Robot Arm Kinematics Explorer

A 6-DOF robot arm simulated in MuJoCo. Forward and inverse kinematics are written from scratch, not pulled from a library. Forward kinematics uses Rodrigues' rotation formula chained into homogeneous transforms. Inverse kinematics uses a damped least-squares Jacobian solver. Both are checked against MuJoCo's own physics engine and match to floating-point precision. The same math runs live below, in the browser. Drag the target and watch the joint angles solve in real time.

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