## 1 Introduction  
During the transition from Industry 4.0 to Industry 5.0, industrial robotics technology is undergoing profound changes [1]. Industry 4.0 focuses on automation and data exchange, realizing intelligent and highly integrated manufacturing processes through IoT, cloud computing, and AI technologies [2]. Industry 5.0 further emphasizes human-machine collaboration, aiming to enhance production efficiency and flexibility through advanced intelligent technologies and human-machine interaction while also focusing more on sustainability and human-centric development. In this transition, the application of metaverse technology in the industrial field makes the industrial metaverse a new direction for technological development. The industrial metaverse creates an immersive and interactive virtual environment, allowing technicians to perform simulations and experiments in the virtual world, breaking the limitations of traditional industrial operations [3]. As a core element of the future industrial metaverse, industrial robots will inevitably achieve virtual-real integration with digital models; to monitor and control this core element, a collaborative interface between humans and virtual-real models is required. By constructing virtual models, a manipulable platform beyond physical boundaries is provided, allowing users to operate and collaborate autonomously without geographical and temporal constraints, thus addressing challenges such as high costs, slow technological updates, high operational difficulty, and the significant safety hazards faced in the intelligent application of current industrial robots [4]. Meanwhile, virtual-real integration and collaborative interaction technologies can further support data collection, analysis, decision making, and control, truly realizing controllable virtual-real linkage. Current virtual modeling technologies, such as ABB Ltd.'s RobotStudio [5], KUKA Robotics' KUKA Sim Pro [6], and Elephant Robotics' MyStudio [7], to varying degrees, achieve functions such as robot simulation, offline programming, visual analysis, and virtual debugging. However, they cannot effectively achieve cross-platform interoperability, real-time communication, and control, nor meet the growing needs for scalability and customization. The ROS (Robot Operating System) is the most widely used operating system architecture designed for robot software development, supporting various operating systems and hardware platforms [8] and providing rich development resources. The ROS offers a robust real-time communication mechanism, which, through the Web-Socket protocol, can achieve real-time communication and control of robots on the WEB platform, simulating the actual posture of robots [9] and thus providing possibilities for cross-platform interoperability. On this basis, it can also interface with WEB standards for virtual and augmented reality [10], constructing robot models in the industrial metaverse and promoting the realization of Industry 5.0. Therefore, this paper designs a virtual-real interaction system based on ROS and WEB technologies, capable of effectively loading robots of various platforms, models, and brands, displaying and controlling robot actions in real time, and allowing for customized modifications to robots, providing a foundation for the subsequent industrial metaverse. This system can achieve the following expected societal impacts in terms of technological development and application, particularly through the deployment of the industrial metaverse:  
* The system can realize cross-platform and interoperable robot management and control. This will significantly improve production efficiency, reduce issues caused by incompatibilities between different brands and models of equipment, and lower costs for enterprises related to equipment maintenance and management. * The system supports cross-regional communication and collaboration, and is adaptable to global and diverse industrial environments.