I kind of ran out of time today but I am working on it.

I have decided to move forward with the gaits that I have now (Regis Hsu 2017 spider robot) and current sampling pattern.

I took some measurements today, I am working on a C++ based "algorithm" to process the 5 sample planes for the obstacle detection/box-bounding.

This is top of my project priority again I just wanted to get outside/had to finish my camera external display project and also do day job. I also fixed my DLG but need to design a carrier for it.

I'm also done doing these samples for the Three JS  it's too much data to transmit with the ESP-01, keeps having buffer problems, so I'm doing all the math on the Teensy then sending basic coordinates/sizes of box-obstacles.

Can see below what I do to make the mesh plot above.

mesh-plot.html chews through the right-side numbers on the left and creates the mesh above.

I also have not fixed the offset orb deal with the ToF sensor.