Modern Robotics in the Browser

Modern robotics algorithms become easier to reason about when their inputs and outputs are visible. This project puts a C++ kinematics and control stack in the browser, so a robot can be inspected, moved, and planned for without a local simulation setup.

The interactive viewer supports UR5 and Franka Research 3 arms. Joint sliders drive forward kinematics, while the end-effector gizmo supplies targets to the inverse-kinematics solver. The same interface also exposes collision capsules, manipulability ellipsoids, motion planning with RRT-Connect, and Newton-Euler dynamics.

The computational path remains in C++: Eigen and Sophus implement the space-frame Product of Exponentials formulation, Emscripten compiles it to WebAssembly, and React with three.js provides the visual interface.

The source and implementation notes are available in the modern-robotics-wasm repository.