Script: Robot Arm
- Type
designer - Project
- Robot Arm in Designer
- Author
- bitbybit
- Date Created
- Oct 29, 2026, 6:02:05 AM
- Last Edit Date
- Oct 29, 2026, 6:03:39 AM
Project Information
A six-axis industrial arm on a pedestal, with cable harnesses along its links and a three-finger gripper.
Script Code
This script is large, so only its beginning is shown here. Open it in the editor to see all of it.
[
{
"schemaVersion": 1,
"kind": "assembly",
"id": "5a1e0011-7c3b-4f2e-9d10-a7e3c0de0011",
"units": {
"length": "mm"
},
"up": "z",
"meta": {
"name": "Xeno arm",
"description": "A six-axis arm with a telescoping forearm and a three-finger gear-driven claw",
"generator": "robot-arm-app"
},
"parameters": {
"yaw": {
"value": 0,
"min": -170,
"max": 170,
"label": "Base yaw",
"unit": "deg",
"group": "Pose"
},
"shoulder": {
"value": 20,
"min": -35,
"max": 115,
"label": "Shoulder",
"unit": "deg",
"group": "Pose"
},
"elbow": {
"value": 60,
"min": -150,
"max": 150,
"label": "Elbow",
"unit": "deg",
"group": "Pose"
},
"reach": {
"value": 0.3,
"min": 0,
"max": 1,
"step": 0.01,
"label": "Reach",
"group": "Pose"
},
"roll": {
"value": 0,
"min": -180,
"max": 180,
"label": "Wrist roll",
"unit": "deg",
"group": "Pose"
},
"pitch": {
"value": 30,
"min": -115,
"max": 115,
"label": "Wrist pitch",
"unit": "deg",
"group": "Pose"
},
"twist": {
"value": 0,
"min": -180,
"max": 180,
"label": "Claw twist",
"unit": "deg",
"group": "Pose"
},
"grip": {
"value": 0.4,
"min": 0,
"max": 1,
"step": 0.01,
"label": "Grip",
"group": "Pose"
},
"emblem": {
"value": 1,
"min": 0,
"max": 1,
"step": 1,
"label": "Badge",
"group": "Options"
}
},
"configurations": [
{
"id": "rest",
"name": "Rest",
"values": {
"yaw": 0,
"shoulder": -20,
"elbow": 140,
"reach": 0,
"pitch": -40,
"grip": 0.1
}
},
{
"id": "reach",
"name": "Reach",
"values": {
"yaw": 25,
"shoulder": 55,
"elbow": 35,
"reach": 1,
"pitch": 0,
"grip": 0.2
}
},
{
"id": "strike",
"name": "Strike",
"values": {
"yaw": -30,
"shoulder": 25,
"elbow": -60,
"reach": 0.5,
"pitch": 60,
"grip": 0
}
},
{
"id": "grasp",
"name": "Grasp",
"values": {
"yaw": 35,
"shoulder": 40,
"elbow": 111,
"reach": 0.6,
"pitch": 29,
"grip": 1
}
}
],
"components": [
{
"id": "pedestal",
"source": {
"document": "5a1e0001-7c3b-4f2e-9d10-a7e3c0de0001",
"part": "pedestal"
}
},
{
"id": "spine",
"name": "Spine column",
"source": {
"document": "5a1e0015-7c3b-4f2e-9d10-a7e3c0de0015",
"part": "spine",
"parameters": {
"length": 168
}
}
},
{
"id": "anchorScrews",
"name": "Anchor screw",
"source": {
"document": "5a1e001e-7c3b-4f2e-9d10-a7e3c0de001e",
"part": "screw",
"parameters": {
"size": "M10",
"length": 16
}
},
"replicate": {
"connector": "seat",
"to": {
"component": "pedestal",
"connector": "anchors"
}
}
},
{
"id": "baseConduit0",
"name": "Base conduit",
"source": {
"document": "5a1e0016-7c3b-4f2e-9d10-a7e3c0de0016",
"part": "run0"
}
},
{
"id": "baseConduit1",
"name": "Base conduit",
"source": {
"document": "5a1e0016-7c3b-4f2e-9d10-a7e3c0de0016",
"part": "run1"
}
},
{
"id": "baseConduit2",
"name": "Base conduit",
"source": {
"document": "5a1e0016-7c3b-4f2e-9d10-a7e3c0de0016",
"part": "run2"
}
},
{
"id": "turret",
"source": {
"document": "5a1e0003-7c3b-4f2e-9d10-a7e3c0de0003",
"part": "turret"
}
},
{
"id": "torsoCableR",
"name": "Torso cable",
"source": {
"document": "5a1e0017-7c3b-4f2e-9d10-a7e3c0de0017",
"part": "right"
}
},
{
"id": "torsoCableL",
"name": "Torso cable",
"source": {
"document": "5a1e0017-7c3b-4f2e-9d10-a7e3c0de0017",
"part": "left"
}
},
{
"id": "crownCap",
"name": "Crown cap",
"source": {
"document": "5a1e0004-7c3b-4f2e-9d10-a7e3c0de0004",
