Explore motion. Plan a transfer. See every joint at work.
6-axis pose IK · Vertical grasp
Press Demonstrate all for an automatic five-part presentation. Or select a part, choose a destination, and run one transfer.
Robot: Official UR10e visual meshes with nominal six-axis joint transforms from Universal Robots’ ROS 2 description. The parallel gripper is a custom demonstration tool. X and Y lie on the floor; Z is vertical.
Motion: Numerical pose inverse kinematics controls position and tool orientation through all six joints. Every transfer is checked along its path before playback. Nearby solutions are continued to keep the arm on a consistent configuration.
Scope: An educational kinematic simulation, without factory calibration, dynamics, contact forces, or complete link/self-collision checking. The simulator is independent of Universal Robots and has no hardware connection.
Visual meshes and nominal geometry: Universal Robots ROS 2 Description. UR10e assets are distributed under BSD-3-Clause. Full license notice is included in this file.
Move one axis at a time to understand the kinematic chain. Automatic motion is unavailable in this mode. Full link collision is not enforced.
