progress

scene_builder.json

@@ -14,7 +14,7 @@
                 "w": 4
             },
             "name": "ARM0",
-            "nDOF": 1,
+            "nDOF": 6,
             "toolType": "RBS_GRIPPER",
             "jointPosition": [
                 1.1,

server/src/core/controllers/http_controller.ts

@@ -34,11 +34,11 @@ export abstract class CallbackStrategyWithFilesUploads {
   abstract call(files: File[]): ResponseBase;
 }
 
-interface ISubSetFeatureRouter<T> {
+interface ISubSetFeatureRouter<A> {
   method: HttpMethodType;
   subUrl: string;
   fn:
-    | CallbackStrategyWithValidationModel<T>
+    | CallbackStrategyWithValidationModel<A>
     | CallbackStrategyWithEmpty
     | CallbackStrategyWithIdQuery
     | CallBackStrategyWithQueryPage
@@ -179,7 +179,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
       router: this.router,
     };
   }
-  public put(usecase: CallbackStrategyWithValidationModel<V>) {
+  public put(usecase: any) {
     this.routes["PUT"] = usecase;
   }
   public delete(usecase: CallbackStrategyWithValidationModel<V>) {

server/src/core/models/static_files.ts

@@ -2,5 +2,7 @@ export enum StaticFiles {
   robossembler_assets = "robossembler_assets.json",
   assets = "/assets/assets.json",
   parts = '/assets/parts.json',
-  robots = '/robots/'
+  robots = '/robots/',
+  scenes = '/scenes/',
+  behaviorTrees = 'behavior_trees'
 }

server/src/features/behavior_trees/domain/get_bt_skills_templates_usecase.ts

@@ -5,6 +5,35 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
   call = async (): ResponseBase => {
     return Result.ok({
       skills: [
+        {
+          SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
+          Module: { name: "MoveToPose", description: "Move to Pose skill with cartesian controllers" },
+          Launch: { package: "rbss_movetopose", executable: "mtp_cartesian.py", name: "mtp_cartesian" },
+          BTAction: [
+            {
+              name: "move",
+              type: "action",
+              param: [
+                {
+                  type: "move_to_pose",
+                  dependency: {},
+                },
+              ],
+            },
+          ],
+          Interface: {
+            Input: [
+              { name: "robotName", type: "ROBOT" },
+              { name: "pose", type: "POSE" },
+            ],
+            Output: [],
+          },
+          Settings: [
+            { name: "topicServer", value: "cartesian_move_to_pose" },
+            { name: "end_effector_velocity", value: 1.0 },
+            { name: "end_effector_acceleration", value: 1.0 },
+          ],
+        },
         {
           SkillPackage: { name: "Robossembler", version: "1.0", format: "1", type: "Action" },
           Module: { name: "PoseEstimation", description: "Pose Estimation skill with DOPE" },
@@ -20,12 +49,12 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
                 },
                 {
                   type: "camera",
-                  dependency: {}
+                  dependency: {},
                 },
                 {
                   type: "topic",
-                  dependency: {}
+                  dependency: {},
-                }
+                },
               ],
               result: ["POSE"],
             },
@@ -46,28 +75,6 @@ export class GetBehaviorTreeSkillsTemplatesUseCase extends CallbackStrategyWithE
             { name: "mesh_scale", value: 0.001 },
           ],
         },
-        {
-          SkillPackage: { name: "Robossembler", version: "1.0", format: "1" },
-          Module: { name: "MoveToPose", description: "Move to Pose skill with ? controllers" },
-          Launch: { package: "rbss_movetopose", executable: "movetopose.py", name: "skill_move" },
-          BTAction: [
-            {
-              name: "move",
-              type: "action",
-              param: [{ type: "topic", dependency: {  } }],
-              result: []
-            }
-          ],
-          Interface: {
-            Input: [
-              { name: "robotName", type: "ROBOT" },
-              { name: "pose", type: "POSE" }
-            ],
-            Output: []
-          },
-          Settings: []
-        }
-
       ],
     });
   };

server/src/features/behavior_trees/models/behavior_tree_database_model.ts

@@ -12,6 +12,10 @@ export const BehaviorTreeSchema = new Schema({
   name: {
     type: String,
   },
+  scene: {
+    type: Schema.Types.Mixed,
+    default: [],
+  },
   local_path: {
     type: String,
   },
@@ -29,9 +33,8 @@ export const BehaviorTreeSchema = new Schema({
   skills: {
     type: Schema.Types.Mixed,
   },
-  scene: {
+  sceneId: {
-    type: Array,
+    type: String,
-    default: null,
   },
   project: {
     type: Schema.Types.ObjectId,

server/src/features/scene/create_new_scene_scenario.ts

@@ -0,0 +1,46 @@
+import { IsString } from "class-validator";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../core/controllers/http_controller";
+import { Result } from "../../core/helpers/result";
+import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
+import { GetActiveProjectIdScenario } from "../projects/domain/get_active_project_id_scenario";
+import { model } from "mongoose";
+import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
+import { StaticFiles } from "../../core/models/static_files";
+import { CreateDataBaseModelUseCase } from "../../core/usecases/create_database_model_usecase";
+import { SceneDBModel } from "./scene_database_model";
+import { SceneValidationModel } from "./scene_validation_model";
+export class SceneModel {
+  @IsString()
+  name: string;
+}
+export class SceneAssets {
+  name: string;
+  scene: [] = [];
+  constructor(name: string) {
+    this.name = name;
+  }
+  static empty = () => new SceneAssets("");
+}
+export class CreateNewSceneScenario extends CallbackStrategyWithValidationModel<SceneModel> {
+  validationModel: SceneModel = SceneModel;
+
+  call = async (model: SceneModel): ResponseBase =>
+    (
+      await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+        { isActive: true },
+        "is dont active projects"
+      )
+    ).map(async (projectModel) => {
+      const { rootDir } = projectModel[0];
+
+      return (
+        await new CreateFileUseCase().call(
+          `${rootDir}${StaticFiles.scenes}${model.name}.json`,
+          Buffer.from(JSON.stringify(new SceneAssets(model.name)))
+        )
+      ).map(async () =>
+        (await new CreateDataBaseModelUseCase(SceneDBModel).call(model)).map(() => Result.ok("Create"))
+      );
+    });
+}

server/src/features/scene/edit_scene_scenario.ts

@@ -0,0 +1,28 @@
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../core/controllers/http_controller";
+import { Result } from "../../core/helpers/result";
+import { StaticFiles } from "../../core/models/static_files";
+import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
+import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
+import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
+import { SceneAssets } from "./create_new_scene_scenario";
+import { SceneValidationModel } from "./scene_validation_model";
+
+export class EditSceneScenario extends CallbackStrategyWithValidationModel<SceneValidationModel> {
+  validationModel: SceneValidationModel;
+  call = async (model: SceneValidationModel): ResponseBase =>
+    (
+      await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+        { isActive: true },
+        "is dont active projects"
+      )
+    ).map(async (projectModel) => {
+      const { rootDir } = projectModel[0];
+
+      return (
+        await new CreateFileUseCase().call(
+          `${rootDir}${StaticFiles.scenes}${model.name}.json`,
+          Buffer.from(JSON.stringify(model))
+        )
+      ).map(async () => Result.ok("Edit"));
+    });
+}

server/src/features/scene/read_scene_scenario.ts

@@ -0,0 +1,31 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller";
+import { Result } from "../../core/helpers/result";
+import { StaticFiles } from "../../core/models/static_files";
+import { CreateFileUseCase } from "../../core/usecases/create_file_usecase";
+import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase";
+import { ReadFileAndParseJsonUseCase } from "../../core/usecases/read_file_and_parse_json";
+import { SearchManyDataBaseModelUseCase } from "../../core/usecases/search_many_database_model_usecase";
+import { CoreValidation } from "../../core/validations/core_validation";
+import { MongoIdValidation } from "../../core/validations/mongo_id_validation";
+import { IProjectModel, ProjectDBModel } from "../projects/models/project_model_database_model";
+import { SceneAssets, SceneModel } from "./create_new_scene_scenario";
+import { SceneDBModel } from "./scene_database_model";
+
+export class ReadSceneScenario extends CallbackStrategyWithIdQuery {
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (await new ReadByIdDataBaseModelUseCase<SceneModel>(SceneDBModel).call(id)).map(async (model) =>
+      (
+        await new SearchManyDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+          { isActive: true },
+          "is dont active projects"
+        )
+      ).map(async (projectModel) => {
+        const { rootDir } = projectModel[0];
+
+        return (await new ReadFileAndParseJsonUseCase().call(`${rootDir}${StaticFiles.scenes}${model.name}.json`)).map(
+          async (sceneAsset) => Result.ok(sceneAsset)
+        );
+      })
+    );
+}

server/src/features/scene/scene_presentation.ts

@@ -1,5 +1,11 @@
 import { CrudController } from "../../core/controllers/crud_controller";
+import { ReadByIdDataBaseModelScenario } from "../../core/scenarios/read_by_id_database_model_scenario";
+import { BehaviorTreeDBModel } from "../behavior_trees/models/behavior_tree_database_model";
+import { BehaviorTreeValidationModel } from "../behavior_trees/models/behavior_tree_validation_model";
+import { CreateNewSceneScenario } from "./create_new_scene_scenario";
 import { CreateRobotScenario } from "./create_robot_scenario";
+import { EditSceneScenario } from "./edit_scene_scenario";
+import { ReadSceneScenario } from "./read_scene_scenario";
 import { SceneDBModel } from "./scene_database_model";
 import { SceneValidationModel } from "./scene_validation_model";
 
@@ -10,10 +16,17 @@ export class ScenePresentation extends CrudController<SceneValidationModel, type
       validationModel: SceneValidationModel,
       databaseModel: SceneDBModel,
     });
+    super.post(new CreateNewSceneScenario().call);
+    super.put(new EditSceneScenario().call);
     this.subRoutes.push({
       method: "POST",
       subUrl: "create/robot",
       fn: new CreateRobotScenario(),
     });
+    this.subRoutes.push({
+      method: "GET",
+      subUrl: "by_id",
+      fn: new ReadSceneScenario(),
+    });
   }
 }

ui/public/index.html

@@ -3,13 +3,13 @@
 
 <head>
   <meta charset="utf-8" />
-  <link rel="icon" href="%PUBLIC_URL%/favicon.ico" />
+  <link rel="icon" href="%PUBLIC_URL%/logo.ico" />
   <meta name="viewport" content="width=device-width, initial-scale=1" />
   <meta name="theme-color" content="#000000" />
   <meta name="description" content="Web site created using create-react-app" />
-  <link rel="apple-touch-icon" href="%PUBLIC_URL%/logo192.png" />
+  <link rel="apple-touch-icon" href="%PUBLIC_URL%/logo.png" />
   <link rel="manifest" href="%PUBLIC_URL%/manifest.json" />
-  <title>robossembler: pipeline </title>
+  <title>Robossembler </title>
 </head>
 
