Robotics Simulator
A WebGL-powered robotics simulator for visualizing arm kinematics, path planning, and collision detection. Supports URDF model import and real-time joint control.
$ kinematics --mode forward --joints 6
Loading URDF: ur5e_robot.urdf ✓
DH parameters computed for 6-DOF arm
→ End-effector pose: [x:0.5, y:0.2, z:0.4, qw:1.0]
$ pathplan --algo RRT* --start home --goal pick
Sampling-based planner: RRT* with 5000 iterations
Collision pairs: 12 checked, 0 violations
→ Path found: 47 waypoints, 2.3s estimated
$ collision --check --scene warehouse_v2
GJK/EPA narrow-phase detection active
Bounding volumes: AABB + OBB hierarchy
→ 3 near-miss pairs flagged (min dist: 12mm)
$ joint --control --torque --realtime
PID gains: Kp=120, Ki=0.5, Kd=8.2
Max torque: 150Nm @ joint 1
→ Real-time loop: 1kHz, jitter < 0.1ms
Robotics engineers prototyping motion plans and validating safety constraints before physical deployment.