Update challenges to new numbering system

.vscode/settings.json

@@ -5,5 +5,8 @@
     "editor.formatOnSave": true, // optional 
     "editor.formatOnSaveMode": "file", // required to format on save
     "files.autoSave": "onFocusChange", // optional but recommended
-    "vs-code-prettier-eslint.prettierLast": "false" // set as "true" to run 'prettier' last not first
+    "vs-code-prettier-eslint.prettierLast": "false",
+    "[typescript]": {
+        "editor.defaultFormatter": "vscode.typescript-language-features"
+    } // set as "true" to run 'prettier' last not first
 }

src/components/Challenge/ChallengeMenu.tsx

@@ -270,11 +270,6 @@ class ChallengeMenu extends React.PureComponent<Props, State> {
 
           </Item>
 
-          <Item theme={theme} onClick={onEndChallengeClick} style={{ position: 'relative' }}>
-            <ItemIcon icon={faFlagCheckered} /> End Challenge
-
-          </Item>
-
           <Item theme={theme} onClick={this.onLayoutClick_} style={{ position: 'relative' }}>
             <ItemIcon icon={faClone} /> Layout
             {subMenu.type === SubMenu.Type.LayoutPicker ? (

src/simulator/ScriptManager.ts

@@ -32,7 +32,7 @@ export interface ScriptSceneBinding {
   readonly geometry: Dict<Geometry>;
   addGeometry(geometry: Geometry, id?: string): string;
   removeGeometry(id: string): void;
-  
+
   gravity: Vector3wUnits;
 
   camera: Camera;
@@ -148,7 +148,7 @@ class ScriptManager {
         refCounts.set(filterId, 1);
       }
     }
-    
+
     // eslint-disable-next-line @typescript-eslint/no-unsafe-call
     if (this[onChangedKey]) this[onChangedKey](listener.nodeId, new Set(refCounts.keys()));
   };
@@ -209,7 +209,7 @@ namespace ScriptManager {
     }
 
     export const collision = construct<Collision>(Type.Collision);
-  
+
     export interface IntersectionStart {
       type: Type.IntersectionStart;
       nodeId: string;
@@ -256,7 +256,7 @@ namespace ScriptManager {
     }
 
     export const render = construct<Render>(Type.Render);
-  
+
     export interface Collision {
       type: Type.Collision;
       nodeId: string;
@@ -265,7 +265,7 @@ namespace ScriptManager {
     }
 
     export const collision = construct<Collision>(Type.Collision);
-  
+
     export interface Intersection {
       type: Type.Intersection;
       nodeId: string;
@@ -330,7 +330,7 @@ namespace ScriptManager {
     constructor(script: Script, manager: ScriptManager) {
       this.script_ = script;
       this.manager_ = manager;
-      
+
       this.spawnFunc_({
         scene: this,
         RotationwUnits,
@@ -342,6 +342,7 @@ namespace ScriptManager {
         Distance,
         Mass,
         Angle,
+        Date,
       }, this.script_.code);
     }
 
@@ -415,7 +416,7 @@ namespace ScriptManager {
       if (this.onUnbind) this.onUnbind(nodeId);
       this.boundNodeIds_.delete(nodeId);
     }
-    
+
     dispose() {
       // TODO: This code could be more efficient. We need to unregister the collision and intersection listeners
       // from the parent, but doing it as a single operation would be better.
@@ -439,7 +440,7 @@ namespace ScriptManager {
       if (resolvedId in this.manager_.scene.nodes) {
         throw new Error(`Node with id ${resolvedId} already exists`);
       }
-      
+
       onNodeAdd(resolvedId, node);
 
       return resolvedId;
@@ -455,7 +456,7 @@ namespace ScriptManager {
 
       onNodeRemove(id);
     }
-    
+
     setNode(id: string, node: Node): void {
       const { onNodeChange } = this.manager_;
       if (!onNodeChange) return;
@@ -496,7 +497,7 @@ namespace ScriptManager {
 
       onGeometryRemove(id);
     }
-    
+
     get gravity(): Vector3wUnits {
       return this.manager_.scene.gravity;
     }
@@ -568,7 +569,7 @@ namespace ScriptManager {
           this.manager_.removeIntersectionRefCounts_(listener);
           break;
       }
-      
+
       delete this.listeners_[handle];
     }
 
