src/lib/components/3d/robot/URDF/createRobot.svelte.ts

import type { RobotState } from "$lib/types/robot";
import type { RobotUrdfConfig } from "$lib/types/urdf";
import { UrdfParser } from "./utils/UrdfParser";

export async function createRobot(urdfConfig: RobotUrdfConfig): Promise<RobotState> {
	const customParser = new UrdfParser(urdfConfig.urdfUrl, "/robots/so-100/");
	const urdfData = await customParser.load();
	const robot = customParser.fromString(urdfData);

	// Make the robot data reactive so mutations to joint.rotation trigger reactivity
	const reactiveRobot = $state(robot);

	// Make the selection state reactive as well
	const reactiveSelection = $state({
		isSelected: false,
		selectedLink: undefined,
		selectedJoint: undefined
	});

	const robotState: RobotState = {
		robot: reactiveRobot,
		urdfConfig: urdfConfig,
		selection: reactiveSelection
	};

	return robotState;
}