Import CAD model into AdvantageScope

[ErikCald]

This is a task to import our team's 3d cad model into AdvantageScope. This task doesn't require any coding which might appeal to some people. The 3d cad model for this year is not completed yet, but it would be good to figure out how to do this task with last year's model so that when the new model is ready, you can quickly add it.

AdvantageScope is a visualization tool that is installed along WPILib VSCode. You can open it through WPILib VSCode 2024 by pressing ctrl+shift+p and selecting WPILib: Start Tool then selecting AdvantageScope, or by running it like other windows programs through the start menu.

• Ask the hardware team for a .step file of the robot (Erik can get a .step of last year's robot). Follow the steps here to convert the .step into a file that AdvantageScope can read.
• Create a config.json to match your new converted cad file from the instructions here. Note the text at the top of that linked page explains where to place the config.json and cad model.
• Test your model in advantage scope.
• Modify your config.json to include a proper list of cameras according to where they are on the robot.
• Investigate articulated components here and here. For this you might need to ask hardware for a .step of the 3d model with no arm and then a .step of the arm alone and go back through some of the steps. This should be much easier the second time. This will also require some coding to figure out what Pose3d to publish to articulate the arm based on the angle the arm is at as reported by the ArmSubsystem