"part": "crownCap"
}
},
{
"id": "capGrille",
"name": "Hex grille",
"source": {
"document": "5a1e0004-7c3b-4f2e-9d10-a7e3c0de0004",
"part": "capGrille"
}
},
{
"id": "shoulderActuator",
"name": "Shoulder actuator",
"source": {
"document": "5a1e0010-7c3b-4f2e-9d10-a7e3c0de0010",
"parameters": {
"size": 70
}
}
},
{
"id": "upperArm",
"source": {
"document": "5a1e0008-7c3b-4f2e-9d10-a7e3c0de0008",
"part": "upperArm"
}
},
{
"id": "badge",
"name": "Badge",
"source": {
"document": "5a1e001b-7c3b-4f2e-9d10-a7e3c0de001b",
"part": "badge"
},
"suppressed": "1 - emblem"
},
{
"id": "armClamp",
"name": "Cable clamp",
"source": {
"document": "5a1e0018-7c3b-4f2e-9d10-a7e3c0de0018",
"part": "clamp"
}
},
{
"id": "armCableA",
"name": "Arm cable",
"source": {
"document": "5a1e0018-7c3b-4f2e-9d10-a7e3c0de0018",
"part": "runA"
}
},
{
"id": "armCableB",
"name": "Arm cable",
"source": {
"document": "5a1e0018-7c3b-4f2e-9d10-a7e3c0de0018",
"part": "runB"
}
},
{
"id": "voidWindow",
"name": "Void windows",
"source": {
"document": "5a1e0019-7c3b-4f2e-9d10-a7e3c0de0019",
"part": "voidWindow"
}
},
{
"id": "elbowActuator",
"name": "Elbow actuator",
"source": {
"document": "5a1e0010-7c3b-4f2e-9d10-a7e3c0de0010",
"parameters": {
"size": 62
}
}
},
{
"id": "forearm",
"source": {
"document": "5a1e0009-7c3b-4f2e-9d10-a7e3c0de0009",
"part": "forearm"
}
},
{
"id": "sleeveLiner",
"name": "Sleeve liner",
"source": {
"document": "5a1e001a-7c3b-4f2e-9d10-a7e3c0de001a",
"part": "sleeveLiner"
}
},
{
"id": "extender",
"source": {
"document": "5a1e000a-7c3b-4f2e-9d10-a7e3c0de000a",
"part": "extender"
}
},
{
"id": "collar",
"source": {
"document": "5a1e000b-7c3b-4f2e-9d10-a7e3c0de000b",
"part": "collar"
}
},
{
"id": "wristActuator",
"name": "Wrist actuator",
"source": {
"document": "5a1e0010-7c3b-4f2e-9d10-a7e3c0de0010",
"parameters": {
"size": 40
}
}
},
{
"id": "palm",
"source": {
"document": "5a1e000c-7c3b-4f2e-9d10-a7e3c0de000c",
"part": "palm"
}
},
{
"id": "claw",
"source": {
"document": "5a1e000d-7c3b-4f2e-9d10-a7e3c0de000d",
"part": "claw"
}
},
{
"id": "bracket0",
"name": "Finger bracket",
"source": {
"document": "5a1e001c-7c3b-4f2e-9d10-a7e3c0de001c",
"part": "bracket"
}
},
{
"id": "phalanx0",
"source": {
"document": "5a1e0014-7c3b-4f2e-9d10-a7e3c0de0014",
"part": "phalanx"
}
},
{
"id": "idlerA0",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "idlerB0",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "talon0",
"source": {
"document": "5a1e000e-7c3b-4f2e-9d10-a7e3c0de000e",
"part": "talon"
}
},
{
"id": "bracket1",
"name": "Finger bracket",
"source": {
"document": "5a1e001c-7c3b-4f2e-9d10-a7e3c0de001c",
"part": "bracket"
}
},
{
"id": "phalanx1",
"source": {
"document": "5a1e0014-7c3b-4f2e-9d10-a7e3c0de0014",
"part": "phalanx"
}
},
{
"id": "idlerA1",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "idlerB1",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "talon1",
"source": {
"document": "5a1e000e-7c3b-4f2e-9d10-a7e3c0de000e",
"part": "talon"
}
},
{
"id": "bracket2",
"name": "Finger bracket",
"source": {
"document": "5a1e001c-7c3b-4f2e-9d10-a7e3c0de001c",
"part": "bracket"
}
},
{
"id": "phalanx2",
"source": {
"document": "5a1e0014-7c3b-4f2e-9d10-a7e3c0de0014",
"part": "phalanx"
}
},
{
"id": "idlerA2",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "idlerB2",
"name": "Idler gear",
"source": {
"document": "5a1e001d-7c3b-4f2e-9d10-a7e3c0de001d",
"part": "idler"
}
},
{
"id": "talon2",
"source": {
"document": "5a1e000e-7c3b-4f2e-9d10-a7e3c0de000e",
"part": "talon"
}
}
],
"joints": [
{
"id": "spineSeat",
"type": "fastened",
"component": "spine",
