Interactive viewer · Build list
An interactive 3D viewer and bill of materials for an ABC-inspired tabletop robot workcell. Inspect individual extrusions, brackets, panels and clamps; hover or select a part to see dimensions and supplier references.
This is an independent construction proposal based on public ABC references. It is not an official ABC manufacturing kit. The arms use the official I2RT YAM v1 URDF and visual meshes. Display pose, mounting-area outlines, camera adapters and clamp shapes are illustrative; adapter hole patterns and mounting loads still need verification for the equipment used.
| Feature | Dimensions |
|---|---|
| Bare extrusion frame | 1370 × 935 × 1280 mm |
| Outside panel envelope | 1390 × 945 × 1280 mm |
| Space between wall faces | 1370 × 935 mm; frame rails project 30 mm inward |
| Arm-base spacing | 620 mm |
| Worktop | 1270 × 582.5 × 30 mm finished thickness |
| Camera optical target | 954.3 mm above the arm-base plane, 166.5 mm toward the opening from the arm-base line |
The design uses 14 supplier-cut extrusions, a shared arm beam, one camera mast, outside-mounted wall panels and removable table clamps. It needs an existing support table. The camera support lengths are proposed construction dimensions; the walls are 80 mm farther apart and the back wall is 40 mm farther back than the simulation's clear wall dimensions.
Physical parts use supplier finishes in the viewer: silver clear-anodized GFS6/HFS6 extrusions throughout, including the camera mast, foot and offset; natural cast-metal HBLFSN6 brackets; and black W3982 clamp bodies with steel screws. Panels show the proposed white finish. Table, camera body, adapters and reused fasteners remain illustrative where no exact product or finish is specified. Lighting and screen rendering approximate appearance; colored dimension lines, the camera sight line and hover highlights are annotations.
The example table's front edge sits 75 mm inside the enclosure. Four clamps enter through the open front: two hold the arm beam and two angle inward to hold the side rails. All three wall panels are rectangular, with no clamp cutouts. The front posts overhang the table by 75 mm and the camera foot by 167.5 mm. The clamp bodies are approximate, with only about 2.5 mm nominal pad-to-wall clearance; actual fit, cantilever support and holding capacity remain unverified. This layout preserves all extrusion lengths and arm/camera positions.
The viewer loads the official I2RT YAM v1 URDF and nine unmodified STL meshes, pinned to revision 120c3c81400171174604e503943f8d1ebc891058. The MIT-licensed assets, upstream license and SHA-256 provenance manifest are in public/models/i2rt-yam/.
The model is loaded once, then cloned for the two arms. Joint axes, origins, limits and scale come from the URDF. A right-handed coordinate rotation maps URDF X to workspace depth, Y to width and Z to height. The reset pose uses shoulder and elbow angles of 60 degrees and open grippers (approximately 60 mm between the fingertips). It is an illustrative pose, not a collision check.
Runtime materials replace the URDF's CAD link colors with the white covers and black hardware shown in I2RT YAM product photos. The combined STL meshes do not separate covers from joints, so vertex colors approximate the white regions on the two long links while retaining black ends. Cover boundaries, individual fasteners and markings are not reproduced exactly. Upstream URDF and mesh files remain unmodified.
Both bases sit on the +30 mm arm-beam datum at 620 mm spacing. The outlined mounting areas do not assert a plate thickness or hole pattern. Account for any real adapter thickness when setting the camera/arm datums. Confirm the model variant matches the installed hardware; YAM Pro, Ultra and other revisions are not represented by this YAM v1 asset.
The approximately 7.5 MB of mesh assets are served alongside the site, with no ROS installation or external model server. The frame remains usable while they load; a failed model request produces a visible error instead of a substitute robot sketch.
