bsln · move the arms

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Targets

Click on an arm's see-through plane in the 3D view to pick a point (yellow; drag to orbit, scroll to zoom). Send targets (or Enter) makes the picked points the arms' targets: the script that drives the arms reads them. Coordinates: the arm's base frame, mm.

plane height–

How it works. Sliders and the grab buttons change only the preview: a translucent arm in the Rerun view (red when it breaks one of the station's limits). Nothing moves until you click Move. Move sends every joint of each arm you changed since the last Sync; an arm you did not touch stays where it is.

The station decides. Its safety supervisor and collision guard check every command, every tick. The red preview is only advice: the guard stops an arm at a limit, and the move then does not arrive. The E-STOP button is not a replacement for the physical e-stop.

Targets. The page never moves the arms for a target: it only hands the target to the script that runs this session (for example an end-effector policy). The station's supervisor and collision guard check whatever the script sends, every tick. The 3D view only reports what you click; a target goes out only when you click Send targets.

Grab keys (for the arm marked "keys"): W/S x, A/D y, R/F z, J/L roll, I/K pitch, U/O yaw; Shift = 5 steps; Esc or Space = Hold. Station frame: x into the station, y to the left, z up.

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