 <body>

ui/src/core/extensions/object.ts

@@ -1,7 +1,9 @@
-/* eslint-disable no-extend-native */
-
 export const ObjectExtensionsIsKeyExists = (obj: any, keys: string[]): boolean => {
   return true;
 };
-
+export const ObjectIsNotEmpty = (obj: Object | undefined) => {
-// {"objectThatSticksName":"cube2","objectThatSticksNamePoints":[{"x":25,"y":4.987889622413917,"z":10.504078531217838}],"objectsToWhichItSticksName":"cube1","objectsToWhichItSticksPoints":[{"x":5,"y":3.0783236330074963,"z":1.1333166084347885}]}
+  if (obj === undefined) {
+    return false;
+  }
+  return Object.keys(obj).length !== 0;
+};

ui/src/core/hook/key_listner.tsx

@@ -1,26 +0,0 @@
-import React from "react";
-
-export const useKeyLister = (fn: Function) => {
-  // eslint-disable-next-line react-hooks/exhaustive-deps
-  const pressed = new Map();
-
-  const registerKeyPress = React.useCallback(
-    (event: KeyboardEvent, codes: string[], callBack: Function) => {
-      if (codes.hasIncludeElement(event.code)) {
-        pressed.addValueOrMakeCallback(event.code, event.type, (e) => {
-          if (Array.from(pressed.values()).equals(["keydown", "keydown"], false)) {
-            callBack();
-          }
-        });
-      }
-    },
-    [pressed]
-  );
-
-  React.useEffect(() => {
-    window.addEventListener("keyup", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => fn));
-    window.addEventListener("keydown", (e) => registerKeyPress(e, ["KeyQ", "KeyW"], () => {}));
-  }, [fn, registerKeyPress]);
-
-  return [];
-};

ui/src/core/model/camera_model.ts

@@ -9,6 +9,7 @@ export enum CameraTypes {
 }
 export class CameraModel implements Instance {
   type = SceneModelsTypes.CAMERA;
+  jointType = 'fixed';
   constructor(
     public quaternion: number[],
     public vector3: Vector3,

ui/src/core/model/core_vector3.ts

@@ -1,17 +0,0 @@
-import { Vector3 } from "three";
-
-export class CoreVector3 {
-  vector: Vector3;
-  constructor(vector: Vector3) {
-    this.vector = vector;
-  }
-
-  static divideLineIntoEqualSegments(beginPoint: Vector3, endPoint: Vector3, segments: number): Vector3[] {
-    return Number(segments)
-      .fromArray()
-      .map((el) => new Vector3().lerpVectors(beginPoint, endPoint, (el * 1) / segments));
-  }
-  add(vector: Vector3) {
-    return new CoreVector3(new Vector3(this.vector.x + vector.x, this.vector.y + vector.y, this.vector.z + vector.z));
-  }
-}

ui/src/core/model/database_model.ts

@@ -1,3 +1,3 @@
-export interface DatabaseModel {
+export interface DatabaseModelId {
   _id?: string;
 }

ui/src/core/model/point_model.ts

@@ -4,6 +4,8 @@ import { SceneModelsTypes } from "./scene_models_type";
 import { Instance } from "./scene_asset";
 import { CoreThreeRepository } from "../repository/core_three_repository";
 import { Type } from "class-transformer";
+import { SceneItems, SceneMangerStore } from "../../features/scene_manager/presentation/scene_manager_store";
+import { Pose } from "../../features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model";
 
 export class PointModel implements Instance {
   type = SceneModelsTypes.POINT;
@@ -11,7 +13,7 @@ export class PointModel implements Instance {
   @Type(() => Vector3)
   vector3: Vector3;
   color: string = "#E91E63";
-  size: number = 0.5;
+  size: number = 0.01;
   quaternion: number[];
   icon: string = "Point";
 
@@ -25,10 +27,30 @@ export class PointModel implements Instance {
       this.color,
       this.size
     );
-
+  toSceneItems = (sceneMangerStore: SceneMangerStore): SceneItems => {
+    return {
+      fn: () => {},
+      name: this.name,
+      isSelected: false,
+      icon: this.icon,
+    };
+  };
+  toDependency = (): Pose => {
+    return {
+      name: this.name,
+      position: this.vector3,
+      orientation: {
+        x: this.quaternion[0],
+        y: this.quaternion[1],
+        z: this.quaternion[2],
+        w: this.quaternion[3],
+      },
+    };
+  };
   isValid(): Result<string, PointModel> {
     return Result.ok();
   }
+
   static empty() {
     return new PointModel();
   }

ui/src/core/model/robot_model.ts

@@ -16,7 +16,7 @@ interface RobotJoint {
     lower: Number;
     upper: Number;
   };
-  angel: Number;
+  angle: Number;
   name: string;
 }
 
@@ -50,24 +50,23 @@ export class RobotModel implements Instance {
   icon: string = "Robot";
   toSceneItems = (sceneMangerStore: SceneMangerStore): SceneItems => {
     return {
-      fn: () => { },
+      fn: () => {},
       name: this.name,
       isSelected: false,
       icon: "Robot",
     };
   };
   toWebGl = (coreThreeRepository: CoreThreeRepository) => {
-    console.log(JSON.stringify(this));
     coreThreeRepository.loadUrdfRobot(this);
   };
-  update(coreThreeRepository: CoreThreeRepository): any {
+  update = (coreThreeRepository: CoreThreeRepository) => {
     const robot = coreThreeRepository.scene.getObjectByName(this.name) as URDFRobot;
     robot.position.copy(this.vector3);
     robot.quaternion.copy(new Quaternion().fromArray(this.quaternion));
     this.jointPosition.forEach((el) => {
-      robot.setJointValue(el.name, el.angel);
+      robot.setJointValue(el.name, el.angle);
     });
-  }
+  };
   isValid(): Result<string, RobotModel> {
     return Result.ok(this);
   }

ui/src/core/model/scene_asset.ts

@@ -9,8 +9,10 @@ import { ZoneModel } from "./zone_model";
 import { CoreThreeRepository } from "../repository/core_three_repository";
 import { LightModel } from "./light_model";
 import { Vector3 } from "three";
+import { SceneItems } from "../../features/scene_manager/presentation/scene_manager_store";
 
 export abstract class Instance {
+  type: string;
   abstract icon: string;
   @Type(() => Vector3)
   vector3: Vector3;
@@ -21,6 +23,7 @@ export abstract class Instance {
 }
 
 export class SceneAsset {
+  name: string;
   @IsArray()
   @Type(() => Instance, {
     discriminator: {
@@ -37,4 +40,27 @@ export class SceneAsset {
     keepDiscriminatorProperty: true,
   })
   scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[];
+  toSceneItems = (): SceneItems[] => {
+    return this.scene.map((el) => {
+      return {
+        fn: () => {},
+        name: el.name,
+        icon: el.icon,
+        isSelected: false,
+      };
+    });
+  };
+  getElementByName = <T>(name: string) => this.scene.filter((el) => el.name.isEqual(name)).at(0) as T;
+  getAllRobotsTopics = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.ROBOT)).map((el) => el.name);
+  getAllCameraTopics = () => {};
+  getAllPoints = () => this.scene.filter((el) => el.type.isEqual(SceneModelsTypes.POINT)).map((el) => el.name);
+  static newScene = (
+    scene: (Instance | SolidModel | CameraModel | RobotModel | PointModel | ZoneModel)[],
+    name: string
+  ) => {
+    const sceneAsset = new SceneAsset();
+    sceneAsset.scene = scene;
+    sceneAsset.name = name;
+    return sceneAsset;
+  };
 }

ui/src/core/model/skill_model.ts

@@ -198,7 +198,7 @@ export class SkillModel implements ISkill {
 }
 
 export class SkillDependency implements IDependency {
-  constructor(public skills: ISkillDependency[]) { }
+  constructor(public skills: ISkillDependency[]) {}
   static empty() {
     return new SkillDependency([]);
   }
@@ -320,7 +320,7 @@ export class Skills {
         if (skill.sid?.isEqual(sid)) {
           skill.BTAction.map((action) => {
             action.param.map((param) => {
-              if (param.type.isEqual(skillType)) {
+              if (param.type.isEqualR(skillType)) {
                 acc.push(param.dependency);
               }
               return param;

ui/src/core/model/solid_model.ts

@@ -1,26 +1,68 @@
-import { Quaternion, Scene, Vector3 } from "three";
+import { Object3D, Object3DEventMap, Quaternion, Vector3 } from "three";
 import { SceneModelsTypes } from "./scene_models_type";
 import { Instance } from "./scene_asset";
 import { CoreThreeRepository } from "../repository/core_three_repository";
 import { Type } from "class-transformer";
+import { SceneItems } from "../../features/scene_manager/presentation/scene_manager_store";
+import { Parts } from "../../features/details/details_http_repository";
 
 export class SolidModel implements Instance {
+  icon: string = "Solid";
   type = SceneModelsTypes.SOLID;
   @Type(() => Vector3)
   public vector3: Vector3;
   constructor(
-    vector3:Vector3,
+    vector3: Vector3,
     public quaternion: number[],
     public name: string,
     public solidType: string,
     public mesh: string,
-    public collisionMesh: string
+    public collisionMesh: string,
+    public spawnType: string
   ) {
-    this.vector3 = vector3
+    this.vector3 = vector3;
   }
-  update =  (coreThreeRepository: CoreThreeRepository) => this.toWebGl(coreThreeRepository)
+  toSceneItems = (): SceneItems => {
-  icon: string = "Solid";
+    return {
-  toWebGl = (coreThreeRepository: CoreThreeRepository) => coreThreeRepository.loader(this.mesh, () => {}, this.name);
+      fn: () => {},
+      name: this.name,
+      isSelected: false,
+      icon: "Solid",
+    };
+  };
 
