RobotViz

A web-based 3D robot visualization tool. Visualize robot arms from URDF files with STL and DAE mesh support.

How to Use

Running the App

npm run dev

Open http://localhost:3000 in your browser.

Loading a Robot

1. Default: EC63 robot arm loads automatically on startup
2. Custom Robot: Drag and drop multiple files (URDF + meshes) or click to select all files at once
3. The app parses the URDF automatically and loads mesh files

File Requirements

Upload folder must contain:

• One .urdf file describing robot structure
• Mesh files (.STL or .dae) referenced in the URDF

Mesh file names must match the link names in the URDF (e.g., base_link.STL, link1.STL).

Joint Control

• Use sliders to manually control each joint
• Values are in radians
• Joint limits from URDF are applied automatically

ROS Connection

1. Enter WebSocket URL (default: ws://localhost:9090)
2. Click Connect
3. Robot joints update from /joint_states topic