simultaion
This commit is contained in:
Your Name
parent
c5ae89d18a
commit
61118a7423
10 changed files with 277 additions and 58 deletions
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@ -32,7 +32,6 @@ export class ExecWeightProcessScenario extends CallbackStrategyWithIdQuery {
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if (preTrain) {
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execCommand += ` --pretrain`;
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}
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console.log(execCommand);
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return await new ExecProcessUseCase().call(
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`${model.project.rootDir}/`,
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execCommand,
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126
ui/package-lock.json
generated
126
ui/package-lock.json
generated
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@ -8,6 +8,10 @@
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"name": "ui-robossembler",
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"version": "0.1.0",
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"dependencies": {
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"@foxglove/cdr": "^3.3.0",
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"@foxglove/rosmsg": "^5.0.4",
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"@foxglove/rosmsg2-serialization": "^2.0.3",
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"@foxglove/ws-protocol": "^0.7.3",
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"@monaco-editor/react": "^4.6.0",
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"@testing-library/jest-dom": "^5.17.0",
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"@testing-library/react": "^13.4.0",
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@ -53,6 +57,7 @@
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"urdf-loader": "^0.12.1",
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"uuid": "^9.0.1",
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"web-vitals": "^2.1.4",
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"ws": "^8.17.0",
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"xml-formatter": "^3.6.2"
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},
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"devDependencies": {
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@ -2625,6 +2630,72 @@
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"node": "^12.22.0 || ^14.17.0 || >=16.0.0"
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}
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},
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"node_modules/@foxglove/cdr": {
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"version": "3.3.0",
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"resolved": "https://registry.npmjs.org/@foxglove/cdr/-/cdr-3.3.0.tgz",
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"integrity": "sha512-CjeA6ka/0cddVzQZY0qTEbExw849C7dD1aGpa+KeEzx0LZNxsQvvhsqWeGjszVM4BzwPcyWHwsiOZv27zbnnFA==",
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"engines": {
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"node": ">= 14"
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}
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},
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"node_modules/@foxglove/message-definition": {
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"version": "0.2.0",
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"resolved": "https://registry.npmjs.org/@foxglove/message-definition/-/message-definition-0.2.0.tgz",
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"integrity": "sha512-IQHIGCvBZR8GIua9nEpS+hsMF3gm1bfbrrnjG0rgtcFBWiNuKbzx4vIP8OIwDC+8wtwcFdfJhf4Vp5TPFiUUcQ=="
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},
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"node_modules/@foxglove/rosmsg": {
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"version": "5.0.4",
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"resolved": "https://registry.npmjs.org/@foxglove/rosmsg/-/rosmsg-5.0.4.tgz",
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"integrity": "sha512-s0JQLA6Zi0Qh9HtzyAan30sjiMU0u34+fkwccek/Xt+aQjCkSoErP/U4NBP6hCDfp0fBcb7CDSU2ggLFy/rJAQ==",
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"dependencies": {
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"@foxglove/message-definition": "^0.3.1",
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"md5-typescript": "^1.0.5"
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},
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"engines": {
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"node": ">= 14"
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}
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},
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"node_modules/@foxglove/rosmsg/node_modules/@foxglove/message-definition": {
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"version": "0.3.1",
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"resolved": "https://registry.npmjs.org/@foxglove/message-definition/-/message-definition-0.3.1.tgz",
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"integrity": "sha512-nkPowiED67LjcKEC77CprkUG3XvSsFHHR9HEwWCuhnIC2wm0W57T1J+WWvteoArZ7SdGGlKzSYSRFyjQkgmITw=="
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},
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"node_modules/@foxglove/rosmsg2-serialization": {
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"version": "2.0.3",
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"resolved": "https://registry.npmjs.org/@foxglove/rosmsg2-serialization/-/rosmsg2-serialization-2.0.3.tgz",
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"integrity": "sha512-atNKdzO8aYJLFbqd8OblUo1V5faWSmM2mlKkDfA/4wI65phGiq+SJOfElbj5nNNtRGgC60BkdIxcRyMQgxym2g==",
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"dependencies": {
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"@foxglove/cdr": "^3.0.0",
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"@foxglove/message-definition": "^0.2.0",
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"@foxglove/rostime": "^1.1.2"
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},
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"engines": {
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"node": ">= 14"
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}
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},
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"node_modules/@foxglove/rostime": {
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"version": "1.1.2",
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"resolved": "https://registry.npmjs.org/@foxglove/rostime/-/rostime-1.1.2.tgz",
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"integrity": "sha512-vWuTJCuGv0xvgwOlrZ1y2MevmNMVxWcUU/HwlmYXi/jUq/kRaACStU18uyuZ3LzdNKaffkti0rTcXWESaQjwQw==",
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"engines": {
