bsln · move the arms

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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.

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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