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In Control, map keys, gamepad axes or a leader arm to the robot’s independent joints. A joint can move in the 3D model without being independently commandable.
  • Coupled joints follow another joint. For example, a gripper can expose one finger control while both fingers move together.
  • Passive joints move with the mechanism but have no independent input.
  • Fixed joints cannot move and have no joint control.
These choices come from the robot’s declared configuration. Missing actuator information on an older asset does not establish which joints are passive.

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Configure the input

  1. Open the asset’s Control tab, or select the twin in Workbench → Control.
  2. Select Joint target control, then configure an input such as Keyboard.
  3. Assign a key pair to an independent joint and save. A PiPER gripper with the declared finger coupling uses joint7; joint8 is not a second manual target.
  4. Review the keys together in Overview. Saving a mapping does not start motion.
Twin-specific mappings customize a reusable input without changing its template. Existing mappings remain available for review; after changing a robot’s joint configuration, review them before use. Model outputs and leader mappings must also match the independently commandable joints.

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Check the result

Use a supported runtime and compare the commanded target with measured joint feedback. A correct-looking 3D pose alone does not prove hardware movement. If a coupled mechanism moves incorrectly, review its declared coupling, joint limits and driver configuration instead of adding a separate key for the follower.

Live teleoperation

Control physical robots through the environment editor

Digital twins overview

Capabilities, pairing, and twin concepts