@@ -584,13 +585,13 @@ namespace ScriptManager {
     setChallengeEventValue(eventId: string, value: boolean) {
       if (!this.manager_.onChallengeSetEventValue) return;
       this.manager_.onChallengeSetEventValue(eventId, value);
-      this.getChallengeEventValue(eventId,value);
+      this.getChallengeEventValue(eventId, value);
     }
 
     getChallengeEventValue(eventId: string, value: boolean) {
       if (!this.manager_.onChallengeGetEventValue) return;
       return value;
-      this.getChallengeEventValue(eventId,value);
+      this.getChallengeEventValue(eventId, value);
     }
   }
 

src/simulator/Space.ts

@@ -279,7 +279,7 @@ export class Space {
       const distance = Vector3wUnits.distance(position, bPositionConv);
 
       // If varies by more than 0.5cm, consider it a change
-      if (distance.value > 0.005) {
+      if (distance.value > 0.0025) {
         change.position = Vector3wUnits.toTypeGranular(bPositionConv, position.x.type, position.y.type, position.z.type);
       }
     }

src/simulator/babylonBindings/RobotBinding.ts

@@ -1,7 +1,8 @@
 
-import { Scene as babylonScene, TransformNode, PhysicsViewer, Vector3, IPhysicsEnabledObject, 
-  Mesh, PhysicsJoint, IPhysicsEnginePluginV2, PhysicsConstraintAxis, Physics6DoFConstraint, 
-  PhysicsConstraintMotorType, PhysicsConstraintAxisLimitMode, 
+import {
+  Scene as babylonScene, TransformNode, PhysicsViewer, Vector3, IPhysicsEnabledObject,
+  Mesh, PhysicsJoint, IPhysicsEnginePluginV2, PhysicsConstraintAxis, Physics6DoFConstraint,
+  PhysicsConstraintMotorType, PhysicsConstraintAxisLimitMode,
 } from '@babylonjs/core';
 
 import '@babylonjs/core/Physics/physicsEngineComponent';
@@ -30,6 +31,7 @@ import ReflectanceSensor from './sensors/ReflectanceSensor';
 import SensorObject from './sensors/SensorObject';
 import SensorParameters from './sensors/SensorParameters';
 import LightSensor from './sensors/LightSensor';
+import LocalizedString from '../../util/LocalizedString';
 
 class RobotBinding {
   /**  Type 'RobotBinding' is missing the following properties from type 
@@ -101,7 +103,7 @@ class RobotBinding {
 
   private createSensor_ = <T extends Node.FrameLike, O, S extends SensorObject<T, O>>(s: { new(parameters: SensorParameters<T>): S }) => (id: string, definition: T): S => {
     const parent = this.links_[definition.parentId];
-    
+
     return new s({
       id,
       definition,
@@ -138,7 +140,7 @@ class RobotBinding {
 
   private bParentChild_ = (id: string, parentId: string): { bParent: Mesh; bChild: Mesh; childId: string; } => {
     if (!parentId) throw new Error(`Missing parent: "${parentId}" for node "${id}"`);
-    
+
     const children = this.childrenNodeIds_[id];
     if (children.length !== 1) throw new Error(`"${id}" must have exactly one child`);
 
@@ -184,7 +186,7 @@ class RobotBinding {
     const maxForce = 50000;
 
     bMotor.setAxisFriction(PhysicsConstraintAxis.ANGULAR_Z, 0);
-    bMotor.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, maxForce); 
+    bMotor.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, maxForce);
     bMotor.setAxisMode(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintAxisLimitMode.FREE);
     bMotor.setAxisMotorTarget(PhysicsConstraintAxis.ANGULAR_Z, velocity);
 