"connector": "top",
"to": {
"component": "pedestal",
"connector": "top"
},
"flip": true,
"offset": -58
},
{
"id": "conduit0",
"type": "fastened",
"component": "baseConduit0",
"connector": "seat",
"to": {
"component": "pedestal",
"connector": "top"
},
"offset": -58,
"flip": true
},
{
"id": "conduit1",
"type": "fastened",
"component": "baseConduit1",
"connector": "seat",
"to": {
"component": "pedestal",
"connector": "top"
},
"offset": -58,
"flip": true
},
{
"id": "conduit2",
"type": "fastened",
"component": "baseConduit2",
"connector": "seat",
"to": {
"component": "pedestal",
"connector": "top"
},
"offset": -58,
"flip": true
},
{
"id": "yaw",
"type": "revolute",
"component": "turret",
"connector": "base",
"to": {
"component": "pedestal",
"connector": "top"
},
"angle": "yaw",
"limits": {
"angle": [
-170,
170
]
}
},
{
"id": "torsoCableR",
"type": "fastened",
"component": "torsoCableR",
"connector": "seat",
"to": {
"component": "turret",
"connector": "base"
},
"offset": -24,
"flip": true
},
{
"id": "torsoCableL",
"type": "fastened",
"component": "torsoCableL",
"connector": "seat",
"to": {
"component": "turret",
"connector": "base"
},
"offset": -24,
"flip": true
},
{
"id": "capSeat",
"type": "fastened",
"component": "crownCap",
"connector": "base",
"to": {
"component": "turret",
"connector": "crown"
}
},
{
"id": "grilleSeat",
"type": "fastened",
"component": "capGrille",
"connector": "seat",
"to": {
"component": "crownCap",
"connector": "top"
}
},
{
"id": "shoulderMount",
"type": "fastened",
"component": "shoulderActuator",
"connector": "mount",
"to": {
"component": "turret",
"connector": "shoulder"
}
},
{
"id": "shoulder",
"type": "revolute",
"component": "upperArm",
"connector": "base",
"to": {
"component": "shoulderActuator",
"connector": "output"
},
"angle": "shoulder",
"limits": {
"angle": [
-35,
115
]
}
},
{
"id": "badge",
"type": "fastened",
"component": "badge",
"connector": "seat",
"to": {
"component": "upperArm",
"connector": "badge"
}
},
{
"id": "armClamp",
"type": "fastened",
"component": "armClamp",
"connector": "bottom",
"to": {
"component": "upperArm",
"connector": "base"
},
"offset": -33.8,
"flip": true
},
{
"id": "armCableA",
"type": "fastened",
"component": "armCableA",
"connector": "seat",
"to": {
"component": "armClamp",
"connector": "back"
},
"offset": 106,
"flip": true
},
{
"id": "armCableB",
"type": "fastened",
"component": "armCableB",
"connector": "seat",
"to": {
"component": "armClamp",
"connector": "back"
},
"offset": 106,
"flip": true
},
{
"id": "voidWindow",
"type": "fastened",
"component": "voidWindow",
"connector": "seat",
"to": {
"component": "upperArm",
"connector": "base"
},
"offset": -32.6,
"flip": true
},
{
"id": "elbowMount",
"type": "fastened",
"component": "elbowActuator",
"connector": "mount",
"to": {
"component": "upperArm",
"connector": "elbow"
}
},
{
"id": "elbow",
"type": "revolute",
"component": "forearm",
"connector": "base",
"to": {
"component": "elbowActuator",
"connector": "output"
},
"angle": "elbow",
"limits": {
"angle": [
-150,
150
]
}
},
{
"id": "sleeveLiner",
"type": "fastened",
"component": "sleeveLiner",
"connector": "seat",
"to": {
"component": "forearm",
"connector": "sleeve"
},
"offset": -63,
"flip": true
},
{
"id": "reach",
"type": "slider",
"component": "extender",
"connector": "back",
"to": {
"component": "forearm",
"connector": "sleeve"
},
"offset": "-200 + reach * 200",
"limits": {
"offset": [
-200,
0
]
}
},
{
"id": "roll",
"type": "revolute",
"component": "collar",
"connector": "back",
"to": {
"component": "extender",
"connector": "tip"
},
"angle": "roll",
"limits": {
