How viktorivan8787/robot-arm-6dof-full works
This repository combines a Python camera/vision interface with a separate C++ interactive arm simulator. The implemented vision path captures frames and runs YOLO or description-guided Grounding DINO detection; the simulator handles target interaction, inverse kinematics, pathway sequencing, and rendering. The README describes coordinate conversion, physical actuation, and vacuum pick-and-place as system goals, but the sampled source does not establish their implementation or wiring, so those links are shown as planned. Unsampled UI and vision capabilities use their enclosing tree directories as paths.
Main entry points: simulation.cpp Simulation App · camera_worker.py Camera Worker · grounding_dino_worker.py Grounding DINO Worker · detect.py Object Detection
Components 19
Vision
- Camera Capture
python/arm/vision/camera.py - Object Detection
python/arm/vision/detect.py - Grounding DINO Worker
python/arm/ui/grounding_dino_worker.py - Coordinate Mapping
python/arm/vision
User Interface
- Controller App
python/apps/arm_controller.py - Main Window
python/arm/ui/main_window.py - Camera Widget
python/arm/ui/camera_widget.py - Camera Worker
python/arm/ui/camera_worker.py
Simulation
- Simulation App
cpp/apps/simulation.cpp - Simulation State
cpp/include/simulation_assets/simulation_state.hpp - Robot Model
cpp/include/robot_arm/robot.hpp - Kinematics
cpp/src/kinematics.cpp - Pathway Sequencing
cpp/src/pathways.cpp - 3D Rendering
cpp/src/rendering.cpp - Simulation HUD
cpp/src/hud.cpp
Planned Hardware
- Six-Joint Arm
- Vacuum Effector
Other components
- Operator
- Workspace Camera
Connections 21
- Operator → Controller App: launches
- Controller App → Main Window: creates
- Workspace Camera → Camera Capture: provides frames
- Camera Worker → Camera Capture: reads frames
- Camera Worker → Object Detection: runs detection
- Camera Worker → Grounding DINO Worker: requests inference
- Grounding DINO Worker → Object Detection: runs inference
- Grounding DINO Worker → Camera Worker: returns detections
- Camera Widget → Camera Worker: displays frames
- Main Window → Camera Widget: hosts
- Operator → Simulation App: controls
- Simulation App → Simulation State: updates state
- Simulation App → Kinematics: solves pose
- Simulation App → Pathway Sequencing: generates waypoints
- Simulation App → 3D Rendering: draws arm
- Simulation App → Simulation HUD: draws panels
- Simulation State → Robot Model: uses geometry
- Kinematics → Robot Model: uses joint model
- Object Detection → Coordinate Mapping: provides image coordinates
- Coordinate Mapping → Six-Joint Arm: planned target coordinates
- Six-Joint Arm → Vacuum Effector: planned pick and place