-  static empty = () => new SolidModel(new Vector3(0, 0, 0), [], "", "", "", "");
+  update = (coreThreeRepository: CoreThreeRepository) => {
+    const object = coreThreeRepository.getObjectsAtName(this.name) as Object3D<Object3DEventMap>;
+    object.position.copy(this.vector3)
+    object.quaternion.copy(new Quaternion().fromArray(this.quaternion))
+    
+  };
+
+  toWebGl = (coreThreeRepository: CoreThreeRepository) => {
+    this.spawnType.isEqualR("BoundBox").fold(
+      () =>
+        coreThreeRepository.loader(
+          this.mesh,
+          () => (
+            coreThreeRepository.raiseAnObjectAboveZeroVector(this.name),
+            (this.quaternion = coreThreeRepository.scene.getObjectByName(this.name)!.quaternion.toArray()),
+            (this.vector3 = coreThreeRepository.scene.getObjectByName(this.name)!.position)
+          ),
+
+          this.name,
+          this.vector3
+        ),
+      () => console.log("UNKNOWN SPAWN TYPE SOLID MODEL")
+    );
+  };
+
+  fromParts = (parts: Parts): SolidModel => {
+    const solidModel = SolidModel.empty();
+    solidModel.mesh = parts.daeUrl;
+    solidModel.name = parts.name;
+    solidModel.solidType = parts.solidType;
+    return solidModel;
+  };
+
+  static empty = () => new SolidModel(new Vector3(0, 0, 0), [], "", "", "", "", "");
 }

ui/src/core/model/trigger_model.ts

@@ -1,6 +1,6 @@
-import { DatabaseModel } from "./database_model";
+import { DatabaseModelId } from "./database_model";
 
-export interface ITriggerModel extends DatabaseModel {
+export interface ITriggerModel extends DatabaseModelId {
   type: string;
   description: string;
   value: string[];

ui/src/core/repository/babylon_repository.ts

@@ -1,36 +0,0 @@
-// import { Scene, Engine, MeshBuilder, FreeCamera, HemisphericLight, Vector3, SceneLoader } from 'babylonjs';
-// import { GLTFFileLoader } from 'babylonjs-loaders';
-
-
-// export class BabylonRepository {
-//     engine: Engine;
-//     canvas: HTMLCanvasElement;
-//     scene: Scene;
-//     sceneLoader: SceneLoader
-//     constructor(canvas: HTMLCanvasElement) {
-//         this.sceneLoader = new SceneLoader();
-//         this.engine = new Engine(canvas, true);
-//         this.scene = new Scene(this.engine);
-//         this.engine.runRenderLoop(() => {
-//             this.scene.render();
-//         });
-//         this.scene.createDefaultCameraOrLight(true, true, true);
-//         new HemisphericLight("hemiLight", new Vector3(0, 1, 0));
-//         SceneLoader.RegisterPlugin(new GLTFFileLoader())
-//         SceneLoader.ImportMeshAsync("",
-//             "http://localhost:4001/1dfc4e1a-9c1a-4fa2-96b2-19c86acb6ea4/assets/libs/objects/",
-//             "sol_gear.glb", this.scene)
-
-//     }
-//     deleteAllObjectsScene = () => this.scene.meshes.forEach((el) => this.scene.removeMesh(el, true))
-
-//     loadHttp = (url: string) => {
-//         const divide = url.divideByIndex(url.lastIndexOf('/'))
-
-//         SceneLoader.ImportMeshAsync("",
-//             `${divide.at(0)}/`,
-//             `${divide.at(1)}`, this.scene).then((frame) => {
-//             });
-
-//     }
-// }

ui/src/core/repository/core_three_repository.ts

@@ -34,7 +34,6 @@ import { TransformControls } from "three/examples/jsm/controls/TransformControls
 import { SceneMode } from "../../features/scene_manager/model/scene_view";
 import { UrdfTransforms, coordsToQuaternion } from "../../features/simulations/tranforms_model";
 import { ISpawnHelper, SceneItems } from "../../features/scene_manager/presentation/scene_manager_store";
-import { CameraModel } from "../model/camera_model";
 import { SolidModel } from "../model/solid_model";
 import { Instance, SceneAsset } from "../model/scene_asset";
 import { ZoneModel } from "../model/zone_model";
@@ -64,7 +63,6 @@ interface IEmissiveCache {
 type SceneFrames = { [K in string]: URDFLink };
 
 export class CoreThreeRepository extends TypedEvent<any> {
- 
   scene = new Scene();
   camera: PerspectiveCamera;
   webGlRender: WebGLRenderer;
@@ -190,14 +188,18 @@ export class CoreThreeRepository extends TypedEvent<any> {
     this.urdfLoader.load(robotModel.httpUrl, (robot) => {
       robot.userData[UserData.selectedObject] = true;
       robot.name = robotModel.name;
-      if (robotModel.vector3) robot.position.copy(new Vector3(0, 0, 0));
+      if (robotModel.vector3) robot.position.copy(robotModel.vector3);
       if (robotModel.quaternion) robot.quaternion.copy(new Quaternion().fromArray(robotModel.quaternion));
-      // robot.setJointValue("ee_link_joint", 4);
+      if (robotModel.jointPosition.isNotEmpty()) {
+        robotModel.jointPosition.forEach((el) => {
+          robot.setJointValue(el.name, el.angle);
+        });
+      }
       if (robotModel.jointPosition.isEmpty()) {
         Object.entries(robot.joints).forEach(([name, uRDFJoint]) => {
           if (uRDFJoint.jointType !== "fixed") {
             robotModel.jointPosition.push({
-              angel: uRDFJoint.angle,
+              angle: uRDFJoint.angle,
               limit: {
                 lower: uRDFJoint.limit.lower,
                 upper: uRDFJoint.limit.upper,
@@ -208,8 +210,6 @@ export class CoreThreeRepository extends TypedEvent<any> {
         });
       }
 
-      // Object.entries(robot.joints).forEach(([k, v]) => robot.setJointValue(k, 1));
-
       this.scene.add(robot);
 
       // @ts-expect-error
@@ -229,21 +229,6 @@ export class CoreThreeRepository extends TypedEvent<any> {
       this.sceneFrame = robot.frames;
     });
 
-  solidSpawn = (
-    solidSpawn: ISpawnHelper,
-    loadCallback?: (obj: Object3D<Object3DEventMap> | undefined) => void,
-    vector3?: Vector3
-  ) =>
-    this.loader(
-      solidSpawn.url,
-      () => {
-        this.raiseAnObjectAboveZeroVector(solidSpawn.name);
-        if (loadCallback) loadCallback(this.scene.getObjectByName(solidSpawn.name));
-      },
-      solidSpawn.name,
-      vector3
-    );
-
   loadHttpAndPreview(path: string, name: string, loadCallback?: Function) {
     this.loader(
       path,
@@ -271,8 +256,6 @@ export class CoreThreeRepository extends TypedEvent<any> {
     }
   }
 
-  addSceneCamera = (cameraModel: CameraModel) => cameraModel.toWebGl(this);
-
   updateSolidBody = (solidBodyModel: SolidModel) => {
     const mesh = this.scene.getObjectByName(solidBodyModel.name);
     mesh?.position.copy(solidBodyModel.vector3);
@@ -445,6 +428,7 @@ export class CoreThreeRepository extends TypedEvent<any> {
             if (position) result.scene.position.copy(position);
             if (quaternion) result.scene.quaternion.copy(quaternion);
             this.scene.add(result.scene);
+            callBack();
           },
           (err) => console.log(err)
         );

ui/src/core/repository/http_repository.ts

@@ -2,6 +2,8 @@ import { ClassConstructor, plainToInstance } from "class-transformer";
 import { Result } from "../helper/result";
 import { Parts } from "../../features/details/details_http_repository";
 import { UUID } from "../../features/all_projects/data/project_http_repository";
+import { SceneModel } from "../../features/scene_manager/model/scene_model";
+import { SceneAsset } from "../model/scene_asset";
 
 export enum HttpMethod {
   GET = "GET",
@@ -100,7 +102,12 @@ export class CoreHttpRepository extends HttpRepository {
   getAssetsActiveProject = async (): Promise<Result<HttpError, Parts[]>> => {
     return this._jsonRequest<Parts[]>(HttpMethod.GET, "/projects/assets");
   };
+  getSceneAsset = (id: string) =>
+    this._jsonToClassInstanceRequest(HttpMethod.GET, `/scenes/by_id?id=${id}`, SceneAsset) as Promise<
+      Result<HttpError, SceneAsset>
+    >;
   async getActiveProjectId() {
     return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
   }
+  getAllScenes = () => this._jsonRequest<SceneModel[]>(HttpMethod.GET, "/scenes");
 }

ui/src/core/store/base_store.ts

@@ -118,7 +118,7 @@ export abstract class FormState<V, E> extends UiErrorState<E> {
     //@ts-ignore
     this.viewModel = Object.assign(this.viewModel, value);
   }
-  loadDependency = (viewModel: V) => {
+  loadDependency = (viewModel: V | undefined) => {
-    this.viewModel = viewModel;
+    if (viewModel) this.viewModel = viewModel;
   };
 }

ui/src/core/ui/form_builder/form_builder.tsx

@@ -51,6 +51,7 @@ export const FormBuilder = observer((props: IFormBuilder) => {
               );
             }
             if (element.type.isEqual(InputType.ARRAY)) {
+              
               return (
                 <div style={{ border: "1px black solid", margin: 20 }}>
                   <div

ui/src/core/ui/toggle/toggle.tsx

@@ -0,0 +1,30 @@
+import { useState } from "react";
+import { Icon } from "../icons/icons";
+import { CoreText, CoreTextType } from "../text/text";
+import { set } from "ts-pattern/dist/patterns";
+interface IToggleProps {
+  name: string;
+  child: React.ReactNode;
+  isOpen: boolean;
+}
+export const Toggle = (props: IToggleProps) => {
+  const [isOpen, setOpen] = useState(props.isOpen);
+  return (
+    <div style={{ border: "1px black solid" }}>
+      <div
+        style={{
+          display: "flex",
+          justifyContent: "space-between",
+          margin: 0,
+          padding:5,
+          alignItems: "center",
+        }}
+        onClick={() => setOpen(!isOpen)}
+      >
+        <CoreText style={{ height: 33 }} text={props.name} type={CoreTextType.large} />
+        <Icon type="PlusCircle" style={{ width: 33 }} />
+      </div>
+      {isOpen ? props.child : <></>}
+    </div>
+  );
+};

ui/src/features/behavior_tree_builder/data/behavior_tree_builder_repository.ts

@@ -5,6 +5,7 @@ import { BehaviorTreeModel } from "../model/behavior_tree_model";
 import { BehaviorTreeViewModel } from "../model/behavior_tree_view_model";
 
 export class BehaviorTreeBuilderHttpRepository extends CoreHttpRepository {
+
   getAllBtInstances = async () => this._jsonRequest<BehaviorTreeModel[]>(HttpMethod.GET, "/behavior/trees");
   getBtSkills = async (): Promise<Result<HttpError, Skills>> => {
     return (await this._jsonToClassInstanceRequest<Skills>(

