TRON2 Mobile Dual-Arm

LimX STEP geometry on the DACH_TRON2A URDF. Units: mm, degrees. World origin: floor under the wheelbase centre, x forward, y left, z up.

Lifter

position

The STEP shows the carriage at the top of the 700 mm stroke. SDK 0 is taken as the bottom of that stroke.

Poses

Left arm

Right arm

Head

Measure

Click two points. Points stick to the part they were placed on, so distances update as the robot moves. Hold Shift to snap to the nearest mesh vertex. Esc cancels.

Reach target (IK)

arm

target x / y / z

gripper pointing straight down

Solves the arm's 7 joints for the TCP (between the finger pads). Joint limits apply; self-collision is not checked.

Table / reference plane

show table

top height

front edge x

depth × width

Reach cloud

Samples random joint angles within the URDF limits and plots where the TCP lands at the current lifter height. Ignores self-collision.

Display

Hover the model for coordinates