Develop normal paths over a mesh surface.

[JamesNewton]

I think we can use three.js raycasting to find normals to a mesh, and then move past the mesh surface by some distance along the normal. This distance could be the radius of a grinding tool for example. This demo does /exactly/ that:
https://sbcode.net/threejs/raycaster/

So the steps are

• Import a mesh representing some part in some compatible format. STL or something else.
• Register the base position of the Mesh in the simulator to match the position of the real part near the robot.
• Draw a line or a series of lines over the mesh, via the raycasting system (see demo)
• Extend those lines by the radius of the tool
• Use those points to form a path
• Translate that path into joint space (optimized by Tom)
• Follow the path with the simulated robot, checking for collisions via three.js
• Follow the path with the real robot, grinding off the flash on the part.