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# Kinesim

Kinesim is a Three.Js based robotics simulator that runs in browser.
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# robot-gui
A three.js based 3D robot interface. 

# How To
Download or clone. Open `index.html` or [RoboSim](https://aamitn.github.io/rg/). Enjoy 🤖😀 

You may need to use Chrome, since some ES6 features are not supported in other browsers yet.

![robot-gui](https://user-images.githubusercontent.com/3062564/31865318-7d97605e-b76d-11e7-8ab4-7c2a9e17be3d.png)

# Geometry
Configure the robot geometry using the *geometry* tab.

![bildschirmfoto 2017-10-22 um 21 14 02](https://user-images.githubusercontent.com/3062564/31865347-f8010804-b76d-11e7-8452-e003677da2c7.png)

# Angle limits
Angle limits are shown visualy. *red* negative, *green* positive

![bildschirmfoto 2017-10-22 um 21 16 38](https://user-images.githubusercontent.com/3062564/31865367-56242556-b76e-11e7-8fe4-36e69f55b920.png)

# Toggle Space
Switch between global and TCP aligned controls

![bildschirmfoto 2017-10-22 um 21 18 43](https://user-images.githubusercontent.com/3062564/31865385-a52db932-b76e-11e7-8408-797bd0959bab.png)
![bildschirmfoto 2017-10-22 um 21 18 53](https://user-images.githubusercontent.com/3062564/31865386-a54e6218-b76e-11e7-8250-1c183d723121.png)

# Working Space
Click add Pose to visualize the working area for the current TCP orientation. Add muliple poses to compare work area vs orientation.

![bildschirmfoto 2017-10-22 um 21 22 20](https://user-images.githubusercontent.com/3062564/31865429-3429e0c0-b76f-11e7-8ed3-f40d0fca6aaa.png)
![bildschirmfoto 2017-10-22 um 21 22 51](https://user-images.githubusercontent.com/3062564/31865591-71863d9a-b771-11e7-9d5d-9f010903c221.png)

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