Builds an ExRatatui.ThreeD.Scene from a BB.Robot topology and live joint
configurations.
Forward kinematics is delegated to BB.Robot.Kinematics.all_link_transforms/2,
so every joint type — planar and floating included — poses correctly; this
module only converts base-frame link transforms into the engine's scene. The
robot is Z-up (URDF); the scene is wrapped in a -90°-about-X root frame so it
renders in the engine's Y-up conventions. Pure: (robot_struct, configurations)
in, Scene out.
Summary
Functions
Builds the 3D scene for robot at the given joint configurations.
A sensible default orbit camera for the arm.
Functions
@spec build(struct(), %{required(atom()) => number() | struct()}, keyword()) :: ExRatatui.ThreeD.Scene.t()
Builds the 3D scene for robot at the given joint configurations.
Options: :lights and :background override the defaults.
@spec default_camera() :: ExRatatui.ThreeD.Camera.t()
A sensible default orbit camera for the arm.