Here's a video of the claw waving open and closed.

https://instagram.com/p/7qSqWYIfC6/

Here's a screenshot of the UI. Note the Inverse Kinematic controls and the servo manipulator in the bottom right. I call it "Evil Overlord" because... who else would control Evil Minions?

I'd love some help with the code. I'm trying to

• build a record/playback system.
• support the various tools on the wrist. plugins for each tool type?
• support multiple arms in the same instance of Overlord. That means ray picking, moving arms, interacting/colliding arms, world file structure, and more
• support non-robot objects in the world. Load an object, place it, give it physical properties, let the arm interact.
• add a Raspberry PI for web/mobile interfaces
• add camera support. Ideally projecting the camera view into the 3d world. Point clouds from 3D scanners, too. OpenCV?

Graphics wise,

• replace the skybox with a cube that has textures to indicate which way is X, which is Y, and which is Z. The textures are made, it's the loading and display that needs to be finished. EDIT: DONE.
• improve the gfx so the arm can cast shadows on itself.
• texture the robot so the colors match the real arm.
• remove faces from the interior of the models that are invisible.

You can see the latest version of the code at https://github.com/i-make-robots/Evil-Overlord