🔟Arm Manual Control

There are several operational shortcuts built into the controller to facilitate operation of the Spot Arm. A full list of hotkey combinations is listed below, but many of these shortcuts are also visible on the controller by pressing and holding the LB or RB buttons. Additionally, pressing the left or right joystick down will lock these shortcuts to the UI screen. See Spot controller configurations for an overview of potential controller setups and configurations. The shortcuts in the table below refer to the mode buttons on the respective controller.

Action	Hotkey combination
Return or deploy arm to READY position	RB + ←
Stow	RB + →
Arm Reset: Opens the gripper, stows the arm	→ + →
Gripper-Toggle Open and Closed	RB + ↓
Ground Gazer	RB + ↑
Robot stand and drive End-Effector (REACH)	↑
Sit	←
Walk	↓
Stow	RB + →
Reset of Arm Orientation	LB + ←
Hand Fixed with Respect to World	LB + ↓
Hand Fixed with Respect to Body	LB + →
Controls Pitch of End Effector	LB + Left Joystick
Controls Roll of End Effector	LB + Right Joystick

Operate Arm

To drive the arm manually: Under Drive Behaviors, select Operate Arm.

No.	Feature	Description
1	Exit	Return to the Drive application.
2	Screen mode	Drop-down list of screen configuration options.
3	Robot camera view	Drop-down list of available camera views.
4	Full screen	Toggle between split-screen and full-scree views.
5	Nudge buttons	Fine-tuned controls that adjust the arm in small increments: Move up (˄), down (˅), left (˂), and right (˃). Roll clockwise (↷) and counterclockwise (↶).
6	Cycle camera	Switch between several simulated angles for the Robot Model camera.
7	Manipulation menu	Return to the manipulation menu.
8	Actions	Perform Spot Actions such as Arm Pointing.
9	Arm status	Indicates whether the arm is currently stowed or deployed. Select to access additional options.
10	Gripper status	Indicates the current grasp state. Select to access additional options.
11	Arm reset	Return the arm to the stowed position. You can stow the arm at any time by pressing the appropriate button shortcut for your tablet model.

Gripper cam view options

Using the gripper cam via the camera dropdown list will provide you with additional controls unique to the gripper view. By either selecting the screen or DEFAULT GAZE you will enter Gaze mode, which allows you to more effectively aim and focus the gripper camera at a target. See below:

1. Nudges the gripper in small increments.

   • While in Gaze mode, these arrows will adjust the crosshair instead (gaze target).

2. Rotates the gripper itself in small increments.

3. Crosshair: Appears while in Gaze mode. When not gazing, the crosshair is hidden.

	Frozen, gazing is steadier.
	Not frozen, gazing is less steady.

4. Distance control: Moves gripper closer (+) or further (-) from gaze target.

5. FREEZE GAZE: Selecting this switches from gaze control to joint level freeze to make gazing steadier.

6. DEFAULT GAZE: Selecting this enters Gaze mode. Selecting the screen itself while in gripper cam view also enters Gaze mode.

7. CLEAR TARGET: Removes gaze target and clears the crosshair from the screen.