Connection
Green dot + "LIVE" — Connected to robot hardware, commands are sent to real motors
Red dot + "OFF" — Disconnected, sim-only mode, sliders move 3D model only
Orange dot + "…" — Connecting in progress
Latency (ms) — Round-trip time to robot server. <100ms = good, >300ms = sluggish
Torque
Torque ON (green) — Motors are energized and holding position. Moving sliders will physically move the arm.
Torque OFF (red) — Motors are de-energized. Arm is limp and can be moved by hand.
Disabled (grey) — Connect to robot first before toggling torque.
Motor Health Badges
● No badge — Motor is healthy, no issues
⚠ Warning (yellow) — Motor reporting a warning (overtemp, high load). Check motor status.
✖ Fault (red) — Motor has a fault condition. Needs attention before use.
Torque Control
Enable Torque — Motors energized, holding position. Sliders move the physical arm.
Disable Torque — Motors de-energized. Arm goes limp, can be moved by hand.
Separate buttons — Prevents accidental toggling. Always know which action you're taking.
Ball Simulation
Launch [B] — Fire a random ball towards the table. Keyboard shortcut: B
Target Zone [Z] — Choose Left, Right, or Any to control which half of the table the ball lands on. Keyboard shortcut: Z to cycle
Presets — Topspin/Backspin/Flat/Sidespin launch with realistic spin physics
Speed — Ball velocity in m/s at launch
Spin — Rotational spin in RPM applied to the ball
Bounces — Number of table/net bounces in current trajectory
Joint Sliders
Value (°) — Current commanded angle for this joint
Min / Max labels — Calibrated limits from config. Slider can't go beyond these.
Rest [H] — Move all joints to safe home/rest position
Paddle Position
World (rel arm base) — X/Y/Z in mm from the arm's mounting point
Reach — Total straight-line distance from base to paddle tip
URDF frame — Raw coordinates from the kinematic model (before base transform)
Calibration Table
Rest° — Encoder position when arm is at rest pose
Min° / Max° — Discovered joint limits from auto-calibration
Range° — Total travel = Max − Min
Off− / Off+ — Offsets from rest to each limit
✓ Green check — Motor is calibrated
? Yellow question — Motor not yet calibrated
Inverse Kinematics (IK)
X / Y / Z inputs — Target position in URDF frame (mm). Set where you want the paddle tip to reach.
Solve IK — Find joint angles for the target position. Currently uses 10 test points for verification.
Keyboard Shortcuts
B — Launch ball
Z — Cycle target zone (Any → Left → Right)
Esc — Reset ball
H — Rest pose
S — Screenshot
1-5 — Camera views (Default / Top / Side / Front / Camera)