Add reset button

Author: Yahiewi

src/controls.ts

@@ -252,6 +252,22 @@ export class URDFControls extends GUI {
         );
         this._enforceNumericInput(this.controls.joints[name]);
       });
+
+      // Add reset button
+      const resetSettings = {
+        'Reset Joints': () => {
+          Object.keys(this.controls.joints).forEach((jointName: string) => {
+            if (jointName !== 'reset' && this.controls.joints[jointName]) {
+              this.controls.joints[jointName].setValue(0);
+            }
+          });
+        }
+      };
+      this.controls.joints.reset = this._jointsFolder.add(
+        resetSettings,
+        'Reset Joints'
+      );
+
       this._jointsFolder.open();
     }
     return this.controls.joints;

src/layout.ts

@@ -384,6 +384,11 @@ export class URDFLayout extends PanelLayout {
       jointNames
     );
 
+    // Connect the cursor link selection mode
+    editorControls.mode.onChange((enabled: boolean) => {
+      this._interactionEditor.setLinkSelectorMode(enabled);
+    });
+
     // Handle joint selection for modification
     editorControls.selectedJoint.onChange((selectedJoint: string) => {
       const isModifying = selectedJoint !== 'New Joint';

style/base.css

@@ -202,3 +202,8 @@ li.cr.number.has-slider > div {
   font-family: var(--jp-ui-font-family, sans-serif);
   font-size: var(--jp-ui-font-size1, 12px);
 }
+
+/* Limit dropdown width to prevent UI overflow */
+.urdf-gui .cr select {
+  max-width: 180px !important;
+}