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Add leo rover test
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@polyhobbyist
polyhobbyist committed Jul 22, 2024
1 parent 9277e36 commit e35ce4e
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Showing 2 changed files with 364 additions and 9 deletions.
104 changes: 95 additions & 9 deletions src/Render.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ import * as ColladaFileLoader from '@polyhobbyist/babylon-collada-loader';
let ground : BABYLON.GroundMesh | undefined = undefined;
let camera : BABYLON.ArcRotateCamera | undefined = undefined;
let currentRobot : Robot | undefined = undefined;
let worldAxis : BABYLON.TransformNode | undefined = undefined;

var statusLabel = new GUI.TextBlock();
let jointAxisList : BABYLON.PositionGizmo[] = [];
Expand Down Expand Up @@ -256,7 +257,7 @@ function createUI(scene : BABYLON.Scene) {
var toolbar = new GUI.StackPanel();
toolbar.paddingTop = "10px";
toolbar.paddingLeft = "10px";
toolbar.width = "500px";
toolbar.width = "700px";
toolbar.height = "50px";
toolbar.fontSize = "14px";
toolbar.horizontalAlignment = GUI.Control.HORIZONTAL_ALIGNMENT_LEFT;
Expand Down Expand Up @@ -286,6 +287,10 @@ function createUI(scene : BABYLON.Scene) {
toggleAxisRotationOnRobot(false, advancedTexture, scene, utilLayer, currentRobot);
});

createButton(toolbar, "worldAxis", "World Axis", scene, () => {
toggleWorldAxis();
});

var testSelection = new GUI.SelectionPanel("tests");
testSelection.width = 0.25;
testSelection.height = 0.48;
Expand All @@ -294,29 +299,100 @@ function createUI(scene : BABYLON.Scene) {

advancedTexture.addControl(testSelection);

var transformGroup = new GUI.CheckboxGroup("Transformation");

var basicGroup = new GUI.RadioGroup("Basic Tests");

var testList = [
{name: "Arti Robot", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/arti.urdf"},
var basicTestList = [
{name: "Basic", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/basic.urdf"},
{name: "Basic Joint", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/basic_with_joint.urdf"},
{name: "Basic Material", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/basic_with_material.urdf"},
{name: "Basic Remote Mesh", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/basic_with_remote_mesh.urdf"},
{name: "Basic with STL", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/basic_with_stl_mesh.urdf"},
{name: "Orientation", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/orientation.urdf"},
];

var robotTestList = [
{name: "leo", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/leo.urdf"},
{name: "BB", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/bb.urdf"},
{name: "Motoman", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/motoman.urdf"},
{name: "Orientation", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/orientation.urdf"},
{name: "Arti Robot", url: "https://raw.githubusercontent.com/polyhobbyist/babylon_ros/main/test/testdata/arti.urdf"},
];

basicTestList.forEach((t) => {
basicGroup.addRadio(t.name, () => {
applyURDF(scene, t.url);
});
});
testSelection.addGroup(basicGroup);

testList.forEach((t) => {
transformGroup.addCheckbox(t.name, () => {
var robotTestGroup = new GUI.RadioGroup("Robot Tests");
robotTestList.forEach((t) => {
robotTestGroup.addRadio(t.name, () => {
applyURDF(scene, t.url);
});
});

testSelection.addGroup(transformGroup);
testSelection.addGroup(robotTestGroup);

let size = 8;

var makeTextPlane = function (text : string, color : string, size : number) {
var dynamicTexture = new BABYLON.DynamicTexture("DynamicTexture", 50, scene, true);
dynamicTexture.hasAlpha = true;
dynamicTexture.drawText(text, 5, 40, "bold 36px Arial", color, "transparent", true);
var plane = BABYLON.MeshBuilder.CreatePlane("TextPlane", {size: size}, scene);
let material = new BABYLON.StandardMaterial("TextPlaneMaterial", scene);
material.backFaceCulling = false;
material.specularColor = new BABYLON.Color3(0, 0, 0);
material.diffuseTexture = dynamicTexture;

plane.material = material;
return plane;
};

worldAxis = new BABYLON.TransformNode("worldAxis", scene);

// Don't show it by default?
// Disabling since this is debug ui
// worldAxis.setEnabled(false);

// Babylon.JS coordinate system to ROS transform
worldAxis.rotation = new BABYLON.Vector3(-Math.PI/2, 0, 0);

var axisX = BABYLON.MeshBuilder.CreateLines("axisX", {points: [
new BABYLON.Vector3(0, 0, 0), new BABYLON.Vector3(size, 0, 0), new BABYLON.Vector3(size * 0.95, 0.05 * size, 0),
new BABYLON.Vector3(size, 0, 0), new BABYLON.Vector3(size * 0.95, -0.05 * size, 0)
]}, scene);
axisX.color = new BABYLON.Color3(1, 0, 0);
axisX.parent = worldAxis;

var xChar = makeTextPlane("X", "red", size / 10);
xChar.position = new BABYLON.Vector3(0.9 * size, -0.05 * size, 0);
xChar.parent = worldAxis;

var axisY = BABYLON.MeshBuilder.CreateLines("axisY", {points: [
new BABYLON.Vector3(0, 0, 0), new BABYLON.Vector3(0, size, 0), new BABYLON.Vector3(-0.05 * size, size * 0.95, 0),
new BABYLON.Vector3(0, size, 0), new BABYLON.Vector3(0.05 * size, size * 0.95, 0)
]}, scene);
axisY.color = new BABYLON.Color3(0, 1, 0);
axisY.parent = worldAxis;

var yChar = makeTextPlane("Y", "green", size / 10);
yChar.position = new BABYLON.Vector3(-0.05 * size, 0.9 * size, 0);
yChar.parent = worldAxis;

var axisZ = BABYLON.MeshBuilder.CreateLines("axisZ", { points: [
new BABYLON.Vector3(0, 0, 0), new BABYLON.Vector3(0, 0, size), new BABYLON.Vector3(0, -0.05 * size, size * 0.95),
new BABYLON.Vector3(0, 0, size), new BABYLON.Vector3(0, 0.05 * size, size * 0.95)
]}, scene);
axisZ.color = new BABYLON.Color3(0, 0, 1);
axisZ.parent = worldAxis;

var zChar = makeTextPlane("Z", "blue", size / 10);
zChar.position = new BABYLON.Vector3(0, 0.05 * size, 0.9 * size);
zChar.rotation = new BABYLON.Vector3(-Math.PI/2, 0, 0);
zChar.parent = worldAxis;

worldAxis.position = new BABYLON.Vector3(0, 0, 0);
}
// Main function that gets executed once the webview DOM loads
export async function RenderMain() {
Expand All @@ -341,3 +417,13 @@ export async function RenderMain() {


}
function toggleWorldAxis() {
if (worldAxis != undefined) {
if (worldAxis.isEnabled()) {
worldAxis.setEnabled(false);
} else {
worldAxis.setEnabled(true);
}
}
}

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