mecha10-sim 0.6.5

Mecha10 simulation support — scene generation, asset management
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218

//! Robot scene (.tscn) generator
//!
//! Generates standalone robot .tscn files from mecha10.json configuration.
//! The robot scene includes:
//! - CharacterBody3D root (physics body)
//! - CollisionShape3D (capsule collision)
//! - MeshInstance3D (visual representation)
//! - Sensor nodes (Camera3D, RayCast3D for LiDAR, etc.)

use anyhow::{Context, Result};
use std::fs;
use std::path::Path;

use super::profile::RobotProfile;

/// Robot scene generator
pub struct RobotGenerator {
    profile: RobotProfile,
    /// Enable RL training mode (adds AIController, uses RL-compatible sensors)
    rl_mode: bool,
}

impl RobotGenerator {
    /// Create new robot generator from config file
    pub fn from_config_file(config_path: &Path) -> Result<Self> {
        let profile = RobotProfile::from_config_file(config_path)?;
        Ok(Self { profile, rl_mode: true })
    }

    /// Create robot generator with explicit RL mode setting
    pub fn from_config_file_with_mode(config_path: &Path, rl_mode: bool) -> Result<Self> {
        let profile = RobotProfile::from_config_file(config_path)?;
        Ok(Self { profile, rl_mode })
    }

    /// Generate robot .tscn file
    pub fn generate(&self, output_path: &Path) -> Result<()> {
        println!("🤖 Generating robot scene...");
        println!("   Platform: {}", self.profile.platform);
        println!("   Sensors: {}", self.profile.sensors.join(", "));

        if let Some(parent) = output_path.parent() {
            fs::create_dir_all(parent)
                .with_context(|| format!("Failed to create output directory: {}", parent.display()))?;
        }

        let tscn_content = self.generate_tscn();

        fs::write(output_path, tscn_content)
            .with_context(|| format!("Failed to write robot scene: {}", output_path.display()))?;

        println!("   ✅ Generated: {}", output_path.display());

        Ok(())
    }

    /// Generate .tscn file content
    fn generate_tscn(&self) -> String {
        let mut lines = Vec::new();

        let load_steps = if self.rl_mode { 5 } else { 3 };
        lines.push(format!("[gd_scene load_steps={} format=3]", load_steps));
        lines.push("".to_string());

        if self.rl_mode {
            lines.push(
                "[ext_resource type=\"Script\" path=\"res://components/robot_templates/rover_base_rl.gd\" id=\"1\"]"
                    .to_string(),
            );
            lines.push(
                "[ext_resource type=\"Script\" path=\"res://components/controllers/rover_ai_controller.gd\" id=\"2\"]"
                    .to_string(),
            );
            lines.push("".to_string());
        }

        lines.push("[sub_resource type=\"CapsuleShape3D\" id=\"CapsuleShape3D_1\"]".to_string());
        lines.push(format!("radius = {}", self.get_robot_radius()));
        lines.push(format!("height = {}", self.get_robot_height()));
        lines.push("".to_string());

        lines.push("[sub_resource type=\"CapsuleMesh\" id=\"CapsuleMesh_1\"]".to_string());
        lines.push(format!("radius = {}", self.get_robot_radius()));
        lines.push(format!("height = {}", self.get_robot_height()));
        lines.push("".to_string());

        lines.push("[node name=\"Robot\" type=\"CharacterBody3D\"]".to_string());
        if self.rl_mode {
            lines.push("script = ExtResource(\"1\")".to_string());
        }
        lines.push("".to_string());

        lines.push("[node name=\"CollisionShape3D\" type=\"CollisionShape3D\" parent=\".\"]".to_string());
        lines.push("shape = SubResource(\"CapsuleShape3D_1\")".to_string());
        lines.push("".to_string());

        lines.push("[node name=\"MeshInstance3D\" type=\"MeshInstance3D\" parent=\".\"]".to_string());
        lines.push("mesh = SubResource(\"CapsuleMesh_1\")".to_string());
        lines.push("".to_string());

        if self.rl_mode {
            lines.push("[node name=\"AIController3D\" type=\"Node3D\" parent=\".\"]".to_string());
            lines.push("script = ExtResource(\"2\")".to_string());
            lines.push("".to_string());
        }