Start with the build list, which includes rectangular panel blanks, clamp placement, fasteners, assembly notes and unresolved fit details.
| Download | Contents |
|---|---|
| Main MISUMI CSV | 14 extrusions + 18 bare brackets |
| Compatible T-nuts | 48 required nuts; omit purchase only if compatible nuts are already available |
| Optional caps | 7 caps for 3030 and 2 for 3090 |
| Extrusions only | The same 14 bars without hardware |
| Custom supplier quote | Profile sizes, cut lengths and quantities |
| Paste-ready TSV | Same contents as the main CSV |
The main CSV, extrusions-only CSV, custom quote and TSV are alternate representations, not additive orders. Ordinary screws, washers, panels, clamps and equipment adapters are listed in the build guide but excluded from the MISUMI CSVs. Supplier references do not guarantee current price, availability or delivery dates.
Use Node.js 24 and pnpm 12.3.4.
pnpm install --frozen-lockfile
pnpm devOpen the local URL printed by Vite. Drag to orbit, scroll to zoom, or choose Front, Side and Top views. Select individual parts from the list or directly in the scene. The walls default to 75% opacity; turn off Transparent walls for solid panels.
Use the mm / in toggle in the header to switch dimensions throughout the viewer, including 3D labels, hover tooltips, part details, notes and shopping tables. The browser remembers your preference when storage is available. Inches are rounded to two decimals; geometry and supplier cut lengths do not change. Profile identifiers, metric fastener designations, supplier part numbers, order CSVs and downloadable build documents retain their original metric specifications.
The arms automatically run a 9-second pick-and-place-style loop once loaded: start with open grippers, reach toward the outer/back portion of the worktop, descend with downward-facing grippers, close, lift, transfer inward and forward, lower, release and return with the grippers still open. Each arm stays on its own side. The gripper reference point descends to approximately 45 mm above the worktop and rises by roughly 290 mm during transfer. There are no simulated objects or grasp physics. Pause arms holds the current pose; Animate arms resumes it; Reset pose stops the animation and restores the original pose. Animation suspends while the tab or arm models are hidden. It is illustrative motion, not collision simulation or a trajectory for operating real robots.
pnpm format
pnpm typecheck
pnpm check
pnpm build
pnpm previewThe viewer runs entirely in the browser. The build output in dist/ can be served by GitHub Pages, Cloudflare Pages or another static host. No backend, credentials or environment secrets are required. Assets and BOM download links use relative URLs so the same build works at a site root or repository subpath.
In the repository's Settings → Pages, select GitHub Actions as the source. The included workflow checks and builds the project, then deploys dist/ on pushes to main. Forks can enable Pages and use the same workflow without editing the repository name into the code. Pull requests run checks without deploying.
Connect the repository and use:
| Setting | Value |
|---|---|
| Production branch | main |
| Root directory | Repository root |
| Build command | pnpm build |
| Build output directory | dist |
NODE_VERSION |
24 |
PNPM_VERSION |
12.3.4 |
Alternatively, build locally and upload dist/ using Cloudflare Pages Direct Upload. GitHub Actions deployment is optional when hosting elsewhere; disable the Pages workflow if it is not used.
References: Vite static deployment, Cloudflare Pages build configuration.
src/layout.ts: enclosure dimensions, in metres.src/model.ts: procedural frame geometry and part descriptions.src/yam-model.ts: URDF loading, joint pose and coordinate conversion.public/models/i2rt-yam/: licensed manufacturer robot assets and provenance.src/compact-bom.ts: purchasable extrusion and hardware references.src/shopping.ts: shopping UI and model-derived received-parts export.public/: downloadable BOMs and build documentation.
Geometry and the static supplier CSVs must be kept in sync when changing the design. The scene is a spatial review tool, not machining CAD or a verified collision model.
Reference geometry comes from the public ABC simulation and the physical setup shown in the ABC paper, Figure 22. The frame is drawn procedurally; robot geometry comes from the MIT-licensed I2RT YAM model. No model weights are included. See NOTICE for attribution.
Code and documentation are available under Apache-2.0. Third-party products and libraries retain their respective licenses and trademarks.