@@ -227,7 +229,7 @@ class RobotBinding {
      */
     for (let port = 0; port < 4; ++port) {
       const motorId = this.motorPorts_[port];
-      
+
       // If no motor is bound to the port, skip it.
       if (!motorId) continue;
 
@@ -286,9 +288,9 @@ class RobotBinding {
       // If the motor is in pwm mode and the direction is idle, set the motor target to 0.
       if (mode === Motor.Mode.Pwm && (direction === Motor.Direction.Idle || direction === Motor.Direction.Brake)) {
         this.setMotorVelocity_(bMotor, 0);
-        if (Math.abs(velocity) < 10) {
-          bMotor.setAxisMode(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintAxisLimitMode.LOCKED);
-        }
+        // if (Math.abs(velocity) < 10) {
+        //   bMotor.setAxisMode(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintAxisLimitMode.LOCKED);
+        // }
         continue;
       }
 
@@ -319,11 +321,11 @@ class RobotBinding {
       //   this.brakeAt_[port] = undefined;
       // }
 
-      
+
       let pwm_adj = 0;
       // If the motor is not in pwm mode, and we are not done, calculate the pwm value.
       if (mode !== Motor.Mode.Pwm && !done) {
-        
+
         // This code is taken from Wombat-Firmware for parity.
         const pErr = speedGoal - velocity;
         const dErr = pErr - this.lastPErrs_[port];
@@ -353,10 +355,10 @@ class RobotBinding {
       pwm = plug * clamp(-400, pwm, 400);
 
       if (writePwm) writeCommands.push(WriteCommand.motorPwm({ port, pwm }));
-      
+
       const normalizedPwm = pwm / 400;
       const nextAngularVelocity = normalizedPwm * velocityMax * 2 * Math.PI / ticksPerRevolution;
-      console.log("nextAngularVelocity", nextAngularVelocity);
+      // console.log("nextAngularVelocity", nextAngularVelocity);
       this.setMotorVelocity_(bMotor, nextAngularVelocity);
 
     }
@@ -400,7 +402,7 @@ class RobotBinding {
         }
       }
 
-      const currentAngle = this.hingeAngle_(servoId, servo.parentId);   
+      const currentAngle = this.hingeAngle_(servoId, servo.parentId);
       const targetAangle = this.lastServoEnabledAngle_[i];
 
       let cur_angle = 0;
@@ -413,7 +415,7 @@ class RobotBinding {
 
       if (cur_angle.toFixed(5) !== targetAangle.toFixed(5)) {
         if (cur_angle < targetAangle) {
-          bServo.setAxisMaxLimit(PhysicsConstraintAxis.ANGULAR_Z, targetAangle); 
+          bServo.setAxisMaxLimit(PhysicsConstraintAxis.ANGULAR_Z, targetAangle);
           bServo.setAxisMotorTarget(PhysicsConstraintAxis.ANGULAR_Z, Math.PI * .4);
         }
         if (cur_angle > targetAangle) {
@@ -530,13 +532,12 @@ class RobotBinding {
     const newOriginE = RawEuler.fromQuaternion(rawOrigin.orientation);
     const Robot_OriginE = RawEuler.fromQuaternion(rawInternalOrigin.orientation);
 
-    const default_offset = 0; // -1 * Math.PI / 2;
-
+    const default_offset = LocalizedString.getOriginal(this.robot_.name) === 'Demobot' ? -1 * Math.PI / 2 : Math.PI / 2;
 
     const UpdatedEulerOrigin = RawEuler.create(
-      newOriginE.x + Robot_OriginE.x,
-      newOriginE.y + Robot_OriginE.y + default_offset,
-      newOriginE.z + Robot_OriginE.z,
+      newOriginE.x,
+      newOriginE.y + default_offset,
+      newOriginE.z,
       "xyz"
     );
 
