Steadwell · Luka A2 Ultra Cockpit

Control authority

MANUAL

Local preconditions, not a manufacturer arbitration mechanism.

Unverified — this does not reach the manufacturer's safety system. Use the factory e-stop.

commands0

rejections0

watchdog idle

endpoint—

joint convention

With his arms hanging, capture a reference. The twin then mirrors movement *relative* to that pose instead of assuming the model's zero.

Measured angles may not share the model's sign convention. If the arms cross the body, pick a different convention.

Read-only McActionService/GetAction at 0.2 Hz.

LUKA TWIN

estimated model · 47 meshes · FK checked against MuJoCo, not calibrated to Luka

pose source: playback / operator — no live joint feedback

dof—

driven—

mass—

height—

mesh—

drag / wheel: orbit space deadman esc e-stop

recording

—

Joint positions only, from the paired iPad app. Units and frames not independently verified.

suspension load-rated · workspace clear · factory e-stop in hand

feet

excursion cap

locomotionlocked

Arm commands stay refused until this is attested. Locomotion commands do not exist in this build.

transport not configured

no command sent

Values are commanded, not measured. Luka exposes no joint feedback on this interface, so there is nothing to compare against yet.