armbot trigger events added

app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx

@@ -15,6 +15,7 @@ type IKInstanceProps = {
     setArmBotCurvePoints: any
 };
 function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processes, setArmBotCurvePoints }: IKInstanceProps) {
+    console.log('robot: ', robot.position, robot.rotation);
     const { scene } = useThree();
     const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
         const draco = new DRACOLoader();
@@ -65,15 +66,24 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processe
         setIkSolver(solver);
 
         const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05);
-
-        // scene.add(groupRef.current)
+        if (solver) {
+            const bone = solver.mesh.skeleton.bones.find(
+                (b: any) => b.name === targetBoneName
+            ) ?? "";
+            if (bone) {
+                const position = new THREE.Vector3();
+                bone.getWorldPosition(position);
+                console.log("world position", position.x, position.y, position.z); // this is the bone's world position
+            }
+        }
+        scene.add(helper)
 
 
     }, [gltf]);
 
     return (
         <>
-            <group ref={groupRef} position={robot.position}>
+            <group ref={groupRef} position={robot.position} rotation={robot.rotation}>
                 <primitive
                     uuid={"ArmBot-X200"}
                     object={cloned}