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The teleoperation/calibration/recording 3D panel had no way to judge scale or distance — just the robot floating with lights and an invisible shadow-catching plane. Added a visible GridHelper as a floor reference. Sized in world units rather than a fixed guess: the grid is created as a 1x1 placeholder in createUrdfViewer (before any model exists to measure), then fitGridToRobot rescales and repositions it once a model's bounding box is known — reusing the box fitRobotToView already computes for the camera auto-fit, so it works for the default SO-101 model and for any custom URDF dragged in, regardless of its unit scale. Added directly to the viewer's `scene` rather than `world` (which holds the robot): `scene` stays in three.js's native Y-up frame regardless of the URDF's own up axis — `_setUp` on the viewer element compensates for that by rotating `world` instead — so the grid (flat in the XZ plane by default) needs no rotation of its own to lie under the robot. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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What
The teleoperation/calibration/recording 3D panel had no way to judge scale or distance — just the robot floating with lights and an invisible shadow-catching plane. This adds a visible ground grid.
How it's sized
The grid is created as a 1×1 placeholder in
createUrdfViewer(before any model exists to measure), thenfitGridToRobotrescales and repositions it once a model's bounding box is known — reusing the boxfitRobotToViewalready computes for the camera auto-fit. So it works for the default SO-101 model and for any custom URDF dragged in, regardless of its unit scale, without a hardcoded guess.Why it needs no rotation
Added directly to the viewer's
scenerather thanworld(the group that holds the robot):scenestays in three.js's native Y-up frame regardless of the URDF's own up axis —_setUpon the viewer element compensates for that by rotatingworldinstead. A flatGridHelper(XZ plane by default) therefore lies under the robot with no extra rotation of its own.Notes
frontend/dist/rebuilt with Node 22, as the Quality workflow requires.UrdfViewer.tsx/urdfViewerHelpers.ts), used today from the Teleoperation page's visualizer panel.🤖 Generated with Claude Code