View Mode
🏓 Full Scene [F]
🦾 Arm Only [A]
Toggles
Grid [G]
Envelope [V]
Camera FOV [C]
Trace [T]
Dims [D]
Schematic [K]
Camera Views
Side [1]
Front [2]
Top [3]
Iso [4]
Motor Positions
J1 RS-03 (Base) 0.0°
J2 RS-02 (Shoulder) 56.0°
J3 RS-01 (Elbow) -132.0°
J4 RS-05 (Wrist P) 52.0°
J5 RS-05 (Wrist R) 0.0°
Paddle Position
X (lateral) 0 mm
Y (height) 0 mm
Z (forward) 0 mm
Dimensions (mm)
Base→J1: 30
J1→J2: 220
J2→J3: 350
J3→J4: 300
J4→J5: 50
J5→Paddle: 90
Reach: 790mm
Arm mass: ~2.0 kg
Cameras
D455 — Ball Track (Base) ● live
D435i — Side View ● live
Hardware
GPU RTX 4070 12GB
CAN Bus 1 Mbps
Control Rate 20 Hz
PSU 48V / 1536W
Open Concerns
⚠️ Joint Limits Unvalidated
Limits from Pradeep (msg:875871) are loaded into the visualizer but have NOT been written to config.yaml or validated on the physical robot. Arm could exceed safe range if these are wrong.
Source: Pradeep TG msg:875871 · Status: Pending validation