        self.add_sensor_nodes(&mut lines);

        lines.push("[node name=\"Markers\" type=\"Node3D\" parent=\".\"]".to_string());
        lines.push("".to_string());

        lines.push("[node name=\"CenterOfMass\" type=\"Marker3D\" parent=\"Markers\"]".to_string());
        lines.push("".to_string());

        lines.join("\n")
    }

    /// Add sensor nodes based on robot profile
    fn add_sensor_nodes(&self, lines: &mut Vec<String>) {
        let parent = ".";

        if self.profile.sensors.contains(&"camera".to_string()) {
            if self.rl_mode {
                lines.push(format!(
                    "[node name=\"CameraRL\" type=\"Node3D\" parent=\"{}\"]",
                    parent
                ));
                lines.push("script = ExtResource(\"res://components/sensors/camera_rl/camera_rl.gd\")".to_string());
                lines.push(format!(
                    "transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, {}, {})",
                    self.get_robot_height() / 2.0 - 0.1,
                    0.3
                ));
                lines.push("resolution = Vector2i(84, 84)".to_string());
                lines.push("fov_degrees = 90.0".to_string());
                lines.push("observation_enabled = true".to_string());
                lines.push("".to_string());
            } else {
                lines.push(format!(
                    "[node name=\"Camera\" type=\"Camera3D\" parent=\"{}\"]",
                    parent
                ));
                lines.push(format!(
                    "transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, {}, {})",
                    self.get_robot_height() / 2.0 - 0.1,
                    0.3
                ));
                lines.push("fov = 60.0".to_string());
                lines.push("".to_string());
            }
        }

        if self.profile.sensors.contains(&"lidar".to_string()) {
            if self.rl_mode {
                lines.push(format!("[node name=\"LidarRL\" type=\"Node3D\" parent=\"{}\"]", parent));
                lines.push("script = ExtResource(\"res://components/sensors/lidar_rl/lidar_rl.gd\")".to_string());
                lines.push(format!(
                    "transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, {}, 0)",
                    self.get_robot_height() / 2.0
                ));
                lines.push("num_rays = 16".to_string());
                lines.push("ray_length = 10.0".to_string());
                lines.push("observation_enabled = true".to_string());
                lines.push("".to_string());
            } else {
                lines.push(format!("[node name=\"LiDAR\" type=\"Node3D\" parent=\"{}\"]", parent));
                lines.push(format!(
                    "transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, {}, 0)",
                    self.get_robot_height() / 2.0
                ));
                lines.push("".to_string());

                for i in 0..36 {
                    let angle_deg = i * 10;
                    let angle_rad = (angle_deg as f32).to_radians();
                    let x = angle_rad.cos();
                    let z = angle_rad.sin();

                    lines.push(format!(
                        "[node name=\"Ray{}\" type=\"RayCast3D\" parent=\"{}/LiDAR\"]",
                        i, parent
                    ));
                    lines.push(format!("target_position = Vector3({}, 0, {})", x * 10.0, z * 10.0));
                    lines.push("enabled = true".to_string());
                    lines.push("".to_string());
                }
            }
        }

        if self.profile.sensors.contains(&"imu".to_string()) {
            lines.push(format!("[node name=\"IMU\" type=\"Marker3D\" parent=\"{}\"]", parent));
            lines.push("".to_string());
        }
    }

    /// Per-platform (radius, height) dimensions, in meters. Shared table behind
    /// [`Self::get_robot_radius`]/[`Self::get_robot_height`], which only differ in which
    /// element of the pair they return.
    fn platform_dimensions(platform: &str) -> (f32, f32) {
        match platform {
            "differential-drive" => (0.3, 1.0),
            "holonomic" => (0.35, 1.2),
            "legged" => (0.25, 1.5),
            "arm" => (0.15, 2.0),
            _ => (0.3, 1.0),
        }
    }

    /// Get robot radius based on platform
    fn get_robot_radius(&self) -> f32 {
        Self::platform_dimensions(self.profile.platform.as_str()).0
    }

    /// Get robot height based on platform
    fn get_robot_height(&self) -> f32 {
        Self::platform_dimensions(self.profile.platform.as_str()).1
    }
}