> ## Documentation Index
> Fetch the complete documentation index at: https://docs.godrift.ai/llms.txt
> Use this file to discover all available pages before exploring further.
# Build manipulator arm in RViz
> Build a manipulator arm simulation and inspect it live in RViz in one prompt
## The prompt
```drift theme={null}
create a arm manipulator with 3 joints and an end effector, make the joints look real, and launch it in rviz to visualize
```
That's it. From this single prompt, Drift:
* Generates a URDF with 3 revolute joints, realistic mesh geometry, correct inertia tensors, and collision shapes
* Scaffolds the full ROS2 package structure with `CMakeLists.txt`, `package.xml`, and controller configs
* Builds the workspace with `colcon`
* Launches RViz with the robot model loaded, TF frames configured, and joint state publisher running, ready to visualize immediately
The Joint State Publisher opens alongside RViz use the sliders to move joint1, joint2, and joint3 and watch the arm update in real time.
## What to look for in the video
* Drift plans and executes every step in sequence: no manual input after the prompt
* The robot appears in RViz with proper joint structure and visual geometry
* The `drift>` prompt is the only interface used: no file editing, no terminal switching, no RViz config touched manually
The Joint State Publisher opens alongside RViz use the sliders to move joint1, joint2, and joint3 and watch the arm update in real time.
## What to look for in the video
* Drift plans and executes every step in sequence: no manual input after the prompt
* The robot appears in RViz with proper joint structure and visual geometry
* The `drift>` prompt is the only interface used: no file editing, no terminal switching, no RViz config touched manually