Vega 1 Robot Viewer

Interactive 3D viewer for the Dexmate Vega 1 F5D6 humanoid robot. A physics simulation (SAPIEN) runs in-process and streams joint state over WebSocket to a React frontend, which renders a live URDF model and control panel for triggering actions.

Demo: vimeo.com/1214035369

Stack

• Backend: FastAPI + SAPIEN physics, dexcontrol robot API, Zenoh pub/sub
• Frontend: React + TypeScript, Three.js / URDF Loader, Tailwind CSS

How it works

1. On startup, RobotSimulation loads the Vega 1 F5D6 URDF into SAPIEN and begins publishing joint states over Zenoh at ~30 Hz.
2. RobotController connects to the simulation via dexcontrol (same Zenoh transport as real hardware).
3. The FastAPI WebSocket endpoint (/ws/robot) bridges the browser: it streams joint state to the frontend to animate the 3D model, and dispatches control actions from the frontend to the controller.

Running locally

Backend

cd backend
uvicorn main:app --reload

Frontend

cd frontend
npm install
npm run dev

Open http://localhost:5173.

Actions

Actions are drawn from the basic dexcontrol usage examples and dispatched over WebSocket to RobotController:

Action	Description
open_left_hand / open_right_hand / open_both_hands	Open gripper(s)
close_left_hand / close_right_hand / close_both_hands	Close gripper(s)
move_arm	Run arm joint sequence (side: "left" or "right")
move_head	Run head joint sequence
move_torso	Run torso pose sequence
move_chassis	Run chassis movement sequence (straight, sideways, turn)