Remove workcell and robot location icons

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

rmf_site_editor/src/site/assets.rs

@@ -55,8 +55,6 @@ pub struct SiteAssets {
     pub charger_material: Handle<StandardMaterial>,
     pub holding_point_material: Handle<StandardMaterial>,
     pub parking_material: Handle<StandardMaterial>,
-    pub robot_material: Handle<StandardMaterial>,
-    pub workcell_material: Handle<StandardMaterial>,
 }
 
 impl FromWorld for SiteAssets {
@@ -71,12 +69,6 @@ impl FromWorld for SiteAssets {
         let parking_texture = asset_server.load(&String::from(&AssetSource::Bundled(
             "textures/parking.png".to_string(),
         )));
-        let robot_texture = asset_server.load(&String::from(&AssetSource::Bundled(
-            "textures/robot.png".to_string(),
-        )));
-        let workcell_texture = asset_server.load(&String::from(&AssetSource::Bundled(
-            "textures/workcell.png".to_string(),
-        )));
 
         let mut materials = world
             .get_resource_mut::<Assets<StandardMaterial>>()
@@ -162,8 +154,6 @@ impl FromWorld for SiteAssets {
         let charger_material = materials.add(charger_texture.into());
         let holding_point_material = materials.add(holding_point_texture.into());
         let parking_material = materials.add(parking_texture.into());
-        let robot_material = materials.add(robot_texture.into());
-        let workcell_material = materials.add(workcell_texture.into());
 
         let mut meshes = world.get_resource_mut::<Assets<Mesh>>().unwrap();
         let level_anchor_mesh = meshes.add(
@@ -271,8 +261,6 @@ impl FromWorld for SiteAssets {
             charger_material,
             holding_point_material,
             parking_material,
-            robot_material,
-            workcell_material,
         }
     }
 }

rmf_site_editor/src/site/location.rs

@@ -27,8 +27,6 @@ pub struct LocationTagMeshes {
     charger: Option<Entity>,
     parking_spot: Option<Entity>,
     holding_point: Option<Entity>,
-    spawn_robot: Option<Entity>,
-    workcell: Option<Entity>,
 }
 
 fn location_halo_tf(tag: &LocationTag) -> Transform {
@@ -100,8 +98,8 @@ pub fn add_location_visuals(
 
         let position = anchors
             .point_in_parent_frame_of(point.0, Category::Location, e)
-            .unwrap();
-            //+ LOCATION_LAYER_HEIGHT * Vec3::Z;
+            .unwrap()
+            + LOCATION_LAYER_HEIGHT * Vec3::Z;
 
         let mut tag_meshes = LocationTagMeshes::default();
         for tag in tags.iter() {
@@ -119,14 +117,8 @@ pub fn add_location_visuals(
                     tag_meshes.holding_point = Some(id);
                     assets.holding_point_material.clone()
                 }
-                LocationTag::SpawnRobot(_) => {
-                    tag_meshes.spawn_robot = Some(id);
-                    assets.robot_material.clone()
-                }
-                LocationTag::Workcell(_) => {
-                    tag_meshes.workcell = Some(id);
-                    assets.workcell_material.clone()
-                }
+                // Workcells and robots are not visualized
+                LocationTag::SpawnRobot(_) | LocationTag::Workcell(_) => continue,
             };
             commands.entity(id).insert(PbrBundle {
                 mesh: assets.location_tag_mesh.clone(),
@@ -241,18 +233,6 @@ pub fn update_location_for_changed_location_tags(
                 tag_meshes.holding_point = None;
             }
         }
-        if let Some(id) = tag_meshes.spawn_robot {
-            if !tags.iter().any(|t| t.spawn_robot().is_some()) {
-                commands.entity(id).despawn_recursive();
-                tag_meshes.spawn_robot = None;
-            }
-        }
-        if let Some(id) = tag_meshes.workcell {
-            if !tags.iter().any(|t| t.workcell().is_some()) {
-                commands.entity(id).despawn_recursive();
-                tag_meshes.workcell = None;
-            }
-        }
         // Spawn the new tags
         for tag in tags.iter() {
             let (id, material) = match tag {
@@ -283,24 +263,8 @@ pub fn update_location_for_changed_location_tags(
                         continue;
                     }
                 }
-                LocationTag::SpawnRobot(_) => {
-                    if tag_meshes.spawn_robot.is_none() {
-                        let id = commands.spawn_empty().id();
-                        tag_meshes.spawn_robot = Some(id);
-                        (id, assets.robot_material.clone())
-                    } else {
-                        continue;
-                    }
-                }
-                LocationTag::Workcell(_) => {
-                    if tag_meshes.workcell.is_none() {
-                        let id = commands.spawn_empty().id();
-                        tag_meshes.workcell = Some(id);
-                        (id, assets.workcell_material.clone())
-                    } else {
-                        continue;
-                    }
-                }
+                // Workcells and robots are not visualized
+                LocationTag::SpawnRobot(_) | LocationTag::Workcell(_) => continue,
             };
             commands.entity(id).insert(PbrBundle {
                 mesh: assets.location_tag_mesh.clone(),

rmf_site_editor/src/site_asset_io.rs

@@ -263,14 +263,6 @@ impl SiteAssetIo {
             "textures/stopwatch.png".to_owned(),
             include_bytes!("../../assets/textures/stopwatch.png").to_vec(),
         );
-        self.bundled_assets.insert(
-            "textures/robot.png".to_owned(),
-            include_bytes!("../../assets/textures/robot.png").to_vec(),
-        );
-        self.bundled_assets.insert(
-            "textures/workcell.png".to_owned(),
-            include_bytes!("../../assets/textures/workcell.png").to_vec(),
-        );
     }
 }