BabaCAD Robotics Web Documentation

From Simulation to a Real Robot

Program the arm in your browser, check every move on screen, then play the same motion on the robot on your desk.

precision_manufacturing

How BRW Connects To A Real Robot

BabaCAD Robotics Web runs in the browser, and a web page cannot open a network connection to a robot controller by itself. A small bridge app on your computer does that. The BRW plugin brw-plugin.js sends the simulated trajectory to the bridge over a local WebSocket (ws://127.0.0.1:8765). The bridge checks the trajectory and the robot, then drives the controller over the robot's own TCP/IP interface.

view_in_ar

BRW in the browser

Postures, simulation, and User Command 1 from the plugin

arrow_forward WebSocket
on this computer
lan

Bridge app

Checks joint limits, speeds and robot state, then generates the robot program

arrow_forward Ethernet
TCP/IP
smart_toy

Robot controller

Moves to the start pose slowly, then follows the simulated path

What you do

  1. Download the setup package for your robot from the list below and unzip it. The Windows and Mac packages include Node.js, so there is nothing else to install.
  2. Enter the robot's IP address in app/config.json and start the bridge with start-bridge.bat (Windows) or start-bridge.command (Mac).
  3. In BRW, load the matching robot model and the plugin folder brw-plugin from the package (Import / Export).
  4. Build your postures, press Play full and check the motion on screen. Then press User Command 1 to send it to the robot. User Command 2 stops the robot and User Command 3 shows its status.
Safety first. The real arm makes the same moves as the simulation, including through anything that is not modelled in BRW. Clear the work cell, start with reduced speed, and keep the teach pendant's emergency stop within reach. The stop command in BRW is a convenience, not a safety function.
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Supported Robots

Each robot needs its own kinematic model, joint mapping and communication settings. Every one added to this list has been checked against its manufacturer's data. The list is updated continually as new robots are added, so check back if your robot is not here yet.

Robot Setup package (zip) Setup guide
Universal Robots UR3
CB-series controller
downloadWindows downloadMac (Apple silicon) downloadMac (Intel) downloadWithout Node.js
menu_bookUR3 guide
Universal Robots UR5
CB-series controller
downloadWindows downloadMac (Apple silicon) downloadMac (Intel) downloadWithout Node.js
menu_bookUR5 guide
Universal Robots UR10e
e-Series controller
downloadWindows downloadMac (Apple silicon) downloadMac (Intel) downloadWithout Node.js
menu_bookUR10e guide
Pick the package for the computer that runs the bridge: Mac (Apple silicon) for M1 and newer Macs, Mac (Intel) for older ones. Without Node.js is a small download for computers that already have Node.js 18 or newer. Each guide lists the sizes and how to start each package.