@@ -559,10 +560,9 @@ class RobotBinding {
       weight.physicsBody.setAngularVelocity(Vector3.Zero());
       weight.physicsBody.setLinearVelocity(Vector3.Zero());
     }
-
-    rootTransformNode.position = RawVector3.toBabylon(rawOrigin.position || RawVector3.ZERO)
-      .add(RawVector3.toBabylon(rawInternalOrigin.position || RawVector3.ZERO));
-
+
+    rootTransformNode.position = RawVector3.toBabylon(rawOrigin.position || RawVector3.ZERO);
+
     rootTransformNode.rotationQuaternion = RawQuaternion.toBabylon(RawEuler.toQuaternion(UpdatedEulerOrigin));
 
     for (const link of Object.values(this.links_)) {
@@ -618,7 +618,7 @@ class RobotBinding {
       if (node.type !== Node.Type.Link) continue;
 
       const bNode = await createLink(nodeId, node, this.bScene_, this.robot_, this.colliders_);
-      if (this.physicsViewer_ && bNode.physicsBody) this.physicsViewer_.showBody(bNode.physicsBody);    
+      if (this.physicsViewer_ && bNode.physicsBody) this.physicsViewer_.showBody(bNode.physicsBody);
 
       bNode.metadata = { id: this.robotSceneId_, selected: false } as SceneMeshMetadata;
       this.links_[nodeId] = bNode;
@@ -628,7 +628,7 @@ class RobotBinding {
     for (const nodeId of nodeIds) {
       const node = robot.nodes[nodeId];
       if (node.type === Node.Type.Link || node.type === Node.Type.IRobotCreate) continue;
-    
+
       switch (node.type) {
         case Node.Type.Weight: {
           const bNode = createWeight(nodeId, node, this.bScene_, this.robot_, this.links_);
@@ -639,7 +639,7 @@ class RobotBinding {
           const { bParent, bChild } = this.bParentChild_(nodeId, node.parentId);
           const bJoint = createHinge(nodeId, node, this.bScene_, bParent, bChild);
 
-          bJoint.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, 1000000000); 
+          bJoint.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, 1000000000);
           bJoint.setAxisMotorType(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintMotorType.VELOCITY);
           // Start motor in locked position so the wheels don't slide
           bJoint.setAxisMode(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintAxisLimitMode.LOCKED);
@@ -657,10 +657,10 @@ class RobotBinding {
           // -90 is upright and closed; 0 is forward and open
           const { bParent, bChild } = this.bParentChild_(nodeId, node.parentId);
           const bJoint = createHinge(nodeId, node, this.bScene_, bParent, bChild);
-          bJoint.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, 10000000); 
-          bJoint.setAxisMotorType(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintMotorType.VELOCITY); 
+          bJoint.setAxisMotorMaxForce(PhysicsConstraintAxis.ANGULAR_Z, 10000000);
+          bJoint.setAxisMotorType(PhysicsConstraintAxis.ANGULAR_Z, PhysicsConstraintMotorType.VELOCITY);
           // Start the servos at 0
-          bJoint.setAxisMaxLimit(PhysicsConstraintAxis.ANGULAR_Z, Angle.toRadiansValue(Angle.degrees(0))); 
+          bJoint.setAxisMaxLimit(PhysicsConstraintAxis.ANGULAR_Z, Angle.toRadiansValue(Angle.degrees(0)));
           bJoint.setAxisMinLimit(PhysicsConstraintAxis.ANGULAR_Z, Angle.toRadiansValue(Angle.degrees(-1)));
 
           this.servos_[nodeId] = bJoint;
@@ -715,9 +715,9 @@ class RobotBinding {
       const node = robot.nodes[nodeId];
       if (node.type !== Node.Type.IRobotCreate) continue;
       this.createBinding_ = new CreateBinding(
-        workerInstance.createSerial, 
-        this.createMotors_, 
-        this.createAnalogSensors_, 
+        workerInstance.createSerial,
+        this.createMotors_,
+        this.createAnalogSensors_,
         this.createDigitalSensors_
       );
     }