First implementation of Open-RMF workcell editor

Signed-off-by: Luca Della Vedova <[email protected]>
Co-authored-by: Grey <[email protected]>

.github/workflows/ci_linux.yaml

@@ -0,0 +1,30 @@
+name: ci_linux
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: deps
+      run: |
+        sudo apt-get update
+        sudo apt-get install libasound2-dev libudev-dev libgtk-3-dev
+    - uses: actions/checkout@v3
+    - name: Build rmf_workcell_format
+      run: |
+        cd rmf_workcell_format
+        cargo build
+    - name: Build rmf_workcell_editor
+      run: cargo build
+    - name: Run tests
+      run: cargo test

.github/workflows/ci_web.yaml

@@ -0,0 +1,40 @@
+name: ci_web
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: rust-wasm-target
+      run: |
+        rustup target add wasm32-unknown-unknown
+
+    - name: apt-deps
+      run: |
+        sudo apt-get update
+        sudo apt-get install libasound2-dev libudev-dev binaryen
+
+    - name: cargo-deps
+      run: |
+        cargo install -f wasm-bindgen-cli --version 0.2.93
+
+    - uses: actions/checkout@v3
+
+    - name: build rmf_workcell_format
+      run: |
+        cd rmf_workcell_format
+        cargo build
+
+    - name: build rmf_workcell_editor
+      run: scripts/build-web.sh

.github/workflows/ci_windows.yaml

@@ -0,0 +1,42 @@
+name: ci_windows
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    steps:
+    - name: checkout
+      uses: actions/checkout@v3
+
+      # Run build
+    - name: Install Rustup using win.rustup.rs
+      run: |
+        # Disable the download progress bar which can cause perf issues
+        $ProgressPreference = "SilentlyContinue"
+        Invoke-WebRequest https://win.rustup.rs/ -OutFile rustup-init.exe
+        .\rustup-init.exe -y --default-host=x86_64-pc-windows-msvc --default-toolchain=none
+        del rustup-init.exe
+        rustup target add x86_64-pc-windows-msvc
+      shell: powershell
+
+    - name: build rmf_workcell_format
+      run: |
+        cd rmf_workcell_format
+        cargo build
+
+    - name: build rmf_workcell_editor
+      run: |
+        rustc -Vv
+        cargo -V
+        cargo build
+      shell: cmd
+
+    - name: test
+      run: |
+        cargo test
+      shell: cmd

.github/workflows/style.yaml

@@ -0,0 +1,29 @@
+name: style
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  style:
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - uses: actions/checkout@v3
+
+    - name: rustfmt
+      run: |
+        rustup component add rustfmt
+
+    - name: style
+      run: rustfmt --check --edition 2021 rmf_workcell_format/src/lib.rs rmf_workcell_editor/src/lib.rs rmf_workcell_editor/src/main.rs
+
+    - name: minimal feature build
+      run: cd rmf_workcell_format && cargo check --no-default-features

.gitignore

@@ -0,0 +1,7 @@
+target
+web/librmf_workcell_editor.d.ts
+web/librmf_workcell_editor.js
+web/librmf_workcell_editor_bg.wasm
+web/librmf_workcell_editor_bg_optimized.wasm
+web/librmf_workcell_editor_bg.wasm.d.ts
+/test_output/

Cargo.toml

@@ -0,0 +1,22 @@
+[workspace]
+members = [
+    "rmf_workcell_editor",
+    "rmf_workcell_format",
+]
+
+# This is needed for packages that are part of a workspace to use the 2nd version
+# of the cargo dependency resolving algorithm. In ordinary crates this would be
+# enabled with edition="2021", but it seems that when a crate is in a workspace,
+# the workspace needs to explicitly specify this.
+# For more see: https://doc.rust-lang.org/edition-guide/rust-2021/default-cargo-resolver.html
+resolver = "2"
+
+# Compile time optimizations as suggested in
+# https://bevyengine.org/learn/quick-start/getting-started/setup/#compile-with-performance-optimizations
+# Enable a small amount of optimization in debug mode
+[profile.dev]
+opt-level = 1
+
+# Enable high optimizations for dependencies (incl. Bevy), but not for our code:
+[profile.dev.package."*"]
+opt-level = 3

