Fixed Broken Magnet, Redoing all IK joint data and offsets, Stereo depth test

An encoder magnet broke off, so I had to disassemble and reassemble the top half of the arm to get to the encoder magnet and glue it back on.

I also started properly punching in the IK joint data, before it was mostly just random data but now almost all of the data is mostly correct, and I’m waiting for a print to complete that will flip a motor to finally get the IK simulation matching with real life and have the IK endpoint be tracked at the tip of the gripper. It was a lot of trial and error and measurements.

I also started experimenting with adding depth estimation. Eventually this could add collision avoidance IK pathfinding, which would be really cool but it’s just a pointcloud in the render right now.

But the robot arm is slowly coming together finally! I’ll be able to grab something soon I think.