Click a joint here or in the 3D view to select it. ◆ sets a key on that axis.
Measure this with a ruler: the straight-line distance from the last joint to the point that actually grabs or touches things (the tool tip is what inverse kinematics moves).
Un-tick joints IK should leave alone, for example a wrist you position by hand. The solver is damped least squares, so it also handles redundant arms and stays stable near singularities.
Power servos and steppers from their own supply (share ground with the board) and start with slow speeds; a mirrored arm moves as soon as commands arrive.
If moving an object right makes it track left (or up/down is reversed), turn on the matching flip — it mirrors the preview and keeps tracking, calibration and picking consistent with what you see.
Colour and Motion run entirely on your device — no download, no network. Object detection loads a free model (COCO-SSD) from a CDN the first time, then also runs on-device.
Starts the camera if needed, shows the tracked object's position in the simulation as soon as it's seen, and runs the full pick sequence on its own — click again to stop.
Needs a calibrated workspace and a gripper joint (Properties → set a joint's type to Gripper). Without a drop point the arm just lifts and holds.
Commands: A v0,v1,… all · J i v one joint · R read · ? handshake. Web Serial needs Chrome or Edge on desktop.