armbot trigger events added

app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx

@@ -8,7 +8,7 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
     const { armBots } = useArmBotStore();
     const { scene } = useThree();
     const restSpeed = 0.1;
-    const restPosition = new THREE.Vector3(0, 2, 1.6);
+    const restPosition = new THREE.Vector3(0, 1, -1.6);
     const initialCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null);
     const initialStartPositionRef = useRef<THREE.Vector3 | null>(null);
     const [initialProgress, setInitialProgress] = useState(0);
@@ -26,7 +26,7 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
     }, [path])
 
     useEffect(() => {
-        
+
     }, [currentPath])
 
     useFrame((_, delta) => {
@@ -42,13 +42,13 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
             currentPath.map(point => new THREE.Vector3(point[0], point[1], point[2]))
         );
 
+
         const next = initialProgressRef.current + delta * 0.5;
         if (next >= 1) {
-            bone.position.copy(restPosition);
+            // bone.position.copy(restPosition);
             HandleCallback(); // Call the callback when the path is completed
             initialProgressRef.current = 0; // Set ref to 1 when done
         } else {
-            
             const point = curve.getPoint(next); // Get the interpolated point from the curve
             bone.position.copy(point); // Update the bone position along the curve
             initialProgressRef.current = next; // Update progress

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

@@ -16,6 +16,7 @@ interface Process {
     endPoint?: Vector3;
     speed: number;
 }
+
 function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
 
     const { isPlaying } = usePlayButtonStore();
@@ -29,7 +30,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
     const groupRef = useRef<any>(null);
     const [processes, setProcesses] = useState<Process[]>([]);
     const [armBotCurvePoints, setArmBotCurvePoints] = useState({ start: [], end: [] })
-    const restPosition = new THREE.Vector3(0, 2, 1.6);
+    const restPosition = new THREE.Vector3(0, 1, -1.6);
     let armBotCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null)
     const [path, setPath] = useState<[number, number, number][]>([]);
 

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

@@ -15,6 +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();
@@ -65,15 +66,24 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processe
         setIkSolver(solver);
 
         const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05);
-
+        if (solver) {
-        // scene.add(groupRef.current)
+            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)
 
 
     }, [gltf]);
 
     return (
         <>
-            <group ref={groupRef} position={robot.position}>
+            <group ref={groupRef} position={robot.position} rotation={robot.rotation}>
                 <primitive
                     uuid={"ArmBot-X200"}
                     object={cloned}

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

@@ -12,8 +12,8 @@ function RoboticArm() {
             state: "idle",
             modelUuid: "armbot-xyz-001",
             modelName: "ArmBot-X200",
-            position: [91.94347308985614, 0, 6.742905194869091],
+            position: [0, 0, 0],
-            rotation: [0, 0, 0],
+            rotation: [-3.141592653589793, 0.3861702258311774, -3.141592653589793],
             type: "roboticArm",
             speed: 1.5,
             point: {
@@ -26,8 +26,8 @@ function RoboticArm() {
                         actionName: "Pick Component",
                         actionType: "pickAndPlace",
                         process: {
-                            startPoint: [5.52543010919071, 1, -8.433681161200905],
+                            startPoint: [-1, 2, 1],
-                            endPoint: [10.52543010919071, 1, -12.433681161200905],
+                            endPoint: [-2, 1, -1],
                         },
                         triggers: [
                             {
@@ -145,7 +145,7 @@ function RoboticArm() {
     ];
 
     useEffect(() => {
-   
+
         removeArmBot(armBotStatusSample[0].modelUuid);
         addArmBot('123', armBotStatusSample[0]);
         // addArmBot('123', armBotStatusSample[1]);

app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx

@@ -140,8 +140,6 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
     const elapsedTime = performance.now() - startTime;
 
     if (elapsedTime >= fixedInterval) {
-      console.log('fixedInterval: ', fixedInterval);
-      console.log('elapsedTime: ', elapsedTime);
       let droppedMat = droppedMaterial - 1;
       decrementVehicleLoad(agvDetail.modelUuid, 1);
       if (droppedMat === 0) return;

app/src/modules/simulation/vehicle/vehicles.tsx

@@ -148,7 +148,7 @@ function Vehicles() {
     }, [])
 
     useEffect(() => {
-        console.log('vehicles: ', vehicles);
+        // console.log('vehicles: ', vehicles);
     }, [vehicles])