ob.Pal Sims

system.robot-arm

Robot arms

Scan to join, then take a whole arm or one joint. Point: aim at a spot and hold B; A picks up. 3D: hold the pad and move your phone, and the gripper follows the phone.

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View

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Arms

Simulated · no hardware connected

Kind of arm

Record: who held what

Stopped

Let everyone in without asking

Connect a real arm

Experimental, and untested on hardware. The sim becomes the arm's twin: it follows the real arm until you put it live.

Feetech bus servosSO-100, SO-101 · USB ob.Pal serialA board running the ob.Pal arm sketch · USB ROS 2Through rosbridge, here or across a network

USB needs Chrome or Edge on a computer.

rosbridge Commands Topic Joints

From this page, ws://localhost works. A rosbridge on another computer needs wss://.

Pose your arm like the twin's home, then set home: base straight, upper arm leaning forward a little, forearm level, gripper pointing down and open.

Joints that turn the wrong way:

This arm is live. Take it off live before changing its hardware.

Put the arm live?

Experimental, and untested on hardware. The real arm will move as its twin moves. Keep people and things out of its reach, and the arm's own stop or power switch within reach. Stop here is a software hold, not an emergency stop.

Speed