Camera Snapshot

CAM 1 D455 (Front) 234322307568

RGB

Depth

CAM 0 D435i (Side) 337122072259

RGB

Depth

Run python3 -m ttrobo.tools.snapshot on the robot machine, then upload to see frames here.

TTRobo Visualizer

Arm Control

Joint Controls

J1 Base Yaw 0.0°

J2 Shoulder 0.0°

J3 Elbow 0.0°

J4 Wrist Pitch 0.0°

J5 Wrist Roll 0.0°

Presets

Loading presets...

IK Solver

X Y Z

Face Pitch 0°

View

Toggles

Camera Views

Motors 5

J1Base YawRS-03

0.0°

Limits—

Dead Zone—

Max Speed—

Home Encoder—

J2ShoulderRS-02

0.0°

Limits—

Dead Zone—

Max Speed—

Home Encoder—

J3ElbowRS-01

0.0°

Limits—

Max Speed—

Home Encoder—

J4Wrist PitchRS-05

0.0°

Limits—

Max Speed—

Home Encoder—

J5Wrist RollRS-05

0.0°

Limits—

Max Speed—

Home Encoder—

Position

Paddle Position

X lateral

0 mm

Y height

0 mm

Z forward

0 mm

Dimensions (mm) — URDF v2

Base to J158

J1 to J255

J2 to J3247

J3 to J4247

J4 to J5133

J5 to Paddle734

Arm reach627mm

Total reach1361mm

System

Camera 1

D455 Ball Track

Camera 2

D435i Side

GPU

RTX 4070 12GB

CAN Bus

1 Mbps

Control Rate

20 Hz

PSU

48V / 1536W

Reference

Calibration

Home Calibrated

All joints calibrated to home position. Dashboard uses home-relative degrees (0° = home). Slider limits are ±180° for visualization — actual mechanical stops are narrower and enforced in config.yaml on the robot.

Home: J1=702.97° J2=34.53° J3=-185.14° J4=485.65° J5=1084.42° (absolute encoder)

Model

URDF v2 CAD Model

Loaded from ASSEMBLY.urdf (v2) — 16 STL meshes, 5 revolute joints. Upper arm 247mm, forearm 247mm — matches physical robot. Joint axes and link offsets from Charan SOLIDWORKS export.

Source: TT BOT URDF 2 / Charan R

Calibration

Simulation Controls

J1 Base Yaw 90.0°

J2 Shoulder 0.0°

J3 Elbow 0.0°

J4 Wrist Pitch 0.0°

J5 Wrist Roll 0.0°

Joint Limits (degrees)

J1 — Base Yaw (RS-03)

min

max

home

J2 — Shoulder (RS-02)

min

max

home

J3 — Elbow (RS-01)

min

max

home

J4 — Wrist Pitch (RS-05)

min

max

home

J5 — Wrist Roll (RS-05)

min

max

home

J1 Dead Zone

center (°)

half-width (°)

range -105° to -75°

J5 Dead Zone (derived from J1)

center (°)

ratio (×J1)

range —

Sim Animation Speed

Duration 1.5s

Motor Speed Limits (°/s)

J1 — Base Yaw

J2 — Shoulder

J3 — Elbow

J4 — Wrist Pitch

J5 — Wrist Roll

CAN Bus

Baudrate

Host ID

Control Loop

Loop Hz

Deadzone

Loc Kp

Settle Tolerance (°)

Settle Timeout (s)