JacobiDesk

JacobiDesk is a desktop + web app for robotics engineers who need to validate forward/inverse kinematics and Jacobians fast, without building a full ROS stack or writing throwaway scripts. You import a URDF (or DH parameters), define joint limits and tool frames, then run repeatable kinematic checks: singularity maps, manipulability metrics, reachability heatmaps, and IK solution branching. It generates human-readable reports that pinpoint where your model breaks (frame mismatches, axis sign errors, inconsistent units) and provides a minimal reproducible “kinematics test suite” you can share with teammates. An optional AI assistant explains failures in plain language and suggests likely fixes (e.g., swapped joint axis, wrong origin rpy) but never silently edits the model. This is not a simulator; it’s a kinematics verification workbench meant to save hours of bench debugging and prevent costly integration mistakes.