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"node": ">= 14"
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}
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},
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"node_modules/@foxglove/ws-protocol": {
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"version": "0.7.3",
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"resolved": "https://registry.npmjs.org/@foxglove/ws-protocol/-/ws-protocol-0.7.3.tgz",
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"integrity": "sha512-tgZpg1eT5Gm/C9Qe+BMdfH6P5WoSv/dHTcU61LJr36zqFTNfJ6hjZ+FWba5PLz/yoJd0/xgYUJatzamm43yeWA==",
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"dependencies": {
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"debug": "^4",
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"eventemitter3": "^5.0.1",
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"tslib": "^2.6.2"
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}
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},
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"node_modules/@foxglove/ws-protocol/node_modules/eventemitter3": {
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"version": "5.0.1",
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"resolved": "https://registry.npmjs.org/eventemitter3/-/eventemitter3-5.0.1.tgz",
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"integrity": "sha512-GWkBvjiSZK87ELrYOSESUYeVIc9mvLLf/nXalMOS5dYrgZq9o5OVkbZAVM06CVxYsCwH9BDZFPlQTlPA1j4ahA=="
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},
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"node_modules/@humanwhocodes/config-array": {
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"version": "0.11.14",
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"resolved": "https://registry.npmjs.org/@humanwhocodes/config-array/-/config-array-0.11.14.tgz",
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@ -11006,6 +11077,26 @@
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}
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}
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},
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"node_modules/jsdom/node_modules/ws": {
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"version": "7.5.9",
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"resolved": "https://registry.npmjs.org/ws/-/ws-7.5.9.tgz",
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"integrity": "sha512-F+P9Jil7UiSKSkppIiD94dN07AwvFixvLIj1Og1Rl9GGMuNipJnV9JzjD6XuqmAeiswGvUmNLjr5cFuXwNS77Q==",
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"engines": {
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"node": ">=8.3.0"
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},
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"peerDependencies": {
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"bufferutil": "^4.0.1",
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"utf-8-validate": "^5.0.2"
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},
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"peerDependenciesMeta": {
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"bufferutil": {
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"optional": true
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},
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"utf-8-validate": {
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"optional": true
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}
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}
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},
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"node_modules/jsesc": {
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"version": "2.5.2",
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"resolved": "https://registry.npmjs.org/jsesc/-/jsesc-2.5.2.tgz",
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@ -11361,6 +11452,11 @@
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"tmpl": "1.0.5"
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}
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},
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"node_modules/md5-typescript": {
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"version": "1.0.5",
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"resolved": "https://registry.npmjs.org/md5-typescript/-/md5-typescript-1.0.5.tgz",
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"integrity": "sha512-ovAc4EtiNt2dY8JPhPr/wkC9h4U5k/nuClNVcG0Ga3V1rMlYpAY24ZaaymFXJlz+ccJ6UMPo3FSaVKe7czBsXw=="
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},
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"node_modules/mdn-data": {
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"version": "2.0.4",
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"resolved": "https://registry.npmjs.org/mdn-data/-/mdn-data-2.0.4.tgz",
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@ -17771,26 +17867,6 @@
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"url": "https://opencollective.com/webpack"
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}
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},
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"node_modules/webpack-dev-server/node_modules/ws": {
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"version": "8.16.0",
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"resolved": "https://registry.npmjs.org/ws/-/ws-8.16.0.tgz",
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"integrity": "sha512-HS0c//TP7Ina87TfiPUz1rQzMhHrl/SG2guqRcTOIUYD2q8uhUdNHZYJUaQ8aTGPzCh+c6oawMKW35nFl1dxyQ==",
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"engines": {
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"node": ">=10.0.0"
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},
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"peerDependencies": {
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"bufferutil": "^4.0.1",
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"utf-8-validate": ">=5.0.2"
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},
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"peerDependenciesMeta": {
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"bufferutil": {
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"optional": true
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},
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"utf-8-validate": {
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"optional": true
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}
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}
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},
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"node_modules/webpack-manifest-plugin": {
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"version": "4.1.1",
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"resolved": "https://registry.npmjs.org/webpack-manifest-plugin/-/webpack-manifest-plugin-4.1.1.tgz",
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@ -18433,15 +18509,15 @@
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}