ui/src/features/behavior_tree_builder/model/behavior_tree_model.ts

@@ -3,12 +3,15 @@ import { Result } from "../../../core/helper/result";
 import { Skills } from "../../../core/model/skill_model";
 import { NodeBehaviorTree } from "./node_behavior_tree";
 import { IsOptional } from "class-validator";
+import { BehaviorTreeBuilderHttpRepository } from "../data/behavior_tree_builder_repository";
+import { message } from "antd";
 
 export class BehaviorTreeModel {
   @IsOptional()
   @Type(() => Skills)
+  public sceneId: string;
   public skills?: Skills;
-  public scene: NodeBehaviorTree[];
+  public scene: NodeBehaviorTree[] = [];
   public xml: string;
   public name: string;
   public project: string;
@@ -26,6 +29,16 @@ export class BehaviorTreeModel {
     this.scene = scene;
     this.xml = xml;
   }
+  getSceneDependency = async (behaviorTreeBuilderHttpRepository: BehaviorTreeBuilderHttpRepository) =>
+    (await behaviorTreeBuilderHttpRepository.getSceneAsset(this.sceneId)).fold(
+      (s) => {
+
+      },
+      (e) => {
+        message.error('Get Scene Dependency error')
+      }
+    );
+
   static empty() {
     return new BehaviorTreeModel(Skills.empty(), [], "", "", "", "");
   }

ui/src/features/behavior_tree_builder/model/behavior_tree_view_model.ts

@@ -1,11 +1,11 @@
 import { Result } from "../../../core/helper/result";
 
 export class BehaviorTreeViewModel {
-  constructor(public name: string, public project: string) {}
+  constructor(public name: string, public project: string, public sceneId: string) {}
   static empty() {
-    return new BehaviorTreeViewModel("", "");
+    return new BehaviorTreeViewModel("", "", "");
   }
- 
+
   valid(): Result<string, BehaviorTreeViewModel> {
     if (this.project.isEmpty()) {
       return Result.error("project is empty");

ui/src/features/behavior_tree_builder/model/editor_view.ts

@@ -25,6 +25,8 @@ export interface IUpdateEvent {
 export class NodeRerenderObserver extends TypedEvent<IUpdateEvent> {}
 export class ReteForceUpdateObserver extends TypedEvent<any> {}
 export class BehaviorTreeBuilderModel {
+  public static btRootTag: string = '<root BTCPP_format="4"><BehaviorTree ID="Main">${bt}</BehaviorTree></root>';
+
   public static result = "";
   static fromReteScene(
     editor: NodeEditor<Schemes>,
@@ -33,8 +35,6 @@ export class BehaviorTreeBuilderModel {
   ): Result<string, string> {
     try {
       this.result = "";
-      
-      // eslint-disable-next-line array-callback-return
       this.getFirstSequence(editor).map((sortedSequence) => {
         const firstNodeId = sortedSequence.getKeyFromValueIsExists(1) as string;
         this.findSequence(firstNodeId, editor, sortedSequence, 2);
@@ -42,25 +42,7 @@ export class BehaviorTreeBuilderModel {
         this.toXML(sortedSequence as Map<string, number>, editor, area, firstNodeId, skills);
         this.result += `</${this.getNodeLabelAtId(editor, firstNodeId, skills)}>`;
       });
-
+      return Result.ok(xmlFormat(this.btRootTag.replace("${bt}", this.result)));
-      return Result.ok(
-        xmlFormat(`<?xml version="1.0" encoding="UTF-8"?>
-      <root main_tree_to_execute="Main">
-          <BehaviorTree ID="Main">
-              ${this.result}
-          </BehaviorTree>
-
-          <TreeNodesModel>
-              <Action ID="RbsBtAction">
-                  <input_port name="do" />
-                  <input_port name="command" />
-                  <input_port name="server_name" />
-                  <input_port name="server_timeout" />
-              </Action>
-          </TreeNodesModel>
-
-      </root>`)
-      );
     } catch (error) {
       return Result.error("BtBuilderModel fromReteScene error");
     }
@@ -68,9 +50,9 @@ export class BehaviorTreeBuilderModel {
 
   public static getNodeLabelAtId(editor: NodeEditor<Schemes>, id: string, skills?: Skills) {
     if (skills?.getSkillsNames().find((el) => el.name.isEqual(editor.getNode(id).label))) {
-      return `Action ID="RbsBtAction" do="${skills.getSkillDo(editor.getNode(id).label)}" command="${
+      return `Action ID="RbsAction" do="${skills.getSkillDo(editor.getNode(id).label)}" command="${
         editor.getNode(id).label
-      }" sid=${id} server_name="rbs_interface" server_timeout="1000"`;
+      }" sid=${id}"`;
     }
     return editor.getNode(id).label;
   }

ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx

@@ -13,6 +13,7 @@ import { CoreInput } from "../../../core/ui/input/input";
 import { CoreText, CoreTextType } from "../../../core/ui/text/text";
 import { useNavigate, useParams } from "react-router-dom";
 import { IForms, forms } from "./ui/forms/forms";
+import { CoreSelect } from "../../../core/ui/select/select";
 
 export const behaviorTreeBuilderScreenPath = "behavior/tree/screen/path";
 export interface DOMReact {
@@ -131,6 +132,14 @@ export const BehaviorTreeBuilderScreen = observer(() => {
             <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
               <div>
                 <CoreInput label="Имя дерева" onChange={(text) => store.updateForm({ name: text })} />
+                <CoreSelect
+                  items={store.scenes?.map((el) => el.name) ?? []}
+                  value={""}
+                  label={"Сцена"}
+                  onChange={(text) =>
+                    store.updateForm({ sceneId: store.scenes?.filter((el) => el.name.isEqual(text)).at(0)?._id })
+                  }
+                />
               </div>
               <div style={{ display: "flex" }}>
                 <CoreButton text="Сохранить" filled={true} onClick={() => store.createNewBehaviorTree()} />
@@ -150,10 +159,11 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                 {store.skillTemplates?.getForms(store.selected ?? "").map((formType, index) =>
                   forms(
                     store.filledOutTemplates?.getDependencyBySkillLabelAndType(
-                      forms(null, () => {}).find((form) => form.name.isEqual(formType))?.name ?? "",
+                      forms(null, () => {}, store).find((form) => form.name.isEqual(formType))?.name ?? "",
                       store.selectedSid ?? ""
                     ),
-                    (dependency) => store.formUpdateDependency(dependency, formType)
+                    (dependency) => store.formUpdateDependency(dependency, formType),
+                    store
                   )
                     .rFind<IForms>((form) => form.name.isEqual(formType))
                     .fold(
@@ -169,4 +179,3 @@ export const BehaviorTreeBuilderScreen = observer(() => {
     />
   );
 });
- 

ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx

@@ -24,7 +24,8 @@ import { behaviorTreeBuilderStore } from "./behavior_tree_builder_screen";
 import clone from "just-clone";
 import { BehaviorTreeModel } from "../model/behavior_tree_model";
 import { PrimitiveViewModel, SystemPrimitive } from "../model/primitive_view_model";
-
+import { SceneModel } from "../../scene_manager/model/scene_model";
+import { SceneAsset } from "../../../core/model/scene_asset";
 
 interface I2DArea {
   x: number;
@@ -43,10 +44,11 @@ export enum StoreUIType {
   ViewBehaviorTree,
 }
 
-
 export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeViewModel, CoreError> {
   type: StoreUIType = StoreUIType.ViewBehaviorTree;
+  sceneAsset?: SceneAsset;
   viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty();
+  scenes?: SceneModel[];
   behaviorTreeModel: BehaviorTreeModel = BehaviorTreeModel.empty();
   skillTemplates: Skills = Skills.empty();
   filledOutTemplates: Skills = Skills.empty();
@@ -74,7 +76,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
         name: "Действия",
         children: [],
       },
-
     ],
   };
 
@@ -83,8 +84,8 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     makeAutoObservable(this);
     this.type = StoreUIType.SelectBehaviorTree;
 
-    this.primitiveViewModel = new PrimitiveViewModel()
+    this.primitiveViewModel = new PrimitiveViewModel();
-    this.skillTree.children?.push({ name: "Примитивы BT", children: this.primitiveViewModel.toSkillView() })
+    this.skillTree.children?.push({ name: "Примитивы BT", children: this.primitiveViewModel.toSkillView() });
   }
 
   syncScene = async (editor: NodeEditor<Schemes>, area: AreaPlugin<Schemes, AreaExtra>) => {
@@ -92,7 +93,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     this.areaPlugin = area;
   };
 
-  errorHandingStrategy = (_: CoreError) => { };
+  errorHandingStrategy = (_: CoreError) => {};
 
   dragEnd = (e: EventTarget) => {
     if (this.canRun) {
@@ -123,8 +124,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       if (!name.isEqualMany(Object.keys(SystemPrimitive))) {
         this.skillTemplates?.getSkill(name).fold(
           (m) => {
-            const model = clone(m);
+            const modelSetId = clone(m).setSid(sid);
-            const modelSetId = model.setSid(sid);
             modelSetId.BTAction = m.BTAction.filter((el) => el.name.isEqual(name));
 
             this.filledOutTemplates?.skills.push(modelSetId);
@@ -150,6 +150,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           }
           return el;
         });
+        // this.sceneAsset = this.behaviorTreeBuilderHttpRepository.getScene()
       },
       (e) => console.log(e)
     );
@@ -180,16 +181,22 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     this.type = StoreUIType.ViewBehaviorTree;
     if (id) {
       (await this.behaviorTreeBuilderHttpRepository.getBtById(id)).fold(
-        (model) => {
+        async (model) => {
           this.nodeBehaviorTree = model.scene;
           this.behaviorTreeModel = model;
           if (model.skills) this.filledOutTemplates = model.skills;
+
+          await this.mapOk("sceneAsset", this.behaviorTreeBuilderHttpRepository.getSceneAsset(model.sceneId));
+
           this.isLoading = false;
           this.reteForceUpdateObserver?.emit("");
         },
-        () => this.errors.push(new UiBaseError(`не найдено дерево с id:${id}`))
+        async () => {
+          this.errors.push(new UiBaseError(`не найдено дерево с id:${id}`));
+        }
       );
     } else {
+      await this.mapOk("scenes", this.behaviorTreeBuilderHttpRepository.getAllScenes());
       this.type = StoreUIType.SelectBehaviorTree;
     }
   };
@@ -202,8 +209,8 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     };
   }
   dispose(): void {
-    document.removeEventListener("keyup", () => { });
+    document.removeEventListener("keyup", () => {});
-    document.removeEventListener("keydown", () => { });
+    document.removeEventListener("keydown", () => {});
   }
   onClickSaveBehaviorTree = async (): Promise<void> => {
     this.filledOutTemplates.validation().fold(
@@ -233,7 +240,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       async () => message.error(`Дерево поведения не заполнено`)
     );
   };
-  validateBt() { }
+  validateBt() {}
   createNewBehaviorTree = async () => {
     this.viewModel.project = this.activeProject;
     this.viewModel.valid().fold(
@@ -282,7 +289,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
         });
 
