Mitsubishi RV-2SDB Robot Simulation

A 3D simulation of the Mitsubishi MELFA RV-2SDB industrial robot using Raylib, ImGui, and C++.

Features

• Kinematics: Procedural geometric visualization of the 6-axis robot arm.
• Controls: Manual joint control via slider GUI.
• Demo Mode: Automated "Pick and Place" demonstration sequence.
• Networking: TCP Server (Port 10001) for external control (Python/MATLAB).
• Visuals: Work envelope visualization and adjustable scale.

Prerequisites

• CMake (3.16+)
• C++ Compiler (GCC/Clang/MSVC)
• Internet connection (CMake fetches dependencies automatically: Raylib, Jolt, ImGui)

Build Instructions

1. Clone or create the project folder.
2. Create a build directory:

   mkdir build
   cd build

3. Configure with CMake:

   cmake ..

4. Compile:

   make

5. Run:

   ./Yuki

Controls

• Camera Movement:
  • W, A, S, D: Move Camera
  • Mouse: Look around
  • Shift: Move faster
• UI Interaction:
  • TAB: Toggle Mouse Cursor (Unlock cursor to interact with UI buttons)
• External Control (Optional):
  • Connect via TCP to port 10001
  • Commands: GETPOS, MOVE <J1> <J2> ...