Sim Lab // Free-play workbench

Research Sandbox

Open-ended tabletop kinematics. No timer, no scoring, no unlock gates. Looking for the guided track? Run the 8-mission curriculum.

RoboRoots

Physical AI Sim Lab

[ENGINE: PD_SOLVER_OK][RATE: 60 FPS][PACE: 0.5X SLOW]

Booting kinematic solver...

Active chassis0 DoF // drag a node to perturb

Orbit: drag // Zoom: scroll // Pan: right-drag

motion_step_01.jsIdle

// Every joint sweeps on its own frequency.
// Toggle joints in the dock to see how rotations compose
// the 6-DoF workspace envelope.
for (let i = 0; i < data.nj; i++) {
  data.ctrl[i] = 0.6 * Math.sin(time * (0.6 + i * 0.25) + i);
}

> awaiting motion script

Step parameters

Active joints // DoF

Joint readout // rad

Tracking error: 0.000 rad
Disturbance (tau): 0.00 N·m

Contact dynamics

Grip normal F_n: 0.00 N
Friction (mu): 1.00
Hold capacity 2·mu·F_n: 0.00 N
Payload m·g: 4.91 N
Contact state: OPEN

Mechanical insight // step 01

Each revolute joint adds one Degree of Freedom. Toggle joints off and the reachable workspace collapses: base yaw sweeps a circle, shoulder + elbow carve a plane, and the wrist adds orientation. Six independent rotations are the minimum to place a tool at any position AND orientation.