         this.filledOutTemplates.updateSkill(model);
-        console.log(this.filledOutTemplates)
       },
       () => console.log("UNKNOWN SID: " + this.selectedSid)
     );
@@ -319,9 +325,12 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       </div>
     );
   }
-  isFilledInput = (type: string, sid: string): boolean => this.filledOutTemplates?.dependencyIsFilled(type, sid);
+  isFilledInput = (type: string, sid: string): boolean => {
+    console.log(this.filledOutTemplates?.dependencyIsFilled)
+    return this.filledOutTemplates?.dependencyIsFilled(type, sid) ?? false;
+  };
   getInputs(name: string) {
-    const result = this.primitiveViewModel.getPrimitiveAtLabel(name)
+    const result = this.primitiveViewModel.getPrimitiveAtLabel(name);
     if (result) {
       return {
         input: result.input ? "a" : null,
@@ -329,13 +338,12 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       };
     }
     return {
-      input: 'a',
+      input: "a",
-      output: null
+      output: null,
-    }
+    };
-
   }
   getStylesByLabelNode(label: string): React.CSSProperties | undefined {
-    const result = this.primitiveViewModel.getPrimitiveAtLabel(label)
+    const result = this.primitiveViewModel.getPrimitiveAtLabel(label);
     if (result) {
       return clone(result.css as Object);
     }
@@ -357,4 +365,5 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       background: "rgba(153, 195, 234, 1)",
     };
   }
+  changeSceneViewModel = (text: string) => {};
 }

ui/src/features/behavior_tree_builder/presentation/ui/editor/editor.tsx

@@ -14,6 +14,7 @@ import {
   UpdateEvent,
 } from "../../../model/editor_view";
 import { v4 } from "uuid";
+import constructWithOptions from "styled-components/dist/constructors/constructWithOptions";
 
 export type Schemes = GetSchemes<ClassicPreset.Node, ClassicPreset.Connection<ClassicPreset.Node, ClassicPreset.Node>>;
 export type AreaExtra = ReactArea2D<Schemes>;

ui/src/features/behavior_tree_builder/presentation/ui/forms/forms.tsx

@@ -1,10 +1,13 @@
+import { BehaviorTreeBuilderStore } from "../../behavior_tree_builder_store";
 import { CameraDeviceForm } from "./camera_device_form/camera_device_form_form";
+import { MoveToPose } from "./move_to_pose/move_to_pose_form";
 import { RobotDeviceForm } from "./robot_device_form/robot_device_form_form";
 import { TopicsForm } from "./topics_form/topics_form";
 import { WeightsForm } from "./weights_form/weights_form";
 
 export interface IPropsForm<T> {
   dependency: T;
+  store: BehaviorTreeBuilderStore;
   onChange: (dependency: Object) => void;
 }
 
@@ -17,10 +20,17 @@ export enum Form {
   robotName = "robot_name",
   cameraDeviceForm = "camera",
   topic = "topic",
+  moveToPose = "move_to_pose",
 }
-export const forms = (props: any, onChange: (dependency: Object) => void): IForms[] => [
+
+export const forms = (
+  props: any,
+  onChange: (dependency: Object) => void,
+  store: BehaviorTreeBuilderStore
+): IForms[] => [
   { name: Form.weights, component: <WeightsForm dependency={props} onChange={onChange} /> },
-  { name: Form.robotName, component: <RobotDeviceForm dependency={props} onChange={onChange} /> },
+  { name: Form.robotName, component: <RobotDeviceForm store={store} dependency={props} onChange={onChange} /> },
-  { name: Form.cameraDeviceForm, component: <CameraDeviceForm dependency={props} onChange={onChange} /> },
+  { name: Form.cameraDeviceForm, component: <CameraDeviceForm store={store} dependency={props} onChange={onChange} /> },
-  { name: Form.topic, component: <TopicsForm dependency={props} onChange={onChange} /> },
+  { name: Form.topic, component: <TopicsForm store={store} dependency={props} onChange={onChange} /> },
+  { name: Form.moveToPose, component: <MoveToPose store={store} dependency={props} onChange={onChange} /> },
 ];

ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_form.tsx

@@ -0,0 +1,48 @@
+import React from "react";
+import { observer } from "mobx-react-lite";
+import { MoveToPoseStore } from "./move_to_pose_store";
+import { IPropsForm } from "../forms";
+import { MoveToPoseRobotModel } from "./move_to_pose_robot_model";
+import { CoreSelect } from "../../../../../../core/ui/select/select";
+import { PointModel } from "../../../../../../core/model/point_model";
+import { ObjectIsNotEmpty } from "../../../../../../core/extensions/object";
+import { CoreButton } from "../../../../../../core/ui/button/button";
+import { message } from "antd";
+
+export const MoveToPose = observer((props: IPropsForm<MoveToPoseRobotModel | undefined>) => {
+  const [store] = React.useState(() => new MoveToPoseStore(props.store));
+  React.useEffect(() => {
+    if (ObjectIsNotEmpty(props.dependency)) store.loadDependency(props.dependency);
+    store.init();
+  }, [store]);
+  return (
+    <div>
+      <CoreSelect
+        items={props.store.sceneAsset?.getAllRobotsTopics() ?? ["ERROR"]}
+        value={store.viewModel.robot_name ?? ""}
+        label={"Робот"}
+        onChange={(text) => store.updateForm({ robot_name: text })}
+      />
+      <CoreSelect
+        items={props.store.sceneAsset?.getAllPoints() ?? ["ERROR"]}
+        label={"Точка"}
+        onChange={(text) =>
+          store.updateForm({ pose: props.store.sceneAsset?.getElementByName<PointModel>(text).toDependency() })
+        }
+        value={store.viewModel?.pose?.name ?? ""}
+      />
+      <CoreButton
+        style={{ margin: 10, width: 100 }}
+        text="OK"
+        onClick={() => {
+          store.viewModel.valid().fold(
+            (s) => {
+              props.onChange(s);
+            },
+            (e) => message.error(e)
+          );
+        }}
+      />
+    </div>
+  );
+});

ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_robot_model.ts

@@ -0,0 +1,44 @@
+import { Vector3 } from "three";
+import { Result } from "../../../../../../core/helper/result";
+export interface IMoveToPoseRobotModel {
+  robot_name: string;
+  pose: Pose;
+}
+
+export interface Pose {
+  name: string;
+  position: Vector3;
+  orientation: Orientation;
+}
+
+export interface Orientation {
+  x: number;
+  y: number;
+  z: number;
+  w: number;
+}
+
+export class MoveToPoseRobotModel implements IMoveToPoseRobotModel {
+  robot_name: string;
+  pose: Pose;
+  constructor() {}
+
+  valid(): Result<string, MoveToPoseRobotModel> {
+    return Result.ok(this);
+  }
+  static empty() {
+    const moveToPoseRobotModel = new MoveToPoseRobotModel();
+    moveToPoseRobotModel.robot_name = "";
+    moveToPoseRobotModel.pose = {
+      name: "",
+      position: new Vector3(0, 0, 0),
+      orientation: {
+        x: 0,
+        y: 0,
+        z: 0,
+        w: 0,
+      },
+    };
+    return moveToPoseRobotModel;
+  }
+}

ui/src/features/behavior_tree_builder/presentation/ui/forms/move_to_pose/move_to_pose_store.ts

@@ -0,0 +1,18 @@
+import makeAutoObservable from "mobx-store-inheritance";
+import { NavigateFunction } from "react-router-dom";
+import { MoveToPoseRobotModel } from "./move_to_pose_robot_model";
+import { FormState, CoreError } from "../../../../../../core/store/base_store";
+import { BehaviorTreeBuilderStore } from "../../../behavior_tree_builder_store";
+
+export class MoveToPoseStore extends FormState<MoveToPoseRobotModel, CoreError> {
+  behaviorTreeBuilderStore: BehaviorTreeBuilderStore;
+
+  constructor(behaviorTreeBuilderStore: BehaviorTreeBuilderStore) {
+    super();
+    this.behaviorTreeBuilderStore = behaviorTreeBuilderStore;
+    makeAutoObservable(this);
+  }
+  viewModel: MoveToPoseRobotModel = MoveToPoseRobotModel.empty();
+  errorHandingStrategy = (error: CoreError) => {};
+  init = async (navigate?: NavigateFunction | undefined) => {};
+}

ui/src/features/scene_manager/data/scene_http_repository.ts

@@ -1,105 +1,16 @@
-import { plainToInstance } from "class-transformer";
 import { Result } from "../../../core/helper/result";
-import { HttpMethod, CoreHttpRepository } from "../../../core/repository/http_repository";
+import { HttpMethod, CoreHttpRepository, HttpError } from "../../../core/repository/http_repository";
 import { CoreError } from "../../../core/store/base_store";
 import { SceneModel } from "../model/scene_model";
 import { SceneViewModel } from "../model/scene_view_model";
 import { SceneAsset } from "../../../core/model/scene_asset";
 
 export class SceneHttpRepository extends CoreHttpRepository {
-  getScene = () => {
+  editScene = (scene: SceneAsset) => this._jsonRequest(HttpMethod.PUT, "/scenes", scene);
-    return plainToInstance(SceneAsset, {
+ 
-      scene: [
-        // {
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 1, y: 1, z: 1 },
-        //   name: "body_down",
-        //   solidType: "active",
-        //   mesh: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/assets/libs/objects/body_down.dae",
-        //   collisionMesh: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/assets/libs/objects/body_down.dae",
-        //   type: "SOLID",
-        // },
-        // {
-        //   quaternion: [0.3797976276673656, 0.5269410603416079, 0.6168038601812418, 0.44456706919183975],
-        //   vector3: { x: 60, y: 20.000000000000004, z: 9.999999999999993 },
-        //   name: "231",
-        //   cameraType: "RGB",
-        //   width: 0,
-        //   updateRate: 0,
-        //   fov: 50,
-        //   near: 0.1,
-        //   far: 2000,
-        //   height: 0,
-        //   topic: "231",
-        //   type: "CAMERA",
-        //   aspect: 0.48721804511278194,
-        // },
 
