refactor and move stuff

krecviz_rust/src/lib.rs

@@ -1,9 +1,5 @@
-pub use crate::urdf_bfs_utils::{build_joint_name_to_joint_info, build_link_bfs_map, LinkBfsData, JointInfo};
+pub use crate::utils::urdf_bfs_utils::{build_joint_name_to_joint_info, build_link_bfs_map, LinkBfsData, JointInfo};
 pub use crate::urdf_logger::parse_and_log_urdf_hierarchy;
 
-mod debug_log_utils;
-mod geometry_utils;
-mod repl_utils;
-mod spatial_transform_utils;
-mod urdf_bfs_utils;
+pub mod utils;
 mod urdf_logger;

krecviz_rust/src/main.rs

@@ -5,24 +5,19 @@ use rerun::RecordingStream; // for rec.set_time_sequence(...)
 use std::collections::HashMap;
 use std::f64::consts::PI;
 
-mod debug_log_utils;
-mod geometry_utils;
-mod repl_utils;
-mod spatial_transform_utils;
-mod urdf_bfs_utils;
-mod urdf_logger;
-
-use debug_log_utils::debug_log_rerun_transform;
-use debug_log_utils::debug_log_actuator_state;
-use repl_utils::interactive_transform_repl;
-use spatial_transform_utils::{
+use crate::utils::debug_log_utils::{debug_log_rerun_transform, debug_log_actuator_state};
+use crate::utils::repl_utils::interactive_transform_repl;
+use crate::utils::spatial_transform_utils::{
     build_z_rotation_3x3,
     make_4x4_from_rotation_and_translation,
+    mat3x3_mul,
     decompose_4x4_to_translation_and_mat3x3,
-    mat3x3_mul
 };
-use urdf_bfs_utils::build_joint_name_to_joint_info;
-use urdf_logger::parse_and_log_urdf_hierarchy;
+use crate::utils::urdf_bfs_utils::build_joint_name_to_joint_info;
+use crate::urdf_logger::parse_and_log_urdf_hierarchy;
+
+mod utils;
+mod urdf_logger;
 
 // KREC crate: adjust your path/names if needed!
 use krec::KRec;

krecviz_rust/src/urdf_logger.rs

@@ -3,29 +3,34 @@ use std::fs;
 use std::path::{Path, PathBuf};
 
 use anyhow::Result;
-use image;
+use log::debug;
 use nalgebra as na;
 use parry3d::shape::{Ball as ParrySphere, Cuboid as ParryCuboid, Cylinder as ParryCylinder};
 use rerun::{
-    archetypes::{Mesh3D, Transform3D},
+    archetypes::{Mesh3D, Transform3D, ViewCoordinates},
     components::{Position3D, TriangleIndices},
     datatypes::ImageFormat,
-    RecordingStream, ViewCoordinates,
+    RecordingStream,
 };
 use urdf_rs::{self, Geometry, Link, Material, Robot};
 
-use crate::debug_log_utils::{
+use crate::utils::debug_log_utils::{
     debug_log_rerun_transform,
     debug_log_rerun_mesh,
+    debug_log_bfs_insertion,
 };
-use crate::geometry_utils::{
-    apply_4x4_to_mesh3d, compute_vertex_normals, float_rgba_to_u8, load_image_as_rerun_buffer,
+use crate::utils::geometry_utils::{
+    apply_4x4_to_mesh3d,
+    compute_vertex_normals,
+    float_rgba_to_u8,
+    load_image_as_rerun_buffer,
     load_stl_as_mesh3d,
 };
-use crate::spatial_transform_utils::{
-    build_4x4_from_xyz_rpy, decompose_4x4_to_translation_and_mat3x3, mat4x4_mul,
+use crate::utils::spatial_transform_utils::{
+    build_4x4_from_xyz_rpy,
+    decompose_4x4_to_translation_and_mat3x3,
 };
-use crate::urdf_bfs_utils::{build_link_bfs_map, LinkBfsData};
+use crate::utils::urdf_bfs_utils::{build_link_bfs_map, LinkBfsData};
 
 // -----------------------------------------------------------------------------
 // Minimal info (color & texture path) from a URDF Material.
@@ -219,6 +224,7 @@ pub fn log_link_meshes_at_identity(
 // ----------------------------------------------------------------------------
 // Exported function for main.rs usage
 pub fn parse_and_log_urdf_hierarchy(urdf_path: &str, rec: &RecordingStream) -> Result<()> {
+    // Set the coordinate system to right-handed with Z up
     rec.log("", &ViewCoordinates::RIGHT_HAND_Z_UP)?;
 
     let robot = urdf_rs::read_file(urdf_path)

krecviz_rust/src/debug_log_utils.rs → krecviz_rust/src/utils/debug_log_utils.rs

@@ -1,4 +1,4 @@
-use crate::urdf_bfs_utils::LinkBfsData;
+use crate::utils::urdf_bfs_utils::LinkBfsData;
 use log::debug;
 use rerun::components::Position3D;
 use urdf_rs::Vec3;

krecviz_rust/src/utils/mod.rs

@@ -0,0 +1,5 @@
+pub mod debug_log_utils;
+pub mod geometry_utils;
+pub mod repl_utils;
+pub mod spatial_transform_utils;
+pub mod urdf_bfs_utils; 

krecviz_rust/src/repl_utils.rs → krecviz_rust/src/utils/repl_utils.rs

@@ -1,7 +1,8 @@
-use crate::spatial_transform_utils::{
-    build_4x4_from_xyz_rpy, decompose_4x4_to_translation_and_mat3x3,
+use crate::utils::spatial_transform_utils::{
+    build_4x4_from_xyz_rpy,
+    decompose_4x4_to_translation_and_mat3x3,
 };
-use crate::debug_log_utils::debug_log_rerun_transform;
+use crate::utils::debug_log_utils::debug_log_rerun_transform;
 use anyhow::Result;
 use rerun::RecordingStream;
 use std::io::{self, BufRead, Write};

krecviz_rust/src/urdf_bfs_utils.rs → krecviz_rust/src/utils/urdf_bfs_utils.rs

@@ -1,11 +1,16 @@
+use anyhow::Result;
+use log::debug;
 use std::collections::{HashMap, HashSet, VecDeque};
 use urdf_rs::{Joint, Link, Robot};
-use anyhow::Result;
 
-use crate::spatial_transform_utils::{
-    mat4x4_mul, identity_4x4, build_4x4_from_xyz_rpy, rotation_from_euler_xyz
+use crate::utils::spatial_transform_utils::{
+    build_4x4_from_xyz_rpy,
+    decompose_4x4_to_translation_and_mat3x3,
+    mat4x4_mul,
+    identity_4x4,
+    rotation_from_euler_xyz
 };
-use crate::debug_log_utils::debug_log_bfs_insertion;
+use crate::utils::debug_log_utils::debug_log_bfs_insertion;
 
 /// Complete information about a link's position in the hierarchy and transforms
 #[derive(Debug, Clone)]