Combined world pose

frontend/src/api_helper/TreeWrapper.ts

@@ -319,6 +319,99 @@ const listDockerWorlds = async () => {
   }
 };
 
+const listDockerRobots = async () => {
+  const apiUrl = "/bt_studio/list_docker_robots/";
+  try {
+    const response = await axios.get(apiUrl);
+    return response.data.robots;
+  } catch (e: unknown) {
+    const error = e as ApiError;
+    throw Error(error.response?.data.message);
+  }
+};
+
+const createCombinedUniverse = async (
+  projectId: string,
+  universeName: string,
+  worldId: string,
+  robotId: string,
+  startPose: number[] | null = null
+) => {
+  if (!projectId) throw new Error("The project name is not set");
+  if (!universeName) throw new Error("The universe name is not set");
+  if (!worldId) throw new Error("The world is not set");
+
+  const apiUrl = "/bt_studio/create_combined_universe/";
+  try {
+    const response = await axios.post(
+      apiUrl,
+      {
+        project_id: projectId,
+        universe_name: universeName,
+        world_id: worldId,
+        robot_id: robotId,
+        start_pose: startPose,
+      },
+      axiosExtra()
+    );
+    return response.data;
+  } catch (e: unknown) {
+    const error = e as ApiError;
+    throw Error(error.response?.data.message);
+  }
+};
+
+const getCombinedUniverseData = async (worldId: string, robotId: string) => {
+  const apiUrl = `/bt_studio/get_combined_universe_data/?world_id=${encodeURIComponent(
+    worldId
+  )}&robot_id=${encodeURIComponent(robotId || "None")}`;
+  try {
+    const response = await axios.get(apiUrl);
+    return {
+      world: response.data.universe.world,
+      robot: response.data.universe.robot,
+      tools: response.data.universe.tools,
+      tools_config: response.data.universe.tools_config,
+    };
+  } catch (e: unknown) {
+    const error = e as ApiError;
+    throw Error(error.response?.data.message);
+  }
+};
+
+const captureRobotPose = async () => {
+  const apiUrl = "/bt_studio/capture_robot_pose/";
+  try {
+    const response = await axios.get(apiUrl);
+    return response.data.pose;
+  } catch (e: unknown) {
+    const error = e as ApiError;
+    throw Error(error.response?.data.message);
+  }
+};
+
+const saveCurrentPose = async (projectId: string, universeName: string) => {
+  if (!projectId) throw new Error("Project name is not set");
+  if (!universeName) throw new Error("Universe name is not set");
+
+  const apiUrl = "/bt_studio/save_current_pose/";
+  try {
+    const response = await axios.post(
+      apiUrl,
+      {
+        project_id: projectId,
+        universe_name: universeName,
+      },
+      axiosExtra()
+    );
+    return response.data.pose;
+  } catch (e: unknown) {
+    const error = e as ApiError;
+    throw Error(error.response?.data.message);
+  }
+};
+
+
 ////////////////////////////// App management //////////////////////////////////
 
 const generateLocalApp = async (project: string, btOrder: string) => {
@@ -998,7 +1091,13 @@ export {
   getWorldConfig,
   getWorldFile,
   listDockerWorlds,
+  listDockerRobots,
+  createCombinedUniverse,
+  getCombinedUniverseData,
+  captureRobotPose,
+  saveCurrentPose,
   listProjects,
+
   listWorlds,
   renameFile,
   renameFolder,

frontend/src/components/Buttons/SavePose.tsx

@@ -0,0 +1,72 @@
+import React, { useState } from "react";
+import { StyledHeaderButton } from "BtStyles/Header/HeaderMenu.styles";
+import { useError } from "jderobot-ide-interface";
+import { CommsManager, states } from "jderobot-commsmanager";
+import { useBtTheme } from "BtContexts/BtThemeContext";
+import { LoadingIcon } from "BtIcons";
+import PinDropIcon from "@mui/icons-material/PinDropRounded";
+import { saveCurrentPose } from "BtApi/TreeWrapper";
+
+interface SavePoseButtonProps {
+  project: string;
+}
+
+const SavePoseButton = ({ project }: SavePoseButtonProps) => {
+  const theme = useBtTheme();
+  const { warning, error, info } = useError() as any;
+  const [loading, setLoading] = useState<boolean>(false);
+
+  const onSavePose = async () => {
+    const manager = CommsManager.getInstance();
+    const state = manager.getState();
+    const activeUniverse = manager.getUniverse();
+
+    if (!activeUniverse || activeUniverse === "") {
+      warning("No active universe loaded. Please select and launch a combined universe first.");
+      return;
+    }
+
+    if (
+      state === states.CONNECTED ||
+      state === states.IDLE ||
+      state === states.WORLD_READY
+    ) {
+      warning("Simulation is not running. Please launch the simulation first.");
+      return;
+    }
+
+    setLoading(true);
+    try {
+      const pose = await saveCurrentPose(project, activeUniverse);
+      const poseStr = `[x:${pose[0]}, y:${pose[1]}, z:${pose[2]}, yaw:${pose[5]}]`;
+      if (info) {
+        info(`Successfully saved robot's current pose ${poseStr} as the starting pose for universe '${activeUniverse}'!`);
+      } else {
+        alert(`Successfully saved robot's current pose ${poseStr} as the starting pose for universe '${activeUniverse}'!`);
+      }
+    } catch (e: any) {
+      error(e.response?.data?.message || e.message || "Failed to save the current robot pose. Make sure the robot is active in the simulator.");
+    }
+    setLoading(false);
+  };
+
+  return (
+    <StyledHeaderButton
+      bgColor={theme.palette.bg}
+      hoverColor={theme.palette.primary}
+      roundness={theme.roundness}
+      id="save-robot-pose"
+      onClick={onSavePose}
+      title="Save robot current position as starting pose"
+      disabled={loading}
+    >
+      {loading ? (
+        <LoadingIcon htmlColor={theme.palette.text} id="loading-spin" />
+      ) : (
+        <PinDropIcon sx={{ color: theme.palette.text }} />
+      )}
+    </StyledHeaderButton>
+  );
+};
+
+export default SavePoseButton;

frontend/src/components/Buttons/index.ts

@@ -8,3 +8,5 @@ export { default as ThemeButton } from "./Theme";
 export { default as SettingsButton } from "./Settings";
 export { default as DocumentationButton } from "./Documentation";
 export { default as ExportButton } from "./Export";
+export { default as SavePoseButton } from "./SavePose";
+

frontend/src/components/CreateProject/CreateProject.tsx

@@ -56,7 +56,7 @@ const Menu = ({ projId }: { projId?: string }) => {
     }
     setLoading(true);
     try {
-      await createProject(name);
+      await createProject(name, projId);
       navigate("..");
       console.log("Project created successfully");
     } catch (e: unknown) {

frontend/src/components/HeaderMenu/HeaderMenu.tsx

@@ -16,6 +16,7 @@ import {
   TerminateWorldButton,
   ThemeButton,
   ExportButton,
+  SavePoseButton,
 } from "../Buttons";
 import {
   StyledHeaderButtonContainer,
@@ -92,6 +93,7 @@ const HeaderMenu = ({
           <ThemeButton />
           <ExportButton project={project} />
           <DownloadButton project={project} />
+          <SavePoseButton project={project} />
           <LayoutButton setLayout={setLayout} />
           {/* <SettingsButton project={project} /> */}
           <ExecutionControl