timeout added

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

@@ -53,7 +53,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
         if (isPlaying) {
             //Moving armBot from initial point to rest position.
             if (!robot?.isActive && robot?.state == "idle" && currentPhase == "init") {
-           
+
                 setArmBotActive(robot.modelUuid, true)
                 setArmBotState(robot.modelUuid, "running")
                 setCurrentPhase("init-to-rest");
@@ -63,7 +63,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
                         setPath(curve.points.map(point => [point.x, point.y, point.z]));
                     }
                 }
-                logStatus(robot.modelUuid, "Starting from init to rest")
+                logStatus(robot.modelUuid, "Moving armBot from initial point to rest position.")
             }
             //Waiting for trigger.
             else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && !robot.currentAction) {
@@ -85,7 +85,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
                         }
                     }
                 }
-                logStatus(robot.modelUuid, "Starting from rest to start")
+                logStatus(robot.modelUuid, "Moving armBot from rest point to start position.")
             }
             else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "picking" && robot.currentAction) {
                 setArmBotActive(robot.modelUuid, true);
@@ -99,10 +99,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
                         new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2])
                     );
                     if (curve) {
-                        setPath(curve.points.map(point => [point.x, point.y, point.z]));
+                        setTimeout(() => {
+                            logStatus(robot.modelUuid, "waiting to pick box");
+                            setPath(curve.points.map(point => [point.x, point.y, point.z]));
+                        }, 1500)
                     }
                 }
-                logStatus(robot.modelUuid, "Starting from start to end")
+                logStatus(robot.modelUuid, "Moving armBot from start point to end position.")
             }
             else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "dropping" && robot.currentAction) {
                 setArmBotActive(robot.modelUuid, true);
@@ -113,10 +116,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
                     let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition
                     );
                     if (curve) {
-                        setPath(curve.points.map(point => [point.x, point.y, point.z]));
+                        setTimeout(() => {
+                            logStatus(robot.modelUuid, "waiting to drop box");
+                            setPath(curve.points.map(point => [point.x, point.y, point.z]));
+                        }, 1500)
                     }
                 }
-                logStatus(robot.modelUuid, "Starting from end to rest")
+                logStatus(robot.modelUuid, "Moving armBot from end point to rest position.")
             }
         }
 
@@ -134,28 +140,28 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
 
     const HandleCallback = () => {
         if (robot.isActive && robot.state == "running" && currentPhase == "init-to-rest") {
-            console.log("Callback triggered: rest");
+            logStatus(robot.modelUuid, "Callback triggered: rest");
             setArmBotActive(robot.modelUuid, false)
             setArmBotState(robot.modelUuid, "idle")
             setCurrentPhase("rest");
             setPath([])
         }
         else if (robot.isActive && robot.state == "running" && currentPhase == "rest-to-start") {
-            console.log("Callback triggered: pick.");
+            logStatus(robot.modelUuid, "Callback triggered: pick.");
             setArmBotActive(robot.modelUuid, false)
             setArmBotState(robot.modelUuid, "idle")
             setCurrentPhase("picking");
             setPath([])
         }
         else if (robot.isActive && robot.state == "running" && currentPhase == "start-to-end") {
-            console.log("Callback triggered: drop.");
+            logStatus(robot.modelUuid, "Callback triggered: drop.");
             setArmBotActive(robot.modelUuid, false)
             setArmBotState(robot.modelUuid, "idle")
             setCurrentPhase("dropping");
             setPath([])
         }
         else if (robot.isActive && robot.state == "running" && currentPhase == "end-to-rest") {
-            console.log("Callback triggered: rest, cycle completed.");
+            logStatus(robot.modelUuid, "Callback triggered: rest, cycle completed.");
             setArmBotActive(robot.modelUuid, false)
             setArmBotState(robot.modelUuid, "idle")
             setCurrentPhase("rest");
@@ -164,12 +170,11 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
         }
     }
     const logStatus = (id: string, status: string) => {
-        console.log(id +","+ status);
+        console.log(id + "," + status);
     }
 
     return (
         <>
-
             <IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} robot={robot} groupRef={groupRef} processes={processes}
                 setArmBotCurvePoints={setArmBotCurvePoints} />
             <RoboticArmAnimator armUuid={robot?.modelUuid} HandleCallback={HandleCallback}

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

@@ -15,7 +15,7 @@ type IKInstanceProps = {
     setArmBotCurvePoints: any
 };
 function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processes, setArmBotCurvePoints }: IKInstanceProps) {
-    console.log('robot: ', robot.position, robot.rotation);
+  
     const { scene } = useThree();
     const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
         const draco = new DRACOLoader();
@@ -66,16 +66,16 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processe
         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
-            }
-        }
+        // 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

@@ -6,14 +6,15 @@ import { useFloorItems } from "../../../store/store";
 function RoboticArm() {
     const { armBots, addArmBot, removeArmBot } = useArmBotStore();
     const { floorItems } = useFloorItems();
+    
 
     const armBotStatusSample: RoboticArmEventSchema[] = [
         {
             state: "idle",
             modelUuid: "armbot-xyz-001",
             modelName: "ArmBot-X200",
-            position: [0, 0, 0],
-            rotation: [-3.141592653589793, 0.3861702258311774, -3.141592653589793],
+            position: [0.20849215906958463, 0, 0.32079278127773675],
+            rotation: [-1.3768690876192207e-15, 1.4883085074751308, 1.5407776675834467e-15],
             type: "roboticArm",
             speed: 1.5,
             point: {