VectraSim Suite

🦾 What to Try First

🦾 Drag Joint sliders — Move J1–J6 sliders to drive Forward Kinematics live
🎯 IK Target — Click the "IK" sub-tab, enter XYZ coords and hit Solve to inverse-kinematically reach a pose
📍 Teach Mode — Press T or open the PATH tab → record waypoints → play LSPB trajectory
🔢 Change DOF — Use the DOF selector (2–6 joints) to reconfigure the arm on the fly
⚡ Check Torques — Open the DYN tab to view per-joint torque estimates during motion
📊 Analytics — Hit the ANALYTICS button in the nav to see the Yoshikawa manipulability gauge

💡 Tip: Near-zero manipulability = singularity — watch the gauge go red!

🦾FORWARD KINEMATICS

⚡PRESET POSES

🎯INVERSE KINEMATICS ?

Target Coordinate (X, Y, Z)

IK Solver Method

IK Solver Ready (DLS)

📍TRAJECTORY ENGINE

Waypoints0

Duration2.0s

HARD SAFETY STOP

💡 Double-click viewport to place waypoints.

🎓TEACH MODE

Drag end-effector in viewport to teach robot positions. Click to record waypoint.

Waypoints Taught 0

🤖INDUSTRIAL TASKS

Execute autonomous industrial sequences using path planning and inverse kinematics.

Task Engine Idle

💻CODE GENERATOR

Export the active trajectory path as industrial robot commands.

🔢DEGREES OF FREEDOM

Select robot joint count. Robot rebuilds instantly.

6-DOF CONFIGURATION

⚡DYNAMICS ?

Gravity Vector

🔭WORKSPACE

Spherical workspace envelope based on DH link parameters.

🤖ACTIVE ROBOT

ROBOT: Custom 6-DOF DOF: 6 MAX REACH: ~22 units SOLVER: CCD IK

🐍PYTHON SCRIPTING

Write Python automation scripts.
Commands: robot.speed(val), robot.moveTo(target="box"), robot.grip(close=True|False).

IDE Idle

6-DOF

⚠ SAFETY MONITOR

NO COLLISION DETECTED

📊 TELEMETRY READOUT

SYS_READY...

🎯 MANIPULABILITY (w) NORMAL

w = 1.42 det(JJᵀ) = 2.02

Singular (0.0) Cond κ: 2.8 Isotropic (3.0+)

TARGET OUT OF REACH

🎓 TEACH MODE

Drag end-effector to pose robot
Click to record waypoint
[Shift] = vertical | [Alt] = horizontal

ROS 2 TELEMETRY /joint_states

VELOCITY PROFILE (J1–J3)

ACCELERATION PROFILE (J1–J3)