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},
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"node_modules/ws": {
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"version": "7.5.9",
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"resolved": "https://registry.npmjs.org/ws/-/ws-7.5.9.tgz",
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"integrity": "sha512-F+P9Jil7UiSKSkppIiD94dN07AwvFixvLIj1Og1Rl9GGMuNipJnV9JzjD6XuqmAeiswGvUmNLjr5cFuXwNS77Q==",
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"version": "8.17.0",
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"resolved": "https://registry.npmjs.org/ws/-/ws-8.17.0.tgz",
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"integrity": "sha512-uJq6108EgZMAl20KagGkzCKfMEjxmKvZHG7Tlq0Z6nOky7YF7aq4mOx6xK8TJ/i1LeK4Qus7INktacctDgY8Ow==",
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"engines": {
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"node": ">=8.3.0"
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"node": ">=10.0.0"
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},
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"peerDependencies": {
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"bufferutil": "^4.0.1",
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"utf-8-validate": "^5.0.2"
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"utf-8-validate": ">=5.0.2"
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},
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"peerDependenciesMeta": {
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"bufferutil": {
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@ -3,6 +3,10 @@
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"version": "0.1.0",
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"private": true,
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"dependencies": {
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"@foxglove/cdr": "^3.3.0",
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"@foxglove/rosmsg": "^5.0.4",
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"@foxglove/rosmsg2-serialization": "^2.0.3",
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"@foxglove/ws-protocol": "^0.7.3",
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"@monaco-editor/react": "^4.6.0",
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"@testing-library/jest-dom": "^5.17.0",
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"@testing-library/react": "^13.4.0",
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@ -48,6 +52,7 @@
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"urdf-loader": "^0.12.1",
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"uuid": "^9.0.1",
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"web-vitals": "^2.1.4",
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"ws": "^8.17.0",
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"xml-formatter": "^3.6.2"
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},
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"scripts": {
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@ -21,7 +21,8 @@ import {
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Quaternion,
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MeshBasicMaterial,
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PlaneGeometry,
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BoxGeometry
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BoxGeometry,
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AxesHelper
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} from "three";
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import { TypedEvent } from "../helper/typed_event";
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import { Result } from "../helper/result";
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@ -34,7 +35,12 @@ import {
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import { SceneMode } from "../../features/scene_manager/model/scene_view";
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import { throttle } from "../helper/throttle";
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import { Asset, InstanceRgbCamera, RobossemblerAssets, SceneSimpleObject } from "../model/robossembler_assets";
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import { LoadingManager } from 'three';
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import URDFLoader, { URDFLink } from 'urdf-loader';
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import { UrdfTransforms, coordsToQuternios, coordsToVector } from "../../features/simulations/tranforms_model";
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Object3D.DEFAULT_UP = new Vector3(0, 0, 1);
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export enum UserData {
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selectedObject = "selected_object",
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cameraInitialization = "camera_initialization",
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@ -51,6 +57,10 @@ interface IEmissiveCache {
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status: boolean;
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object3d: Object3D<Object3DEventMap>;
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}
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type SceneFrames = { [K in string]: URDFLink; }
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export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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scene = new Scene();
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@ -62,10 +72,14 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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orbitControls: OrbitControls;
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htmlSceneWidth: number;
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htmlSceneHeight: number;
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sceneFrame?: SceneFrames;
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objLoader = new OBJLoader();
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glbLoader = new GLTFLoader();
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daeLoader = new ColladaLoader();
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stlLoader = new STLLoader();
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manager = new LoadingManager();
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urdfLoader = new URDFLoader(this.manager);
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watcherSceneEditorObject: Function;
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constructor(htmlCanvasRef: HTMLCanvasElement, watcherSceneEditorObject: Function) {
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@ -125,12 +139,26 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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cube.position.copy(vector);
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}
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this.scene.add(cube);
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// this.scene.children.
