Drive it

Clear the table. The arm should be near the home pose you matched during calibration, slack, with the supply on.

On the Pi, in the project directory:

solarian --deployment lab run-server

sim=false overrides is_sim = True on the class. conf/robot.yaml has sim: null so the override is accepted. If you forgot that line in Tutorial 2, add it before this command. Without it, a config value of false may not be what the class attribute says, and you will be arguing with the wrong robot.

On the laptop:

solarian --deployment lab run-controller

The controller window opens, still without a camera image. Click it. Press s once.

The shoulder should move a small step and hold. Press w to bring it back. Then the other pairs, one joint at a time, the same letters as in simulation. The gripper is [ and ].

What it should feel like: a short move, then a hold at the new angle. It should not hunt, buzz, or run away. A few millimetres of motion per key press at the hand is plenty for a first test. If a joint takes off, Control-C the robot process. Torque drops when the process exits. Then unplug the supply if anything is still energized.

When the direction is wrong

You already answered this in calibration, and a joint can still be backward if the horn moved afterward. Do not edit drive_mode by guessing while torque is on. Stop the robot, run solarian --deployment lab calibrate again, and redo the direction step for that joint. The sim arrow is the check. Your eyes on a moving arm are a worse one.

When nothing moves

• feetech-inspect no longer lists the ID. The adapter moved nodes after a reboot (ttyACM0 became ttyACM1). Update lab.yaml.
• The controller is talking to localhost. The deployment flag has to be on all three commands. A controller on localhost is a healthy process connected to nothing on the Pi.
• sim=false was omitted and the Pi opened a sim window instead of the bus. Look at the robot terminal. A MuJoCo banner means you are not on hardware.

The keyboard code did not change. If simulation still moves and hardware does not, the failure is the port, the deployment, or calibration, in that order.

Next: the real camera.