Move it

Restart the three processes from the project root.

solarian run-server

Two windows matter:

• The sim window, opened by the robot because view = True. You should see the arm standing on the checker floor, at mid-travel. That pose is all zeros.
• The controller window. It is mostly empty until the camera exists. It is still where the keys go, so click it before you type.

Press s a few times. The shoulder should lift. Press w and it should come back. Walk the pairs from the keyboard page: pan, lift, elbow, then the three wrist joints. The wrist is small on screen. If pan and lift work and the wrist seems dead, move the camera in the sim window (drag to orbit) and look at the flange.

Quit with Control-C in each terminal when you are done looking.

If the arm is there and will not move

The usual cause is a sim_joint that does not exist in the composed scene. The model names the joint shoulder_pan. The attachment prefix turns that into right/shoulder_pan. The YAML has to use the prefixed name. The error at startup names the joint it could not find.

The second cause is the controller window not having focus. Keys go to whichever window you clicked last. Click the controller, then press s again.

The third is a TypeError before anything starts, naming right_arm or a joint. The robot attribute, the YAML filename, and the observation and action fields disagree. The project page has the table.

If there is no sim window

view = True is best-effort. With no display, the sim runs headless and the arm is still moving; you just cannot see it. A laptop with a display should show the window. SOLARIAN_SIM_VIEW=0 forces it off, and SOLARIAN_SIM_VIEW=1 forces it on.

What you just ran

Same module class, same YAML, same controller as the real arm will use. Simulation swapped the Feetech bus for MuJoCo because is_sim is true. Nothing in right_arm.py mentions MuJoCo. The scene and the sim_joint lines are the entire simulation-specific part.

solarian run-robot sim=false would try to open /dev/ttyUSB0 instead. Leave that until the arm exists on the desk.

Next: add the gripper.