While learning more about embodied AI and robot simulation i’m building a simple simulator, based on Three.js and Rapier physics engine.
The robot model is a mobile platform with a 6DOF manipulator and a 2-finger gripper. Each part of the robot is a three.js mesh, kept in sync with the Rapier rigid body. Parts are connected into a kinematic chain with Rapier joints. Arm pose can be set by dragging the gripper with three.js TransformControls.
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