What this page edits
The 3D geometry is the visual reference. The editable robot is the RobotDesign: links, joints, masses, collision proxies, actuators, tools, assumptions, and pose.
Recommended flow
- Model - group parts into links, define joints, add collision proxies, and place the tool center.
- Analyze - move joint sliders or solve an inverse-kinematics target.
- Lab - run course checkpoints, capture experiment evidence, and export report/project deliverables.
- Actuators - assign drives and check torque and speed margins.
- Simulate - initialize Rapier proxy bodies, then step or run the simulation.
- Audit - review readiness findings before exporting or iterating.
Viewport
Drag to rotate, right-drag to pan, and use the wheel to zoom. Use Frame when the arm moves out of view.
Model mode
Select a link or joint from the left tree. Links own visual parts and mass data. Joints connect parent and child links. Collision proxies are simplified shapes used by analysis and simulation. End effectors define tool frames for IK.
Analyze mode
Set a target XYZ position in millimeters and click Solve IK. Use joint sliders for manual posing. Reset Chain Pose returns the selected tool chain to zero angles.
Actuators mode
Assign an actuator to each movable joint. Torque margin compares continuous torque to the recommended load. Speed margin compares actuator speed to the target speed assumption.
Lab mode
Use checkpoints, experiment runs, CSV export, and HTML reports to turn the current RobotDesign into undergraduate lab evidence.
Simulate mode
Click Initialize / Reset after changing the model or simulation options. Step advances one timestep. Run starts continuous stepping and becomes Pause while running.
Save and export
Save stores the current RobotDesign in this browser. Import loads a RobotDesign JSON file. JSON exports the editable design. URDF Check shows readiness, warnings, limitations, and the generic URDF download action.
Limits
Simulation uses proxy shapes, not raw STL mesh physics. V1 supports open serial chains for IK. Closed-loop mechanisms are reported as audit limitations.