-        // {
-        //   type: "POINT",
-        //   name: "POINT 1",
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 0.504300334422403, y: 0.66062343475878, z: 1 },
-        // },
-        // {
-        //   type: "ZONE",
-        //   name: "ZONE 1",
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 0, y: 0, z: 0 },
-        //   width: 100,
-        //   height: 100,
-        //   length: 10,
-        // },
-        {
-          quaternion: [0, 0, 0, 1],
-          vector3: { x: 0, y: 10, z: 0 },
-          name: "ARM0",
-          nDof: 6,
-          httpUrl: "http://localhost:4001/d370204b-205b-44bb-9698-3bf083b4b7a7/robots/124/robot.xml",
-          toolType: "",
-          jointPosition: [],
-          type: "ROBOT",
-        },
-        // {
-        //   type: "LIGHT",
-        //   name:"light1S",
 
-        //   typeLight: "SPOT",
-        //   color: "0xffffff",
-        //   intensity: 100,
-        //   distance: 100,
-        //   angle: 100,
-        //   penumbra: 100,
-        //   decay: 100,
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 0, y: 0, z: 0 },
-        // },
-        // {
-        //   type: "LIGHT",
-        //   name:"light1P",
-
-        //   typeLight: "POINT",
-        //   color: "0xffffff",
-        //   intensity: 100,
-        //   distance: 100,
-        //   decay: 100,
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 0, y: 0, z: 0 },
-        // },
-        // {
-        //   name:"light1D",
-        //   type: "LIGHT",
-        //   typeLight: "DIRECTIONAL",
-        //   color: "0xffffff",
-        //   intensity: 100,
-        //   quaternion: [0, 0, 0, 1],
-        //   vector3: { x: 0, y: 0, z: 0 },
-        // },
-      ],
-    });
-  };
-  getAllScenes = () => this._jsonRequest<SceneModel[]>(HttpMethod.GET, "/scenes");
 
   newScene = (sceneViewModel: SceneViewModel) =>
     this._jsonRequest(HttpMethod.POST, "/scenes", sceneViewModel) as unknown as Promise<Result<CoreError, void>>;
-}
+}

ui/src/features/scene_manager/presentation/components/coords_form.tsx

@@ -1,59 +1,105 @@
 import { FormState } from "../../../../core/store/base_store";
 import { CoreInput } from "../../../../core/ui/input/input";
 import { CoreText, CoreTextType } from "../../../../core/ui/text/text";
+import { Toggle } from "../../../../core/ui/toggle/toggle";
 
 export const CoordsForm = ({ store, update }: { store: FormState<any, any>; update: Function }) => {
   return (
     <>
-      <CoreText text="Координаты" type={CoreTextType.header} />
+      <Toggle
-      <CoreInput
+        name={"Координаты"}
-        value={String(store.viewModel.vector3.x)}
+        child={
-        label="Вектор X"
+          <div style={{margin:10}}>
-        onChange={(text) => {
+            <CoreText text="Позиция" type={CoreTextType.header} />
-          store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) });
+
-          update();
+            <CoreInput
-        }}
+              value={String(store.viewModel.vector3.x)}
-      />
+              label="X"
-      <CoreInput
+              onChange={(text) => {
-        value={String(store.viewModel.vector3.x)}
+                store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) });
-        label="Вектор Y"
+                update();
-        onChange={(text) => {
+              }}
-          store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) });
+            />
-          update();
+            <CoreInput
-        }}
+              value={String(store.viewModel.vector3.x)}
-      />
+              label="Y"
-      <CoreInput
+              onChange={(text) => {
-        value={String(store.viewModel.vector3.x)}
+                store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) });
-        label="Вектор Z"
+                update();
-        onChange={(text) => {
+              }}
-          store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) });
+            />
-          update();
+            <CoreInput
-        }}
+              value={String(store.viewModel.vector3.x)}
-      />
+              label="Z"
-      <CoreText text="Координаты" type={CoreTextType.header} />
+              onChange={(text) => {
-      <CoreInput
+                store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) });
-        value={String(store.viewModel.vector3.x)}
+                update();
-        label="Вектор X"
+              }}
-        onChange={(text) => {
+            />
-          store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) });
+            <CoreText text="Кватернион" type={CoreTextType.header} />
-          update();
+            <CoreInput
-        }}
+              value={String(store.viewModel.quaternion[0])}
-      />
+              label="X"
-      <CoreInput
+              onChange={(text) => {
-        value={String(store.viewModel.vector3.x)}
+                store.updateForm({
-        label="Вектор Y"
+                  quaternion: store.viewModel.quaternion.map((el: any, i: number) => {
-        onChange={(text) => {
+                    if (i === 1) {
-          store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) });
+                      return Number(text);
-          update();
+                    }
-        }}
+                    return el;
-      />
+                  }),
-      <CoreInput
+                });
-        value={String(store.viewModel.vector3.x)}
+                update();
-        label="Вектор Z"
+              }}
-        onChange={(text) => {
+            />
-          store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) });
+            <CoreInput
-          update();
+              value={String(store.viewModel.quaternion[1])}
-        }}
+              label="Y"
+              onChange={(text) => {
+                store.updateForm({
+                  quaternion: store.viewModel.quaternion.map((el: any, i: number) => {
+                    if (i === 2) {
+                      return Number(text);
+                    }
+                    return el;
+                  }),
+                });
+                update();
+              }}
+            />
+            <CoreInput
+              value={String(store.viewModel.quaternion[2])}
+              label="Z"
+              onChange={(text) => {
+                store.updateForm({
+                  quaternion: store.viewModel.quaternion.map((el: any, i: number) => {
+                    if (i === 3) {
+                      return Number(text);
+                    }
+                    return el;
+                  }),
+                });
+                update();
+              }}
+            />
+            <CoreInput
+              value={String(store.viewModel.quaternion[3])}
+              label="W"
+              onChange={(text) => {
+                store.updateForm({
+                  quaternion: store.viewModel.quaternion.map((el: any, i: number) => {
+                    if (i === 4) {
+                      return Number(text);
+                    }
+                    return el;
+                  }),
+                });
+                update();
+              }}
+            />
+          </div>
+        }
+        isOpen={false}
       />
     </>
   );

ui/src/features/scene_manager/presentation/forms/camera/camera_form.tsx

@@ -1,17 +1,13 @@
 import React from "react";
-import { message } from "antd";
 import { CoreButton } from "../../../../../core/ui/button/button";
 import { IDefaultSceneManagerFormProps, isPreviewMode } from "../scene_manager_forms";
 import { CoreInput } from "../../../../../core/ui/input/input";
 import { CoreText, CoreTextType } from "../../../../../core/ui/text/text";
 import { CoreSelect } from "../../../../../core/ui/select/select";
 import { CameraFormStore } from "./camera_store";
-import { Loader } from "../../../../../core/ui/loader/loader";
 import { observer } from "mobx-react-lite";
 import { CameraTypes } from "../../../../../core/model/camera_model";
 
- 
-
 export const CameraForm = observer((props: IDefaultSceneManagerFormProps) => {
   const [store] = React.useState(() => new CameraFormStore(props.store));
 
@@ -67,19 +63,13 @@ export const CameraForm = observer((props: IDefaultSceneManagerFormProps) => {
         onChange={(text) => store.updateForm({ cameraType: text as CameraTypes })}
       />
       <div style={{ height: 10 }} />
-      <CoreButton
+
-        text="Создать"
+      {store.type !== "preview" ? (
-        style={{ width: 96 }}
+        <CoreButton text="Создать" style={{ width: 96 }} onClick={() => store.clickNewCamera()} />
-        onClick={() => {
+      ) : null}
-          store.viewModel.validate().fold(
-            (model) => {
-              props.store.addNewCamera(model);
-            },
-            (error) => message.error(error)
-          );
-        }}
-      />
       <div style={{ height: 50 }} />
+
+
     </div>
   );
 });

ui/src/features/scene_manager/presentation/forms/camera/camera_store.tsx

@@ -4,6 +4,7 @@ import { FormState, CoreError } from "../../../../../core/store/base_store";
 import { SceneMangerStore } from "../../scene_manager_store";
 import { isPreviewMode } from "../scene_manager_forms";
 import { CameraModel } from "../../../../../core/model/camera_model";
+import { message } from "antd";
 
 export class CameraFormStore extends FormState<CameraModel, CoreError> {
   viewModel: CameraModel = CameraModel.empty();
@@ -18,6 +19,16 @@ export class CameraFormStore extends FormState<CameraModel, CoreError> {
   errorHandingStrategy = (error: CoreError) => {};
   updateCameraScene = () =>
     this.type?.isNotEmptyR().map(() => this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!));
+  clickNewCamera = () =>
+    this.viewModel.validate().fold(
+      (model) => {
+        this.sceneMangerStore.addNewCamera(model);
+        this.sceneMangerStore.activeFormType = undefined;
+        this.sceneMangerStore.visibleSaveButton()
+
+      },
+      (error) => message.error(error)
+    );
 
   init = async (navigate?: NavigateFunction | undefined) => {
     isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() =>

ui/src/features/scene_manager/presentation/forms/point/point_form.tsx

@@ -7,11 +7,15 @@ import { CoreInput } from "../../../../../core/ui/input/input";
 import { CoreButton } from "../../../../../core/ui/button/button";
 import { match } from "ts-pattern";
 import { SpawnPositionTypesForm } from "../../components/spawn_position_types";
+import { CoordsForm } from "../../components/coords_form";
 
 export const PointForm = observer((props: IDefaultSceneManagerFormProps) => {
   const [store] = React.useState(() => new PointStore(props.store));
   React.useEffect(() => {
     store.init();
+    return () => {
+      store.dispose();
+    };
   }, [store]);
 
   return (
@@ -21,22 +25,7 @@ export const PointForm = observer((props: IDefaultSceneManagerFormProps) => {
           <>
             <CoreText text="Точка" type={CoreTextType.header} />
             <CoreText text={store.viewModel.name} type={CoreTextType.medium} />
-            <CoreText text="Позиция" type={CoreTextType.header} />
+            <CoordsForm store={store} update={store.updateWebGl} />
-            <CoreInput
-              label="X"
-              value={String(store.viewModel.vector3.x)}
-              onChange={(text) => (store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }), store.updateWebGl())}
-            />
-            <CoreInput
-              label="Y"
-              value={String(store.viewModel.vector3.y)}
-              onChange={(text) => (store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }),store.updateWebGl())}
-            />
-            <CoreInput
-              label="Z"
-              value={String(store.viewModel.vector3.z)}
-              onChange={(text) => (store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }), store.updateWebGl())}
-            />
           </>
         ))
         .with(PointStoreType.initNewPoint, () => (
@@ -54,6 +43,11 @@ export const PointForm = observer((props: IDefaultSceneManagerFormProps) => {
             <SpawnPositionTypesForm onClick={store.selectSpawnType} />
           </>
         ))
+        .with(PointStoreType.awaitClick, () => (
+          <>
+            <CoreText type={CoreTextType.medium} text="Ожидание клика мыши" />
+          </>
+        ))
         .otherwise(() => (
           <></>
         ))}

