Robot cell · Lab
Robot Cell · Sim
A pure-JS planar two-link arm with gravity + viscous damping (semi-implicit Euler @ 240 Hz). Closed-form IK + PD control drives the end-effector toward the click target. The same simulator is exposed at /api/robotic/sim-rolloutfor batch trajectory generation.
target (0.60, 0.40)ee (0.00, 0.00)reachable
Click anywhere on the canvas to retarget the end-effector. The PD controller solves IK and drives the arm. Physics runs at 240 Hz.