"angle": [
-180,
180
]
}
},
{
"id": "wristMount",
"type": "fastened",
"component": "wristActuator",
"connector": "mount",
"to": {
"component": "collar",
"connector": "pitchMount"
}
},
{
"id": "pitch",
"type": "revolute",
"component": "palm",
"connector": "base",
"to": {
"component": "wristActuator",
"connector": "output"
},
"angle": "pitch",
"limits": {
"angle": [
-115,
115
]
}
},
{
"id": "twist",
"type": "revolute",
"component": "claw",
"connector": "back",
"to": {
"component": "palm",
"connector": "head"
},
"angle": "twist"
},
{
"id": "bracketSeat0",
"type": "fastened",
"component": "bracket0",
"connector": "seat",
"to": {
"component": "claw",
"connector": "mount0"
}
},
{
"id": "curl0",
"type": "revolute",
"component": "phalanx0",
"connector": "pivot",
"to": {
"component": "bracket0",
"connector": "pivot"
},
"angle": "37 - grip * 25",
"limits": {
"angle": [
2,
47
]
},
"offset": 0.2
},
{
"id": "gearA0",
"type": "revolute",
"component": "idlerA0",
"connector": "axle",
"to": {
"component": "phalanx0",
"connector": "idlerA"
},
"angle": "10 - (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "gearB0",
"type": "revolute",
"component": "idlerB0",
"connector": "axle",
"to": {
"component": "phalanx0",
"connector": "idlerB"
},
"angle": "0 + (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "bend0",
"type": "revolute",
"component": "talon0",
"connector": "knuckle",
"to": {
"component": "phalanx0",
"connector": "knuckle"
},
"angle": "(grip - 1) * 25 * 18 / 14",
"limits": {
"angle": [
-45,
10
]
},
"offset": 0.2
},
{
"id": "bracketSeat1",
"type": "fastened",
"component": "bracket1",
"connector": "seat",
"to": {
"component": "claw",
"connector": "mount1"
}
},
{
"id": "curl1",
"type": "revolute",
"component": "phalanx1",
"connector": "pivot",
"to": {
"component": "bracket1",
"connector": "pivot"
},
"angle": "37 - grip * 25",
"limits": {
"angle": [
2,
47
]
},
"offset": 0.2
},
{
"id": "gearA1",
"type": "revolute",
"component": "idlerA1",
"connector": "axle",
"to": {
"component": "phalanx1",
"connector": "idlerA"
},
"angle": "10 - (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "gearB1",
"type": "revolute",
"component": "idlerB1",
"connector": "axle",
"to": {
"component": "phalanx1",
"connector": "idlerB"
},
"angle": "0 + (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "bend1",
"type": "revolute",
"component": "talon1",
"connector": "knuckle",
"to": {
"component": "phalanx1",
"connector": "knuckle"
},
"angle": "(grip - 1) * 25 * 18 / 14",
"limits": {
"angle": [
-45,
10
]
},
"offset": 0.2
},
{
"id": "bracketSeat2",
"type": "fastened",
"component": "bracket2",
"connector": "seat",
"to": {
"component": "claw",
"connector": "mount2"
}
},
{
"id": "curl2",
"type": "revolute",
"component": "phalanx2",
"connector": "pivot",
"to": {
"component": "bracket2",
"connector": "pivot"
},
"angle": "37 - grip * 25",
"limits": {
"angle": [
2,
47
]
},
"offset": 0.2
},
{
"id": "gearA2",
"type": "revolute",
"component": "idlerA2",
"connector": "axle",
"to": {
"component": "phalanx2",
"connector": "idlerA"
},
"angle": "10 - (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "gearB2",
"type": "revolute",
"component": "idlerB2",
"connector": "axle",
"to": {
"component": "phalanx2",
"connector": "idlerB"
},
"angle": "0 + (1 - grip) * 25 * 1",
"limits": {
"angle": [
-90,
90
]
},
"offset": 0.2
},
{
"id": "bend2",
"type": "revolute",
"component": "talon2",
"connector": "knuckle",
"to": {
"component": "phalanx2",
"connector": "knuckle"
},
"angle": "(grip - 1) * 25 * 18 / 14",
"limits": {
"angle": [
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