ui/src/features/scene_manager/presentation/forms/point/point_http_repository.ts

@@ -1,6 +0,0 @@
-import { HttpRepository } from "../../../../../core/repository/http_repository";
-
- 
-export class PointHttpRepository extends HttpRepository {
-  
-}

ui/src/features/scene_manager/presentation/forms/point/point_store.ts

@@ -1,7 +1,6 @@
 import makeAutoObservable from "mobx-store-inheritance";
 import { NavigateFunction } from "react-router-dom";
 import { PointModel } from "../../../../../core/model/point_model";
-import { PointHttpRepository } from "./point_http_repository";
 import { FormState, CoreError } from "../../../../../core/store/base_store";
 import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types";
 import { isPreviewMode } from "../scene_manager_forms";
@@ -11,22 +10,42 @@ export enum PointStoreType {
   makeSceneSolidAndEditPosition = "makeSceneSolidAndEditPosition",
   initNewPoint = "initNewPoint",
   previewPoint = "previewPoint",
+  awaitClick = "awaitClick",
 }
 
 export class PointStore extends FormState<PointModel, CoreError> {
   viewModel: PointModel = PointModel.empty();
-  cameraDeviceHttpRepository: PointHttpRepository = new PointHttpRepository();
   storeType: PointStoreType = PointStoreType.initNewPoint;
   spawnPositionTypes: SpawnPositionTypes;
   sceneMangerStore: SceneMangerStore;
+  listener: Function;
+
   constructor(sceneMangerStore: SceneMangerStore) {
     super();
     makeAutoObservable(this);
     this.sceneMangerStore = sceneMangerStore;
   }
+
+  clickLister = (event: MouseEvent) =>
+    this.storeType.isEqualR(PointStoreType.awaitClick).map(() =>
+      this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => {
+        this.viewModel.vector3 = vector3;
+        this.viewModel.quaternion = [0, 0, 0, 1];
+        this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
+        this.sceneMangerStore.activeFormType = undefined;
+        this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore));
+        this.sceneMangerStore.scene.push(this.viewModel);
+        window.removeEventListener("click", this.clickLister);
+        this.sceneMangerStore.visibleSaveButton();
+      })
+    );
+
   selectSpawnType = (type: SpawnPositionTypes) => {
     this.spawnPositionTypes = type;
+    this.storeType = PointStoreType.awaitClick;
+    setTimeout(() => window.addEventListener("click", this.clickLister), 1000);
   };
+  dispose = () => window.removeEventListener("click", this.clickLister);
   updateWebGl = () =>
     this.storeType
       .isEqualR(PointStoreType.previewPoint)

ui/src/features/scene_manager/presentation/forms/robot_form/robot_form.tsx

@@ -16,6 +16,9 @@ export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
   const [store] = React.useState(() => new RobotFormStore(props.store));
   React.useEffect(() => {
     store.init();
+    return () => {
+      store.dispose();
+    };
   }, []);
   return (
     <div style={{ overflowY: "scroll", height: "100%" }}>
@@ -56,10 +59,7 @@ export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
         ))
         .with(RobotStoreType.previewRobot, () => (
           <>
-            <CoordsForm store={store} update={() => store.updateScene()} />
+            <CoreText text="Управление соединениями" type={CoreTextType.small} />
-
-            <div style={{ height: 40 }} />
-            <CoreText text="Управление соединениями" type={CoreTextType.header} />
             {store.viewModel.jointPosition.map((el, i) => (
               <div>
                 <CoreInputNumber
@@ -73,7 +73,7 @@ export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
                       jointPosition: store.viewModel.jointPosition.map((element, index) =>
                         index.isEqualR(i).fold(
                           () => {
-                            element.angel = value;
+                            element.angle = value;
                             return element;
                           },
                           () => element
@@ -87,6 +87,9 @@ export const RobotForm = observer((props: IDefaultSceneManagerFormProps) => {
               </div>
             ))}
             <div style={{ height: 40 }} />
+            <CoordsForm store={store} update={() => store.updateScene()} />
+            <div style={{ height: 40 }} />
+
           </>
         ))
         .otherwise(() => (

ui/src/features/scene_manager/presentation/forms/robot_form/robot_form_store.ts

@@ -6,8 +6,6 @@ import { RobotModel } from "../../../../../core/model/robot_model";
 import { SceneMangerStore } from "../../scene_manager_store";
 import { isPreviewMode } from "../scene_manager_forms";
 import { message } from "antd";
-import { SceneModelsTypes } from "../../../../../core/model/scene_models_type";
-import { Vector3 } from "three";
 
 export enum RobotStoreType {
   previewRobot = "previewRobot",
@@ -28,9 +26,10 @@ export class RobotFormStore extends FormState<RobotModel, CoreError> {
         this.viewModel.vector3 = vector3;
         this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
         this.sceneMangerStore.activeFormType = undefined;
-        this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore))
+        this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems(this.sceneMangerStore));
-        this.sceneMangerStore.scene.push(this.viewModel)
+        this.sceneMangerStore.scene.push(this.viewModel);
         window.removeEventListener("click", this.clickLister);
+        this.sceneMangerStore.visibleSaveButton();
       })
     );
 
@@ -50,7 +49,12 @@ export class RobotFormStore extends FormState<RobotModel, CoreError> {
   updateScene = () =>
     this.storeType
       .isEqualR(RobotStoreType.previewRobot)
-      .map(() => this.viewModel.update(this.sceneMangerStore.coreThreeRepository!));
+      .map(
+        () => (
+          this.viewModel.update(this.sceneMangerStore.coreThreeRepository!),
+          this.sceneMangerStore.visibleSaveButton()
+        )
+      );
   createNewRobot = () =>
     this.viewModel.isValid().fold(
       async (s) =>

ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_form.tsx

@@ -7,6 +7,7 @@ import { CoreButton } from "../../../../../core/ui/button/button";
 import { match } from "ts-pattern";
 import { SpawnPositionTypesForm } from "../../components/spawn_position_types";
 import { CoreInput } from "../../../../../core/ui/input/input";
+import { CoordsForm } from "../../components/coords_form";
 
 export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) => {
   const [store] = React.useState(() => new SolidBodyStore(props.store));
@@ -20,31 +21,8 @@ export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) =>
         {match(store.solidBodyStoreType)
           .with(SolidBodyStoreType.previewSolid, () => (
             <>
-              <CoreText text={"Твердое тело"} type={CoreTextType.header} />
+              <CoreText text={"Твердое тело"} type={CoreTextType.header} /> 
-              <CoreInput
+              <CoordsForm store={store} update={store.updateBodySimulation} />
-                value={String(store.viewModel.vector3.x)}
-                label="Вектор X"
-                onChange={(text) => (
-                  store.updateForm({ vector3: store.viewModel.vector3.setX(Number(text)) }),
-                  store.updateBodySimulation()
-                )}
-              />
-              <CoreInput
-                value={String(store.viewModel.vector3.x)}
-                label="Вектор Y"
-                onChange={(text) => (
-                  store.updateForm({ vector3: store.viewModel.vector3.setY(Number(text)) }),
-                  store.updateBodySimulation()
-                )}
-              />
-              <CoreInput
-                value={String(store.viewModel.vector3.x)}
-                label="Вектор Z"
-                onChange={(text) => (
-                  store.updateForm({ vector3: store.viewModel.vector3.setZ(Number(text)) }),
-                  store.updateBodySimulation()
-                )}
-              />
               <CoreText text={"Тип твердого тела: " + store.viewModel.solidType} type={CoreTextType.header} />
             </>
           ))
@@ -68,11 +46,7 @@ export const SolidBodyForm = observer((props: IDefaultSceneManagerFormProps) =>
           ))
           .with(SolidBodyStoreType.spawn2DVector, () => (
             <>
-              {props.store.mousePosition ? (
+              <CoreText text={"Выберите точку размещения"} type={CoreTextType.header} />
-                ""
-              ) : (
-                <CoreText text={"Выберите точку размещения"} type={CoreTextType.header} />
-              )}
             </>
           ))
           .otherwise(() => (

ui/src/features/scene_manager/presentation/forms/solid_body/solid_body_store.tsx

@@ -7,7 +7,7 @@ import { SceneMangerStore } from "../../scene_manager_store";
 import { SpawnPositionTypes } from "../../../../../core/model/spawn_position_types";
 import { isPreviewMode } from "../scene_manager_forms";
 import { SolidModel } from "../../../../../core/model/solid_model";
-import { SceneModelsTypes } from "../../../../../core/model/scene_models_type";
+
 export enum SolidBodyStoreType {
   selectBody = "selectBody",
   selectSpawnPositionType = "selectSpawnPositionType",
@@ -52,20 +52,27 @@ export class SolidBodyStore extends FormState<SolidModel, CoreError> {
   };
   errorHandingStrategy = (error: CoreError) => {};
 
