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IsabelParedesIsabelParedes
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‎.gitignore

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Original file line numberDiff line numberDiff line change
@@ -138,5 +138,6 @@ dmypy.json
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# Other
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examples/nao*
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examples/src/nao*
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examples/tst*
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.jupyter_releaser_checkout/

‎src/controls.ts

Lines changed: 137 additions & 119 deletions
Original file line numberDiff line numberDiff line change
@@ -1,132 +1,150 @@
1-
import { GUI } from "dat.gui";
2-
import { Color } from "three";
3-
import { URDFJoint } from "urdf-loader";
1+
import { GUI } from 'dat.gui';
2+
import { Color } from 'three';
3+
import { URDFJoint } from 'urdf-loader';
44

55
interface Joints {
6-
[name: string]: URDFJoint
6+
[name: string]: URDFJoint;
77
}
88

99
export class URDFControls extends GUI {
10-
11-
private _workspaceFolder: any;
12-
private _sceneFolder: any;
13-
private _jointsFolder: any;
14-
private _workingPath: string = '';
15-
16-
controls: any = {
17-
path: {},
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scene: {
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background: {},
20-
grid: {},
21-
height: {}
22-
},
23-
joints: {}
24-
};
25-
26-
constructor() {
27-
super({autoPlace: false});
28-
29-
this.width = 310;
30-
this.domElement.style.position = 'absolute';
31-
this.domElement.style.top = '0';
32-
this.domElement.style.right = '0';
33-
34-
this._workspaceFolder = this.addFolder('Workspace');
35-
this._sceneFolder = this.addFolder('Scene');
36-
this._jointsFolder = this.addFolder('Joints');
37-
}
38-
39-
get workspaceFolder() {
40-
return this._workspaceFolder;
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}
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43-
get sceneFolder() {
44-
return this._sceneFolder;
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}
46-
47-
get jointsFolder() {
48-
return this._jointsFolder;
10+
private _workspaceFolder: any;
11+
private _sceneFolder: any;
12+
private _jointsFolder: any;
13+
private _workingPath: string = '';
14+
15+
controls: any = {
16+
path: {},
17+
scene: {
18+
background: {},
19+
grid: {},
20+
height: {}
21+
},
22+
joints: {}
23+
};
24+
25+
constructor() {
26+
super({ autoPlace: false });
27+
28+
this.width = 310;
29+
this.domElement.style.position = 'absolute';
30+
this.domElement.style.top = '0';
31+
this.domElement.style.right = '0';
32+
33+
this._workspaceFolder = this.addFolder('Workspace');
34+
this._sceneFolder = this.addFolder('Scene');
35+
this._jointsFolder = this.addFolder('Joints');
36+
}
37+
38+
get workspaceFolder() {
39+
return this._workspaceFolder;
40+
}
41+
42+
get sceneFolder() {
43+
return this._sceneFolder;
44+
}
45+
46+
get jointsFolder() {
47+
return this._jointsFolder;
48+
}
49+
50+
private _isEmpty(obj: Object): Boolean {
51+
return Object.keys(obj).length === 0;
52+
}
53+
54+
createWorkspaceControls(workingPath: string = '') {
55+
if (this._isEmpty(this.controls.path)) {
56+
this._workingPath = workingPath;
57+
const workspaceSettings = {
58+
Path: this._workingPath,
59+
'set path': () => {}
60+
};
61+
this._workspaceFolder.add(workspaceSettings, 'Path');
62+
this.controls.path = this._workspaceFolder.add(
63+
workspaceSettings,
64+
'set path'
65+
);
66+
this._workspaceFolder.open();
4967
}
50-
51-
private _isEmpty(obj: Object): Boolean {
52-
return Object.keys(obj).length === 0;
68+
return this.controls.path;
69+
}
70+
71+
createSceneControls(
72+
bgColor = new Color(0x263238),
73+
gridColor = new Color(0x263238)
74+
) {
75+
if (this._isEmpty(this.controls.scene.background)) {
76+
const sceneSettings = {
77+
Background: this._convertColor2Array(bgColor),
78+
Grid: this._convertColor2Array(gridColor),
79+
Height: 0
80+
};
81+
82+
this.controls.scene.background = this._sceneFolder.addColor(
83+
sceneSettings,
84+
'Background'
85+
);
86+
this.controls.scene.grid = this._sceneFolder.addColor(
87+
sceneSettings,
88+
'Grid'
89+
);
90+
91+
const minHeight = -2;
92+
const maxHeight = 5;
93+
const stepSize = 0.1;
94+
this.controls.scene.height = this._sceneFolder.add(
95+
sceneSettings,
96+
'Height',
97+
minHeight,
98+
maxHeight,
99+
stepSize
100+
);
101+
102+
this._sceneFolder.open();
53103
}
54-
55-
createWorkspaceControls(workingPath: string = '') {
56-
if (this._isEmpty(this.controls.path)) {
57-
this._workingPath = workingPath;
58-
const workspaceSettings = {
59-
'Path': this._workingPath,
60-
'set path': () => {}
61-
}
62-
this._workspaceFolder.add(workspaceSettings, 'Path');
63-
this.controls.path = this._workspaceFolder.add(workspaceSettings, 'set path');
64-
this._workspaceFolder.open();
104+
return this.controls.scene;
105+
}
106+
107+
private _convertColor2Array(color: THREE.Color): number[] {
108+
// Note: using hex value instead of the RGB values in Color because
109+
// those are dependant on the color space
110+
const hexColor = color.getHexString();
111+
const colorArray = [
112+
parseInt(hexColor.slice(0, 2), 16),
113+
parseInt(hexColor.slice(2, 4), 16),
114+
parseInt(hexColor.slice(4, 6), 16)
115+
];
116+
return colorArray;
117+
}
118+
119+
createJointControls(joints: Joints) {
120+
if (this._isEmpty(this.controls.joints)) {
121+
Object.keys(joints).forEach((name: string) => {
122+
// Skip joints which should not be moved
123+
if (joints[name].jointType === 'fixed') {
124+
return;
65125
}
66-
return this.controls.path;
67-
}
68126

