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feat(webui): 3D robot pose viewer (Issue #229) #232

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sl-jetson merged 1 commits from sl-webui/issue-229-pose-viewer into main 2026-03-02 12:09:10 -05:00
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sl-jetson commented 2026-03-02 12:09:00 -05:00
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Three.js IMU orientation display with 30s position trail

Three.js IMU orientation display with 30s position trail
sl-jetson added 1 commit 2026-03-02 12:09:01 -05:00 
Replace basic IMU panel with interactive Three.js 3D pose viewer:
- Real-time robot box model visualization
- Rotation controlled by /saltybot/imu quaternion data
- 30-second position trail from /odom navigation
- Trail visualization with point history
- Reset button to clear trail history
- Grid ground plane and directional indicator arrow
- Interactive 3D scene with proper lighting and shadows

Features:
- Three.js scene with dynamic box model (0.3x0.3x0.5m)
- Forward direction indicator (amber cone)
- Ambient and directional lighting with shadows
- Grid helper for spatial reference
- Trail line geometry with dynamic point updates
- Automatic window resize handling
- Proper cleanup of WebGL resources and subscriptions

Integration:
- Replaces ImuPanel in TELEMETRY tab (IMU view)
- Added to flex layout for proper 3D viewport sizing
- Subscribes to /saltybot/imu and /odom topics
- Updates trail points every 100ms (max 30-second history)

Build: ✓ Passing (112 modules, 196.69 KB main bundle)
Three.js vendor: 473.57 KB

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit e477284c2f into main 2026-03-02 12:09:10 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#232
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