# Kinetica

> Simulate robot arms in your browser: kinematics, trajectories, collisions, program export. Kinetica is a free robot motion studio that runs entirely in your browser. Load a 6-axis industrial arm, a UR-style cobot, a SCARA, a gantry or a planar teaching arm (or define your own with DH tables or URDF), jog it in a WebGL 3D view, drag the TCP with live inverse kinematics and program PTP, LIN and CIRC moves with blending. It plans trapezoidal, quintic and S-curve trajectories within joint limits, checks collisions, estimates cycle time and exports CSV/JSON motion plans, G-code and readable KRL-like and RAPID-like program templates.

Kinetica (Robot motion studio) is a premium app of usefulweb.site (https://usefulweb.site/): a full program that runs in the browser. Its engine is deterministic and the same functions are exposed as tools, so an agent can compute exactly what the app shows.

## Use it
- Landing page: https://kinetica.usefulweb.site/
- Workspace (browser app): https://kinetica.usefulweb.site/app - open a project with https://kinetica.usefulweb.site/app#project=<base64url-encoded project JSON> or a template with https://kinetica.usefulweb.site/app#template=<id>
- Project file format (JSON Schema): https://kinetica.usefulweb.site/project.schema.json
- Tutorials: https://kinetica.usefulweb.site/tutorials
- JSON API: POST https://kinetica.usefulweb.site/api/v1/tools/<toolId>/calculate (catalog: https://kinetica.usefulweb.site/api/v1/tools)
- OpenAPI: https://kinetica.usefulweb.site/openapi.json
- MCP (Streamable HTTP): https://kinetica.usefulweb.site/mcp

## Engine tools
- [Kinetica Forward Kinematics](https://kineticaforwardkinematics.usefulweb.site/): DH table or URDF + joint values → TCP pose, every joint frame, Jacobian and manipulability. API: POST https://kinetica.usefulweb.site/api/v1/tools/kinetica-forward-kinematics/calculate · MCP tool `kinetica_forward_kinematics`
- [Kinetica Inverse Kinematics](https://kineticainversekinematics.usefulweb.site/): Target TCP pose → all joint solutions found, residuals, joint limits and reachability. API: POST https://kinetica.usefulweb.site/api/v1/tools/kinetica-inverse-kinematics/calculate · MCP tool `kinetica_inverse_kinematics`
- [Kinetica Trajectory Planner](https://kineticatrajectoryplanner.usefulweb.site/): Waypoints (PTP, LIN, CIRC) + limits → timed joint samples, cycle time and peak velocities. API: POST https://kinetica.usefulweb.site/api/v1/tools/kinetica-trajectory-planner/calculate · MCP tool `kinetica_trajectory_planner`
- [Kinetica Collision Check](https://kineticacollisioncheck.usefulweb.site/): Robot pose + obstacles → collisions, minimum clearance and self-collision between links. API: POST https://kinetica.usefulweb.site/api/v1/tools/kinetica-collision-check/calculate · MCP tool `kinetica_collision_check`

## Formats
- Import: Kinetica project (.kinetica.json), URDF subset (.urdf, .xml), Robot JSON (.json)
- Export: Kinetica project (.kinetica.json), Motion plan CSV, Motion plan JSON, G-code (.nc / .gcode), KRL-like template (.src), RAPID-like template (.mod), URDF (.urdf), PNG (viewport, plots), SVG (plots), Print view

## Limits
- Kinematic simulation only: no rigid-body dynamics, motor torque limits, friction or servo lag.
- Serial chains only (up to 12 joints); delta and other parallel robots are not supported.
- URDF: meshes are skipped (use boxes, cylinders and spheres), only one serial chain is imported, mimic joints and transmissions are ignored.
- Collision geometry is a capsule/box envelope; cylinders are approximated by capsules or equal-area prisms.
- Blending superposes neighbouring moves in joint space; the blended path is close to, but not exactly, a circular arc.
- KRL-like and RAPID-like exports are templates for a programmer, not validated controller programs.
- Phones get a simplified view; editing is designed for desktop and tablet.