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}
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deleteSceneItem(item: BaseSceneItemModel) {
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const updateScene = this.scene;
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updateScene.children = item.deleteToScene(updateScene);
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}
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loadUrdf = (urlPath: string) => {
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this.urdfLoader.load(
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urlPath, // The path to the URDF within the package OR absolute
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robot => {
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this.scene.add(robot)
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console.log(robot)
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// @ts-expect-error
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this.sceneFrame = robot.frames
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}
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);
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}
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loadInstances(robossemblerAssets: RobossemblerAssets) {
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robossemblerAssets.instances.forEach(async (el) => {
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if (el instanceof InstanceRgbCamera) {
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@ -142,7 +170,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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const asset = robossemblerAssets.getAssetAtInstance(el.instanceAt as string);
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this.loader(
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asset.meshPath,
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() => {},
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() => { },
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asset.name,
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new Vector3(el.position.x, el.position.y, el.position.z),
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new Quaternion(el.quaternion[0], el.quaternion[1], el.quaternion[2], el.quaternion[3])
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@ -153,7 +181,7 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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loadInstance(asset: Asset, loadCallback?: Function) {
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this.loader(
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asset.meshPath,
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loadCallback ? loadCallback : () => {},
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loadCallback ? loadCallback : () => { },
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asset.name,
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new Vector3(Number(asset.posX), Number(asset.posY), Number(asset.posZ)),
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new Quaternion(0, 0, 0, 0)
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@ -282,21 +310,11 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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this.light();
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this.addListeners();
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const floor = new GridHelper(100, 100, 0x888888, 0x444444);
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floor.geometry.rotateX(Math.PI * 0.5)
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floor.userData = {};
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floor.userData[UserData.cameraInitialization] = true;
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floor.up.copy(new Vector3(0, 0, 1))
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this.scene.add(floor);
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const planeMesh = new Mesh(
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new PlaneGeometry(10, 10, 10, 10),
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new MeshBasicMaterial({ color: 0x808080, wireframe: true })
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);
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planeMesh.userData[UserData.selectedObject] = true;
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planeMesh.userData[UserData.objectForMagnetism] = true;
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planeMesh.rotation.x = -Math.PI / 2;
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this.makeCube(1);
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this.makeCube(2, new Vector3(20, 0, 10), "yellow");
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this.scene.add(planeMesh);
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}
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render() {
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@ -329,8 +347,8 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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case "glb":
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this.glbLoader.load(
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url,
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(result) => {},
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(err) => {}
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(result) => { },
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(err) => { }
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);
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break;
