Builds an ExRatatui.ThreeD.Scene from a BB.Robot topology and live joint
positions, running forward kinematics.
The robot is Z-up (URDF); the whole tree is wrapped in a -90°-about-X root frame
so it renders in the engine's Y-up conventions. Pure: (robot_struct, positions)
in, Scene out.
Summary
Functions
Builds the 3D scene for robot at the given joint positions.
A sensible default orbit camera for the arm.
Functions
@spec build(struct(), %{required(atom()) => number()}, keyword()) :: ExRatatui.ThreeD.Scene.t()
Builds the 3D scene for robot at the given joint positions.
Options: :lights and :background override the defaults.
@spec default_camera() :: ExRatatui.ThreeD.Camera.t()
A sensible default orbit camera for the arm.