69-
createSceneControls(
70-
bgColor = new Color(0x263238),
71-
gridColor = new Color(0x263238)
72-
) {
73-
if (this._isEmpty(this.controls.scene.background)) {
74-
const sceneSettings = {
75-
'Background': this._convertColor2Array(bgColor),
76-
'Grid': this._convertColor2Array(gridColor),
77-
'Height': 0
78-
};
79-
80-
this.controls.scene.background = this._sceneFolder.addColor(sceneSettings, 'Background');
81-
this.controls.scene.grid = this._sceneFolder.addColor(sceneSettings, 'Grid');
82-
83-
const minHeight = -2;
84-
const maxHeight = 5;
85-
const stepSize = 0.1;
86-
this.controls.scene.height = this._sceneFolder.add(
87-
sceneSettings, 'Height', minHeight, maxHeight, stepSize);
88-
89-
this._sceneFolder.open();
90-
}
91-
return this.controls.scene;
92-
}
127+
const limitMin = Number(joints[name].limit.lower);
128+
const limitMax = Number(joints[name].limit.upper);
93129

94-
private _convertColor2Array(color: THREE.Color): number[] {
95-
// Note: using hex value instead of the RGB values in Color because
96-
// those are dependant on the color space
97-
const hexColor = color.getHexString();
98-
const colorArray = [
99-
parseInt(hexColor.slice(0,2), 16),
100-
parseInt(hexColor.slice(2,4), 16),
101-
parseInt(hexColor.slice(4,6), 16)
102-
]
103-
return colorArray;
104-
}
105-
106-
createJointControls(joints: Joints) {
107-
if (this._isEmpty(this.controls.joints)) {
108-
Object.keys(joints).forEach((name: string) => {
109-
// Skip joints which should not be moved
110-
if (joints[name].jointType === 'fixed') {
111-
return;
112-
}
113-
114-
const limitMin = Number(joints[name].limit.lower);
115-
const limitMax = Number(joints[name].limit.upper);
116-
117-
// Skip joint if the limits are not defined
118-
if ( limitMin === 0 && limitMax === 0 ) {
119-
return;
120-
}
121-
122-
const stepSize = ( limitMax - limitMin ) / 20;
123-
const initValue = joints[name].jointValue[0];
124-
125-
this.controls.joints[name] = this._jointsFolder.add(
126-
{[name]: initValue}, name, limitMin, limitMax, stepSize);
127-
});
128-
this._jointsFolder.open();
130+
// Skip joint if the limits are not defined
131+
if (limitMin === 0 && limitMax === 0) {
132+
return;
129133
}
130-
return this.controls.joints;
134+
135+
const stepSize = (limitMax - limitMin) / 20;
136+
const initValue = joints[name].jointValue[0];
137+
138+
this.controls.joints[name] = this._jointsFolder.add(
139+
{ [name]: initValue },
140+
name,
141+
limitMin,
142+
limitMax,
143+
stepSize
144+
);
145+
});
146+
this._jointsFolder.open();
131147
}
148+
return this.controls.joints;
149+
}
132150
}

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