-  dispose = () => {};
+  dispose = () => {
-  selectSpawnType = (type: string) => {
+    window.removeEventListener("click", this.clickLister);
-    this.spawnType = type;
-    this.solidBodyStoreType = SolidBodyStoreType.spawn2DVector;
-    this.sceneMangerStore.mousePositionAwait = true;
-    this.sceneMangerStore.spawnHelper = {
-      url: this.selectBody.daeUrl,
-      name: this.selectBody.name,
-      spawn: SceneModelsTypes.SOLID,
-      isFinished: false,
-      type: this.spawnType,
-    };
-    this.sceneMangerStore.activeFormType = undefined;
   };
+  selectSpawnType = () => {
+    this.solidBodyStoreType = SolidBodyStoreType.spawn2DVector;
+
+    setTimeout(() => window.addEventListener("click", this.clickLister), 1000);
+  };
+  clickLister = (event: MouseEvent) =>
+    this.solidBodyStoreType.isEqualR(SolidBodyStoreType.spawn2DVector).map(() =>
+      this.sceneMangerStore!.clickScene(event, this.sceneMangerStore!.canvasOffsetX).map((vector3) => {
+        this.viewModel.vector3 = vector3;
+        this.viewModel.spawnType = "BoundBox";
+        this.viewModel.toWebGl(this.sceneMangerStore.coreThreeRepository!);
+        this.sceneMangerStore.sceneItems.push(this.viewModel.toSceneItems());
+        this.sceneMangerStore.scene.push(this.viewModel);
+        window.removeEventListener("click", this.clickLister);
+        this.sceneMangerStore.activeFormType = undefined;
+        this.sceneMangerStore.visibleSaveButton()
+      })
+    );
   updateBodySimulation = () =>
     this.solidBodyStoreType
       .isEqualR(SolidBodyStoreType.previewSolid)
@@ -73,5 +80,6 @@ export class SolidBodyStore extends FormState<SolidModel, CoreError> {
   clickSelectBody = (el: Parts) => {
     this.selectBody = el;
     this.solidBodyStoreType = SolidBodyStoreType.selectSpawnPositionType;
+    this.viewModel = this.viewModel.fromParts(el);
   };
 }

ui/src/features/scene_manager/presentation/forms/zone/zone_http_repository.ts

@@ -1,3 +0,0 @@
-import { HttpRepository } from "../../../../../core/repository/http_repository";
-
-export class ZoneHttpRepository extends HttpRepository {}

ui/src/features/scene_manager/presentation/forms/zone/zone_store.ts

@@ -1,7 +1,7 @@
 import makeAutoObservable from "mobx-store-inheritance";
 import { NavigateFunction } from "react-router-dom";
 import { ZoneModel } from "../../../../../core/model/zone_model";
-import { ZoneHttpRepository } from "./zone_http_repository";
+
 import { FormState, CoreError } from "../../../../../core/store/base_store";
 import { isPreviewMode } from "../scene_manager_forms";
 import { SceneMangerStore } from "../../scene_manager_store";
@@ -9,7 +9,6 @@ export enum ZoneStoreType {
   preview = "preview",
 }
 export class ZoneStore extends FormState<ZoneModel, CoreError> {
- 
   constructor(sceneMangerStore: SceneMangerStore) {
     super();
     this.sceneMangerStore = sceneMangerStore;
@@ -18,9 +17,8 @@ export class ZoneStore extends FormState<ZoneModel, CoreError> {
   storeType: ZoneStoreType;
   sceneMangerStore: SceneMangerStore;
   viewModel: ZoneModel = ZoneModel.empty();
-  cameraDeviceHttpRepository: ZoneHttpRepository = new ZoneHttpRepository();
+  errorHandingStrategy = (_error: CoreError) => {};
-  errorHandingStrategy = (error: CoreError) => {};
+  init = async (_navigate?: NavigateFunction | undefined) => {
-  init = async (navigate?: NavigateFunction | undefined) => {
     isPreviewMode(this.sceneMangerStore.activeFormDependency).map(() =>
       this.sceneMangerStore.scene
         .rFind<ZoneModel>((el) => el.name.isEqual(this.sceneMangerStore.selectedItemName ?? ""))
@@ -38,5 +36,8 @@ export class ZoneStore extends FormState<ZoneModel, CoreError> {
         )
     );
   };
-  updateWebGl = () => this.storeType.isEqualR(ZoneStoreType.preview).map(() => this.sceneMangerStore.coreThreeRepository!.updateInstance(this.viewModel))
+  updateWebGl = () =>
+    this.storeType
+      .isEqualR(ZoneStoreType.preview)
+      .map(() => this.sceneMangerStore.coreThreeRepository!.updateInstance(this.viewModel));
 }

ui/src/features/scene_manager/presentation/scene_manager_store.ts

@@ -1,5 +1,5 @@
 import makeAutoObservable from "mobx-store-inheritance";
-import { Object3D, Object3DEventMap, Vector2, Vector3 } from "three";
+import { Object3D, Vector2, Vector3 } from "three";
 import { message } from "antd";
 import { CoreThreeRepository } from "../../../core/repository/core_three_repository";
 import { HttpError } from "../../../core/repository/http_repository";
@@ -43,8 +43,11 @@ export interface SceneItems {
   isSelected: boolean;
   icon: string;
 }
+
+
 export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpError> {
   activeFormType?: string;
+  activeSceneId?: string;
   selectedItemName?: string;
   activeFormDependency: Object = {};
   viewModel: SceneViewModel = SceneViewModel.empty();
@@ -60,7 +63,6 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
   scenes: SceneModel[] = [];
   storeMode: StoreMode;
   canvasRef?: HTMLCanvasElement;
-  mousePositionAwait: boolean = false;
   mousePosition?: Vector2;
   spawnHelper?: ISpawnHelper;
   selectSceneObject?: Object;
@@ -87,6 +89,7 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
     { name: "Точки захвата", fn: () => this.createNewForm(SceneManagerForms.capturePoints, true) },
   ];
   canvasOffsetX?: number;
+  sceneName?: string;
   constructor() {
     super(DrawersSceneManager);
     makeAutoObservable(this);
@@ -94,9 +97,8 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
     this.sceneHttpRepository = new SceneHttpRepository();
     this.sceneMode = SceneMode.Select;
   }
-  sceneSave = () => {
+  sceneSave = () => this.sceneHttpRepository.editScene(SceneAsset.newScene(this.scene, this.sceneName ?? ""));
-    console.log(JSON.stringify(this.scene));
+
-  };
   iconToSceneManagerForm = (icon: string): SceneManagerForms => {
     if (icon.isEqual("Camera")) {
       this.activeFormDependency = {
@@ -153,7 +155,6 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
     });
     this.sceneMode = mode;
     this.coreThreeRepository?.setTransformMode(this.sceneMode);
-    this.sceneModeWatcher();
   };
   createNewForm = (formType: SceneManagerForms | undefined, isNeedClearDependency?: boolean) => {
     this.activeFormDependency = Object.assign(this.activeFormDependency, { store: this });
@@ -183,31 +184,20 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
 
   addNewCamera = (model: CameraModel) => {
     model.vector3 = this.coreThreeRepository!.camera.position;
-    // model.quaternion = this.coreThreeRepository!.camera.quaternion;
+    model.quaternion = this.coreThreeRepository!.camera.quaternion.toArray();
+    model.aspect = this.coreThreeRepository!.camera.aspect;
     this.sceneItems.push({ name: model.name, icon: "Camera", fn: () => {}, isSelected: false });
     this.scene.push(model);
-    this.coreThreeRepository?.addSceneCamera(model);
+    model.toWebGl(this.coreThreeRepository!);
     this.visibleSaveButton();
   };
 
-  loaderWatcher = () => {};
-
-  loadSceneRobossemblerAsset = (name: string) => {
-    try {
-      // this.coreThreeRepository?.loader(assetPath, this.loaderWatcher, name);
-      // this.visibleSaveButton();
-    } catch (error) {
-      message.error(String(error));
-    }
-  };
-
   hiddenMenu = () => (this.isSceneMenuShow = false);
 
-  sceneModeWatcher() {}
-
   init = async () => {};
   initParam = (id: string | undefined) => {
     if (id) {
+      this.activeSceneId = id;
       this.storeMode = StoreMode.sceneInstance;
     } else {
       this.storeMode = StoreMode.allScenes;
@@ -220,13 +210,9 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
   loadScene = (canvasRef: HTMLCanvasElement) => {
     this.canvasRef = canvasRef;
     this.storeMode.isEqualR(StoreMode.sceneInstance).map(() => this.loadWebGl(canvasRef));
-    // await this.mapOk<RobossemblerAssets>("robossemblerAssets", this.sceneHttpRepository.getRobossemblerAssets());
-    // if (this.robossemblerAssets) {
-    //   this.coreThreeRepository?.loadInstances(this.robossemblerAssets);
-    // }
   };
 
-  loadWebGl(canvasRef: HTMLCanvasElement): void {
+  loadWebGl = async (canvasRef: HTMLCanvasElement): Promise<void> => {
     this.coreThreeRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, this.watcherSceneEditorObject);
 
     this.coreThreeRepository.render();
@@ -234,18 +220,16 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
     this.canvasOffsetX = canvasRef.getBoundingClientRect().x;
     canvasRef.addEventListener("click", (event) => this.clickLister(event, canvasRef.getBoundingClientRect().x));
 
-    const sceneAssets = this.sceneHttpRepository.getScene();
+    (await this.sceneHttpRepository.getSceneAsset(this.activeSceneId ?? "")).fold(
-    this.coreThreeRepository?.loadScene(sceneAssets);
+      (sceneAssets) => {
-    this.sceneItems = sceneAssets.scene.map((el) => {
+        this.sceneName = sceneAssets.name;
-      return {
+        this.coreThreeRepository?.loadScene(sceneAssets);
-        fn: () => {},
+        this.sceneItems = sceneAssets.toSceneItems();
-        name: el.name,
+        this.scene = sceneAssets.scene;
-        icon: el.icon,
+      },
-        isSelected: false,
+      () => {}
-      };
+    );
-    });
+  };
-    this.scene = sceneAssets.scene;
-  }
   clickScene = (event: MouseEvent, offset: number = 0): Result<void, Vector3> => {
     const vector = new Vector2();
     const boundingRect = this.canvasRef!.getBoundingClientRect();
@@ -260,25 +244,7 @@ export class SceneMangerStore extends UiDrawerFormState<SceneViewModel, HttpErro
 
     vector.x = ((event.clientX - offset) / boundingRect.width) * 2 - 1;
     vector.y = -(event.clientY / boundingRect.height) * 2 + 1;
-    if (this.mousePositionAwait && this.spawnHelper) {
+
-      this.mousePositionAwait = false;
-      this.mousePosition = vector;
-      this.coreThreeRepository?.setRayCastAndGetFirstObjectAndPointToObject(vector).map((v3) => {
-        this.coreThreeRepository?.solidSpawn(
-          this.spawnHelper as ISpawnHelper,
-          (obj: Object3D<Object3DEventMap> | undefined) => {
-            this.sceneItems.push({
-              name: String(this.spawnHelper?.name),
-              icon: "Solid",
-              isSelected: false,
-              fn: () => this.createNewForm(SceneManagerForms.solidBody),
-            });
-            this.visibleSaveButton();
-          },
-          v3
-        );
-      });
-    }
     if (this.sceneMode.isEqual(SceneMode.Select)) {
       return;
     }

ui/src/index.tsx

@@ -10,7 +10,9 @@ import { configure } from "mobx";
 configure({
   enforceActions: "never",
 });
+
 extensions();
+
 const root = ReactDOM.createRoot(document.getElementById("root") as HTMLElement);
 
 root.render(

ui/tsconfig.json

@@ -21,6 +21,5 @@
     "strictPropertyInitialization": false,
     "sourceMap": true
   },
-  "types": ["babylonjs", "babylonjs-loaders"],
   "include": ["src"]
 }

web_p/train_Dope.py

@@ -540,3 +540,6 @@ if __name__ == "__main__":
     args = parser.parse_args()
 
     train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
+
+
+