3D arm status pane - Githubissues

SJSURoboticsTeam / urc-teleoperation-2024

Primary user interface for 2024 URC Mars Rover

MIT License

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3D arm status pane #8

Open starphys opened 6 months ago

starphys commented 6 months ago

Displaying the current position of the arm in 3D using to-scale models could simplify remote operations. It would also be a great starting step in implementing inverse kinematics as a fallback for the mimic.

andrew-bork commented 6 months ago

The general 3D Viewport is implemented.

As of yet, the viewport is not connected to either the state of the arm on the rover, or the state of the arm on the mimic.

The angles of each of the robot joints is exposed, they are just all set 0.

Inverse Kinematics is not yet implemented

andrew-bork commented 6 months ago

Inverse kinematics is now implemented. Next step is to connect to either the mimic or the rover.

Also someone should look into the four bar linkage on the claw. The simulation currently tries to recreate the effect, however it is not fully correct.