x, localPos.y, localPos.z];
+      } else {
+        
+      }
+    }
+    return null;
+  }
+
   useEffect(() => {
-    console.log("armBotStatusSample: ", armBotStatusSample);
+
-  }, [armBotStatusSample]);
+  }, [armBots]);
   return (
     <>
       {activeModule === "simulation" && (
         <>
           <group name="EventPointsGroup">
-            {events.map((event, i) => {
+            {armBots.map((event, i) => {
-              if (event.type === "transfer") {
+              if (event.type === "roboticArm") {
-                return (
-                  <group
-                    key={i}
-                    position={new THREE.Vector3(...event.position)}
-                  >
-                    {event.points.map((point, j) => (
-                      <mesh
-                        name="Event-Sphere"
-                        uuid={point.uuid}
-                        ref={(el) => (sphereRefs.current[point.uuid] = el!)}
-                        onClick={(e) => {
-                          e.stopPropagation();
-                          setSelectedEventSphere(
-                            sphereRefs.current[point.uuid]
-                          );
-                        }}
-                        onPointerMissed={() => {
-                          clearSelectedEventSphere();
-                          setTransformMode(null);
-                        }}
-                        key={`${i}-${j}`}
-                        position={new THREE.Vector3(...point.position)}
-                        userData={{
-                          modelUuid: event.modelUuid,
-                          pointUuid: point.uuid,
-                        }}
-                      >
-                        <sphereGeometry args={[0.1, 16, 16]} />
-                        <meshStandardMaterial color="orange" />
-                      </mesh>
-                    ))}
-                  </group>
-                );
-              } else if (event.type === "vehicle") {
-                return (
-                  <group
-                    key={i}
-                    position={new THREE.Vector3(...event.position)}
-                  >
-                    <mesh
-                      name="Event-Sphere"
-                      uuid={event.point.uuid}
-                      ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
-                      onClick={(e) => {
-                        e.stopPropagation();
-                        setSelectedEventSphere(
-                          sphereRefs.current[event.point.uuid]
-                        );
-                      }}
-                      onPointerMissed={() => {
-                        clearSelectedEventSphere();
-                        setTransformMode(null);
-                      }}
-                      position={new THREE.Vector3(...event.point.position)}
-                      userData={{
-                        modelUuid: event.modelUuid,
-                        pointUuid: event.point.uuid,
-                      }}
-                    >
-                      <sphereGeometry args={[0.1, 16, 16]} />
-                      <meshStandardMaterial color="blue" />
-                    </mesh>
-                  </group>
-                );
-              } else if (event.type === "roboticArm") {
                 const defaultPositions = getDefaultPositions(event.modelUuid);
                 const isSelected =
                   selectedPoint?.userData?.modelUuid === event.modelUuid;
-
                 return (
                   <group
                     key={i}
                     position={new THREE.Vector3(...event.position)}
+                    rotation={new THREE.Euler(...event.rotation)}
                   >
                     <mesh
+                      name='Event-Sphere'
                       uuid={event.point.uuid}
                       ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
                       onClick={(e) => {
                         e.stopPropagation();
-                        setSelectedEventSphere(
+                        setSelectedEventSphere(sphereRefs.current[event.point.uuid]);
-                          sphereRefs.current[event.point.uuid]
-                        );
                         setSelectedPoint(e.object as THREE.Mesh);
                       }}
                       onPointerMissed={() => {
                         clearSelectedEventSphere();
                         setTransformMode(null);
                       }}
-                      position={new THREE.Vector3(...defaultPositions.default)}
+                      position={new THREE.Vector3(...event.point.position)}
-                      userData={{
+                      userData={{ modelUuid: event.modelUuid, pointUuid: event.point.uuid }}
-                        modelUuid: event.modelUuid,
-                        pointUuid: event.point.uuid,
-                      }}
                     >
                       <sphereGeometry args={[0.1, 16, 16]} />
                       <meshStandardMaterial
@@ -346,6 +233,7 @@ function PointsCreator() {
                     </mesh>
                     {event.point.actions.map((action) => {
                       if (action.actionType === "pickAndPlace") {
+                        
                         const pickPosition =
                           action.process.startPoint || defaultPositions.pick;
                         const dropPosition =
@@ -385,37 +273,6 @@ function PointsCreator() {
                     })}
                   </group>
                 );
-              } else if (event.type === "machine") {
-                return (
-                  <group
-                    key={i}
-                    position={new THREE.Vector3(...event.position)}
-                  >
-                    <mesh
-                      name="Event-Sphere"
-                      uuid={event.point.uuid}
-                      ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
-                      onClick={(e) => {
-                        e.stopPropagation();
-                        setSelectedEventSphere(
-                          sphereRefs.current[event.point.uuid]
-                        );
-                      }}
-                      onPointerMissed={() => {
-                        clearSelectedEventSphere();
-                        setTransformMode(null);
-                      }}
-                      position={new THREE.Vector3(...event.point.position)}
-                      userData={{
-                        modelUuid: event.modelUuid,
-                        pointUuid: event.point.uuid,
-                      }}
-                    >
-                      <sphereGeometry args={[0.1, 16, 16]} />
-                      <meshStandardMaterial color="purple" />
-                    </mesh>
-                  </group>
-                );
               } else {
                 return null;
               }

app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx

@@ -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);

app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx

@@ -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);
+        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
-        //     }
-        // }
         scene.add(helper)
 
 

app/src/modules/simulation/roboticArm/roboticArm.tsx

@@ -11,7 +11,7 @@ function RoboticArm() {
     const armBotStatusSample: RoboticArmEventSchema[] = [
         {
             state: "idle",
-            modelUuid: "armbot-xyz-001",
+            modelUuid: "3abf5d46-b59e-4e6b-9c02-a4634b64b82d",
             modelName: "ArmBot-X200",
             position: [0.20849215906958463, 0, 0.32079278127773675],
             rotation: [-1.3768690876192207e-15, 1.4883085074751308, 1.5407776675834467e-15],
@@ -19,7 +19,7 @@ function RoboticArm() {
             speed: 1.5,
             point: {
                 uuid: "point-123",
-                position: [0, 1.5, 0],
+                position: [0, 2.6, 0],
                 rotation: [0, 0, 0],
                 actions: [
                     {
@@ -30,6 +30,18 @@ function RoboticArm() {
                             startPoint: [-1, 2, 1],
                             endPoint: [-2, 1, -1],
                         },
+                        // process: {
+                        //     "startPoint": [
+                        //         0.37114476008711866,
+                        //         1.9999999999999998,
+                        //         1.8418816116721384
+                        //     ],
+                        //     "endPoint": [
+                        //         -0.42197069459490777,
+                        //         1,
+                        //         -3.159515927851809
+                        //     ]
+                        // },
                         triggers: [
                             {
                                 triggerUuid: "trigger-001",
@@ -154,7 +166,7 @@ function RoboticArm() {
     }, []);
 
     useEffect(() => {
-        // 
+        
     }, [armBots]);
 
     return (