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case "obj":
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@ -349,22 +367,22 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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this.scene.add(el);
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});
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},
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(err) => {}
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(err) => { }
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);
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break;
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case "dae":
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this.daeLoader.load(
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url,
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(result) => {},
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(err) => {}
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(result) => { },
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(err) => { }
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);
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break;
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case "stl":
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this.stlLoader.load(
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url,
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(result) => {},
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(result) => { },
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(err) => {}
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(err) => { }
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);
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break;
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}
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@ -451,4 +469,15 @@ export class CoreThreeRepository extends TypedEvent<BaseSceneItemModel> {
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this.camera.lookAt(bsWorld);
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this.orbitControls = new OrbitControls(this.camera, this.htmlCanvasRef);
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}
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urdfTransforms = (urdfTransforms: UrdfTransforms) => {
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urdfTransforms.transforms.forEach((transform) => {
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if (this.sceneFrame) {
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const currentLink = this.sceneFrame[transform?.child_frame_id ?? ""]
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const currentLinkParrent = this.sceneFrame[transform?.header.frame_id ?? ""]
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// currentLink.position.copy(coordsToVector(transform.transform.translation))
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currentLink.quaternion.copy(coordsToQuternios(transform.transform.rotation))
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}
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})
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}
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}
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37
ui/src/core/repository/ros_ws_bridge_repository.ts
Normal file
37
ui/src/core/repository/ros_ws_bridge_repository.ts
Normal file
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@ -0,0 +1,37 @@
|
|||
import { FoxgloveClient } from "@foxglove/ws-protocol"
|
||||
import { MessageReader } from '@foxglove/rosmsg2-serialization';
|
||||
import { parse as parseMessageDefinition } from '@foxglove/rosmsg';
|
||||
import { TypedEvent } from "../helper/typed_event";
|
||||
|
||||
export class RosWsBridgeRepository<T> extends TypedEvent<T> {
|
||||
client?: FoxgloveClient;
|
||||
constructor() {
|
||||
super();
|
||||
}
|
||||
connect(topic: string) {
|
||||
const client = new FoxgloveClient({
|
||||
ws: new WebSocket(`ws://localhost:8765`, [FoxgloveClient.SUPPORTED_SUBPROTOCOL]),
|
||||
});
|
||||
const deserializers = new Map();
|
||||
client.on("advertise", (channels) => {
|
||||
for (const channel of channels) {
|
||||
if (channel.topic.isEqual(topic)) {
|
||||
const subId = client.subscribe(channel.id);
|
||||
deserializers.set(subId, (data: any) => {
|
||||
return {
|
||||
data: data,
|
||||
channel: channel
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
});
|
||||
client.on("message", ({ subscriptionId, timestamp, data }) => {
|
||||
const channel = deserializers.get(subscriptionId)(data);
|
||||
this.emit(new MessageReader(parseMessageDefinition(channel.channel?.schema!, {
|
||||
ros2: true,
|
||||
})).readMessage(channel.data))
|
||||
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -19,7 +19,7 @@ import {
|
|||
import { DataSetScreen, DatasetsScreenPath } from "../../features/dataset/dataset_screen";
|
||||
import DetailsScreen, { DetailsScreenPath } from "../../features/details/details_screen";
|
||||
import { AssemblesScreen, AssemblesScreenPath } from "../../features/assembles/assembles_screen";
|
||||
import SimulationScreen, { SimulationScreenPath } from "../../features/simulations/simulations_screen";
|
||||
import { SimulationScreen, SimulationScreenPath } from "../../features/simulations/simulations_screen";
|
||||
import { EstimateScreen, EstimateScreenPath } from "../../features/estimate/estimate_screen";
|
||||
import { SkillPath, SkillScreen } from "../../features/skils/skills_screen";
|
||||
|
||||
|
|
|
|||
|
|
@ -24,7 +24,7 @@ export const AllProjectScreen: React.FunctionComponent = observer(() => {
|
|||
needBackButton={false}
|
||||
minText="create project?"
