Robot Configuration Overview
The robot configuration determines how Master Annotator renders your trajectory data as a 3D robot model. Choose the right type to get accurate visualization of your robot's motion.
Why Configure a Robot?
Robot configuration serves two purposes:
- 3D Visualization — The labeling interface renders a 3D model of your robot that moves in real-time as you scrub through frames. This gives annotators visual context about what the robot is doing at each timestep.
- Column Mapping — The configuration tells the system which CSV columns correspond to which joints and coordinates, enabling correct rendering and graph display.
Robot Types
Generic Articulated Arm
A fully customizable robot arm where you specify:
- Number of joints (2–10)
- Link lengths between joints
- Rotation axis per joint (X, Y, or Z)
- Rotation direction per joint
- Optional DH (Denavit-Hartenberg) parameters
Use this when your robot isn't one of the supported URDF models, or when you need a simplified representation. The generic arm uses forward kinematics to compute joint positions from your CSV data.
URDF-Based Models
Pre-built, high-fidelity 3D models with accurate meshes. Available robots:
| Robot | DOF | Manufacturer |
|---|---|---|
| KUKA iiwa14 | 7 | KUKA |
| Franka Panda | 7 | Franka Emika |
| Kinova J2S6S200 | 6 | Kinova |
| UR10 | 6 | Universal Robots |
| UR5 with Gripper | 6 | Universal Robots |
URDF models include full 3D mesh rendering with realistic link geometry. Select your robot type and map your CSV columns to the joints — no manual geometry configuration needed.
No Robot Mode
If you don't need 3D visualization, you can skip robot configuration entirely. In this mode:
- The 3D viewer panel is hidden
- You still get timeline, joint graphs, and video playback
- Column mapping is still required for graph display
- All labeling modes remain fully functional
When to Use Which
| Scenario | Recommended Type |
|---|---|
| You have a KUKA, Franka, Kinova, or UR robot | URDF Model |
| Custom robot arm not in the URDF list | Generic Arm |
| You only need graphs and timeline (no 3D) | No Robot |
| Quick prototyping with approximate visualization | Generic Arm |
Configuration Workflow
- Select robot type — Choose from the Robot Config tab in your project
- Set parameters — For generic arms: joint count, link lengths, rotation axes. For URDF: just select the model.
- Map columns — Tell the system which CSV columns are joint angles, end-effector coordinates, and graph data
- Verify — Open a dataset and check that the 3D model moves correctly through your trajectory
See Generic Arm or URDF Models for detailed setup instructions, and Column Mapping for mapping your CSV columns.