One arm. Three frames.

how to drive it

hover or tap the arm, then hold keys, or hold the keycaps in the corner.

drag

turn the camera

scroll

zoom

w a s d

move the tool forward, left, back, right

r f

move it up, down

i k

tip the tool down, up

j l

turn it left, right

u o

roll it left, right

shift · space

slow · fast

turn

switch the keycaps between moving and turning

view (v)

what the keys move along: your view, the robot's base, or the tool's own axes. press to switch

joints (x)

show every joint's travel and angle

home (h)

drive back to the start pose

help (?)

these notes

an arc fades in when a joint nears its limit. dashed lines through the wrist mean it is close to a singularity, where motion slows.