Overview
This 3D simulator visualizes forward kinematics (FK) of a robotic arm using the standard Denavit-Hartenberg (DH) parameter convention. You can configure DH parameters, upload trajectories, visualize workspaces, and record movements.
How to Use
- Interactive 3D Viewport: Left-click and drag to rotate the camera. Right-click and drag to pan. Scroll to zoom. Use the Reset Camera button to return to the default view.
- DH Parameters Table: Modify values directly in the sidebar table. Click + Add Joint to add a link, or the delete icon to remove one. You can Save Config to your browser cache, or Reset UR5 to restore default configurations.
- Uploading Files:
- Joint Trajectory CSV: Upload a CSV file with joint angles over time. Format:
time, joint1, joint2, ...
- Base Motion CSV: Enable and upload a CSV file with position and orientation offset for the robot base. Format:
time, x, y, z, rx, ry, rz
- Target Locations CSV: Display 3D target coordinates in space. Format:
x, y, z
- Playback Controls: Play, pause, adjust playback speed, scrub through the timeline, or toggle looping.
- WebM Recorder: Click Record Loop to export a WebM video of one full trajectory playback loop directly to your downloads.