assets/demo_workcells/demo.workcell.json

@@ -0,0 +1,86 @@
+{
+  "name": "test_workcell",
+  "id": 0,
+  "frames": {
+    "1": {
+      "parent": 0,
+      "name": "frame_1",
+      "Pose3D": {
+        "trans": [
+          5.0,
+          0.0,
+          0.0
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 45.0
+            },
+            {
+              "deg": 30.0
+            },
+            {
+              "deg": 90.0
+            }
+          ]
+        }
+      }
+    },
+    "2": {
+      "parent": 0,
+      "name": "frame_2",
+      "Pose3D": {
+        "trans": [
+          0.0,
+          5.0,
+          0.0
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 45.0
+            },
+            {
+              "deg": 30.0
+            },
+            {
+              "deg": 90.0
+            }
+          ]
+        }
+      }
+    },
+    "3": {
+      "parent": 1,
+      "name": "frame_3",
+      "Pose3D": {
+        "trans": [
+          1.0,
+          0.31817698,
+          0.60250926
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 92.758385
+            },
+            {
+              "deg": -73.071754
+            },
+            {
+              "deg": -171.64337
+            }
+          ]
+        }
+      }
+    }
+  },
+  "visuals": {
+  },
+  "collisions": {
+  },
+  "inertias": {
+  },
+  "joints": {
+  }
+}

rmf_workcell_editor/Cargo.toml

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+[package]
+name = "rmf_workcell_editor"
+version = "0.0.1"
+edition = "2021"
+
+[lib]
+crate-type = ["cdylib", "rlib"]
+name = "librmf_workcell_editor"
+
+[[bin]]
+path = "src/main.rs"
+name = "rmf_workcell_editor"
+
+[dependencies]
+# PR merged after 0.10 but not released yet, bump to 0.10.1 once merged
+bevy_infinite_grid = { git = "https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid", rev = "86018dd" }
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+wasm-bindgen = "=0.2.93"
+bevy = { version = "0.12", features = ["pnm", "jpeg", "tga"] }
+thiserror = "*"
+rmf_workcell_format = { path = "../rmf_workcell_format", features = ["bevy_support"] }
+rmf_site_editor = { git = "https://github.com/open-rmf/rmf_site", tag = "v0.0.1"}
+urdf-rs = "0.7"
+yaserde = "0.7"
+tera = "1.19.1"
+anyhow = "*"
+
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
+bevy_impulse = { git = "https://github.com/open-rmf/bevy_impulse", branch = "main" }
+
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+console_error_panic_hook = "0.1.7"
+bevy_impulse = { git = "https://github.com/open-rmf/bevy_impulse", branch = "main", features = ["single_threaded_async"]}

rmf_workcell_editor/package.xml

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+<package format="3">
+  <name>rmf_workcell_editor</name>
+  <version>0.0.1</version>
+  <description>An editor and visualizer for workcells</description>
+  <maintainer email="[email protected]">Luca Della Vedova</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>rmf_workcell_format</depend>
+  <depend>gtk3</depend>
+  <depend>libudev-dev</depend>
+  <depend>libasound2-dev</depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

rmf_workcell_editor/src/demo_world.rs

@@ -0,0 +1,5 @@
+pub fn demo_workcell() -> Vec<u8> {
+    return include_str!("../../assets/demo_workcells/demo.workcell.json")
+        .as_bytes()
+        .to_vec();
+}

rmf_workcell_editor/src/interaction/mod.rs

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+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+pub use librmf_site_editor::interaction::InteractionPlugin as SiteInteractionPlugin;
+// Reexported types used for widgets / plugins
+pub use librmf_site_editor::interaction::{
+    aligned_z_axis, extract_selector_input, hover_service, print_if_err, set_visibility,
+    AnchorVisualization, CategoryVisibility, CategoryVisibilityPlugin, CommonNodeErrors, Cursor,
+    DragPlaneBundle, GizmoBlockers, HighlightAnchors, Hover, Hovering, InspectorFilter,
+    InspectorService, InteractionAssets, InteractionState, IntersectGroundPlaneParams,
+    PickingBlockers, Preview, RunSelector, Select, Selectable, Selection, SelectionFilter,
+    SelectionNodeResult, SelectionServiceStages, SelectorInput, SetCategoryVisibility,
+    SiteRaycastSet, VisualCue,
+};
+
+use crate::WorkcellVisualizationMarker;
+
+pub mod select;
+pub use select::*;
+
+use bevy::prelude::*;
+
+#[derive(Default)]
+pub struct InteractionPlugin;
+
+impl Plugin for InteractionPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((
+            SiteInteractionPlugin::default(),
+            CategoryVisibilityPlugin::<WorkcellVisualizationMarker>::visible(true),
+            place_object::ObjectPlacementPlugin::default(),
+        ));
+    }
+}

rmf_workcell_editor/src/interaction/select.rs

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+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+pub mod place_object;
+pub use place_object::*;
+
+pub mod place_object_3d;
+pub use place_object_3d::*;
+
+pub mod replace_parent_3d;