|
||||
path={CreateProjectScreenPath}
|
||||
isError={store.isError}
|
||||
isError={false}
|
||||
isLoading={store.isLoading}
|
||||
children={
|
||||
<div>
|
||||
|
|
|
|||
|
|
@ -1,11 +1,15 @@
|
|||
import * as React from "react";
|
||||
import { MainPage } from "../../core/ui/pages/main_page";
|
||||
|
||||
export interface ISimulationScreenProps {}
|
||||
import { SimulationStore } from "./simulations_store";
|
||||
interface ISimulationScreenProps { }
|
||||
export const SimulationScreenPath = "/simulation";
|
||||
|
||||
export default class SimulationScreen extends React.Component<ISimulationScreenProps> {
|
||||
public render() {
|
||||
return <MainPage page={"Симуляция"}></MainPage>;
|
||||
}
|
||||
}
|
||||
export const SimulationScreen = (props: ISimulationScreenProps) => {
|
||||
const [store] = React.useState(() => new SimulationStore());
|
||||
const canvasRef = React.useRef<HTMLCanvasElement>(null);
|
||||
React.useEffect(() => {
|
||||
store.init();
|
||||
store.loadScene(canvasRef.current!);
|
||||
}, []);
|
||||
return <MainPage page={"Симуляция"} bodyChildren={<canvas ref={canvasRef} style={{ overflow: "hidden" }} />} />;
|
||||
}
|
||||
29
ui/src/features/simulations/simulations_store.ts
Normal file
29
ui/src/features/simulations/simulations_store.ts
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
import makeAutoObservable from "mobx-store-inheritance";
|
||||
import { RosWsBridgeRepository } from "../../core/repository/ros_ws_bridge_repository";
|
||||
import { CoreThreeRepository } from "../../core/repository/core_three_repository";
|
||||
import { UrdfTransforms } from "./tranforms_model";
|
||||
|
||||
export class SimulationStore {
|
||||
rosWsUrdfTransfomsListner: RosWsBridgeRepository<UrdfTransforms> = new RosWsBridgeRepository();
|
||||
coreThereRepository?: CoreThreeRepository;
|
||||
|
||||
constructor() {
|
||||
makeAutoObservable(this)
|
||||
}
|
||||
init = () => {
|
||||
this.rosWsUrdfTransfomsListner.connect('/tf')
|
||||
}
|
||||
async loadScene(canvasRef: HTMLCanvasElement) {
|
||||
await this.loadWebGl(canvasRef);
|
||||
this.coreThereRepository?.loadUrdf('http://localhost:4001/robot.xml');
|
||||
if (this.coreThereRepository?.urdfTransforms) {
|
||||
this.rosWsUrdfTransfomsListner.on(this.coreThereRepository.urdfTransforms)
|
||||
|
||||
}
|
||||
}
|
||||
loadWebGl = async (canvasRef: HTMLCanvasElement) => {
|
||||
this.coreThereRepository = new CoreThreeRepository(canvasRef as HTMLCanvasElement, () => { });
|
||||
this.coreThereRepository.on(() => { });
|
||||
this.coreThereRepository.render();
|
||||
}
|
||||
}
|
||||
40
ui/src/features/simulations/tranforms_model.ts
Normal file
40
ui/src/features/simulations/tranforms_model.ts
Normal file
|
|
@ -0,0 +1,40 @@
|
|||
import { Quaternion, Vector3 } from "three";
|
||||
|
||||
export interface UrdfTransforms {
|
||||
transforms: TransformElement[];
|
||||
}
|
||||
|
||||
export interface TransformElement {
|
||||
header: Header;
|
||||
child_frame_id: string;
|
||||
transform: TransformTransform;
|
||||
}
|
||||
|
||||
export interface Header {
|
||||
stamp: Stamp;
|
||||
frame_id: string;
|
||||
}
|
||||
|
||||
export interface Stamp {
|
||||
sec: number;
|
||||
nsec: number;
|
||||
}
|
||||
|
||||
export interface TransformTransform {
|
||||
translation: Coords;
|
||||
rotation: Coords;
|
||||
}
|
||||
export interface Coords {
|
||||
x: number;
|
||||
y: number;
|
||||
z: number;
|
||||
w?: number;
|
||||
}
|
||||
|
||||
export const coordsToVector = (coords: Coords): Vector3 => {
|
||||
return new Vector3(coords.x, coords.y, coords.z)
|
||||
}
|
||||
export const coordsToQuternios = (coords: Coords): Quaternion => {
|
||||
return new Quaternion(coords.x, coords.y, coords.z, coords.w)
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue