Cobot Lab — Robotic Arm Simulator

Robot

Opening60%

Follow liveDrag the target handle and the arm follows at joint speed

X m Y m Z m

Roll ° Pitch ° Yaw °

Drag the arrows (or the ball) on the target handle.

Speed60%

Loop

Follow joint commandsSubscribe to /cobot_lab/joint_command (sensor_msgs/JointState)

Not connected. Run rosbridge_server and connect to publish /joint_states and /cobot_lab/tcp_pose at 20 Hz.

Collision guardRefuse poses that hit the table or the arm itself

Rapier physics: the arm's links and fingers are solid, so they push blocks.

Plan around obstaclesRRT-Connect finds a collision-free joint path when the direct one is blocked

Tip trace

Ambient occlusionSoft contact shadows (turn off on slow devices)

Collision capsules

Joint plots

Target handle

Joint framesThe DH coordinate frame of every joint

Reachable workspace6,000 random collision-free poses, coloured by dexterity

Dexterity ellipsoidHow easily the tool can move in each direction

Joint	θ (live)	d m	a m	α

Tool centre point

X0.000 m

Y0.000 m

Z0.000 m

Roll0.0°

Pitch0.0°

Yaw0.0°

Reach0.000 m

Dexterity—

Motor load

Drag: orbit · Drag the target handle: move the tool · Shift/right-drag or two fingers: pan · Wheel/pinch: zoom