From dc4d3b75c7dd0af77deac642f570c07b0f7e265a Mon Sep 17 00:00:00 2001
From: xtkuang <87661715@qq.com>
Date: Wed, 23 Sep 2026 16:04:01 +0800
Subject: [PATCH] Improve arm control UI and fault reporting

---
 README.md                |  12 +-
 src/mainwindow.cpp       | 223 +++++++++++++++++++++++---
 src/mainwindow.h         |  13 +-
 src/mainwindow_ui.cpp    | 327 ++++++++++++++++++++++++++++++++-------
 src/robotclient.cpp      |  39 ++++-
 src/robotclient.h        |   2 +
 src/urdfviewerwidget.cpp | 249 +++++++++++++++++++++++++++++
 src/urdfviewerwidget.h   |  11 ++
 styles.qss               | 161 +++++++++++++++++++
 9 files changed, 946 insertions(+), 91 deletions(-)

diff --git a/README.md b/README.md
index 8796eeb..8f1db04 100644
--- a/README.md
+++ b/README.md
@@ -61,18 +61,20 @@ CMVR Control Station 是一个基于 Qt 5 的桌面控制站，用于连接 CMVR
 
 “模型与控制”页将 URDF 模型、速度点动和只读遥测放在同一工作区：
 
-- “关节速度”按实时自由度生成每个关节的当前位置与 `−/+` 按钮。按住按钮时
-  调用 `speedJ`，速度为左侧最大速度乘以速度倍率；松开按钮立即调用
-  `stopMotion`。
+- “关节速度”按实时自由度生成每个关节的当前位置与 `−/+` 按钮。每条位置条
+  使用当前精确 URDF 的关节上下限映射实时位置；按住按钮时调用 `speedJ`，速度
+  为左侧 SpeedJ 最大速度乘以速度倍率，松开按钮立即调用 `stopMotion`。
 - “笛卡尔速度”显示当前 X/Y/Z、RX/RY/RZ，并使用相同的按住点动交互调用
-  `speedL`。基座坐标和工具坐标名称通过 `ListBaseFrame`、`ListTCPFrame` 自动
+  `speedL`。SpeedL 使用独立的笛卡尔速度（m/s）和加速度（m/s²）限制，不再
+  复用 SpeedJ 的关节单位参数。基座坐标和工具坐标名称通过 `ListBaseFrame`、`ListTCPFrame` 自动
   获取；选择变化后，遥测通过 `getPose(base_link, ee_link)` 显示对应坐标对的
   末端位姿。
 - 当前 cmvr-es 的 `speedL` 协议只接受 Base/Tool 类型，不接受命名坐标系。
   因此点动命令按 Base 语义发送，坐标名称用于选定实时位姿的参考基座和 TCP；
   后续若需要在任意命名坐标系轴向点动，需要扩展 `SpeedL.Request` 及边缘端驱动。
 - 下方“实时状态”只读显示关节位置、速度、由连续速度采样计算的加速度，以及
-  当前坐标对下的末端位置姿态，不再提供 MoveJ/MoveL 目标输入和示教按钮。
+  当前坐标对下的末端位置姿态；关节与末端两个状态区域等宽显示，不再提供
+  MoveJ/MoveL 目标输入和示教按钮。
 
 ## 技术栈和目录
 
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
index 71afda8..18ccab8 100644
--- a/src/mainwindow.cpp
+++ b/src/mainwindow.cpp
@@ -502,6 +502,8 @@ MainWindow::MainWindow(QWidget *parent)
     connect(m_client, &RobotClient::connectionChanged, this, &MainWindow::updateConnection);
     connect(m_client, &RobotClient::armInfoReceived, this, &MainWindow::updateArmInfo);
     connect(m_client, &RobotClient::telemetryReceived, this, &MainWindow::updateTelemetry);
+    connect(m_client, &RobotClient::armTelemetryHealthChanged,
+            this, &MainWindow::updateArmTelemetryHealth);
     connect(m_client, &RobotClient::systemStatusReceived, this, &MainWindow::updateSystemStatus);
     connect(m_client, &RobotClient::systemInfoReceived, this, &MainWindow::updateSystemInfo);
     connect(m_client, &RobotClient::imageReceived, this, &MainWindow::updateImage);
@@ -905,6 +907,7 @@ void MainWindow::updateConnection(bool connected, int latencyMs, const QString &
             m_armSideCombo->setEnabled(true);
     }
     if (!connected) {
+        m_armAlertStates.clear();
         const QList<QLabel *> armStates = {m_servoStatusValue, m_faultStatusValue};
         for (QLabel *label : armStates) {
             if (!label)
@@ -955,6 +958,7 @@ void MainWindow::rebuildArmJogControls()
         delete item;
     }
     m_jointJogPositionLabels.clear();
+    m_jointJogPositionSliders.clear();
     m_jointJogMinusButtons.clear();
     m_jointJogPlusButtons.clear();
 
@@ -982,8 +986,9 @@ void MainWindow::rebuildArmJogControls()
             m_activeArmJointNames.at(jointIndex)));
         QSlider *direction = new QSlider(Qt::Horizontal, row);
         direction->setObjectName(QStringLiteral("jogDirectionIndicator"));
-        direction->setRange(-100, 100);
+        direction->setRange(0, 1000);
         direction->setValue(0);
+        direction->setToolTip(QStringLiteral("等待 URDF 关节限位和实时位置"));
         direction->setEnabled(false);
         layout->addWidget(name);
         layout->addWidget(position);
@@ -998,6 +1003,7 @@ void MainWindow::rebuildArmJogControls()
         connect(plus, &QPushButton::released, this, &MainWindow::stopArmJog);
         m_jointJogRowsLayout->addWidget(row);
         m_jointJogPositionLabels.append(position);
+        m_jointJogPositionSliders.append(direction);
         m_jointJogMinusButtons.append(minus);
         m_jointJogPlusButtons.append(plus);
     }
@@ -1032,13 +1038,17 @@ void MainWindow::startCartesianJog(int axisIndex, int direction)
     for (const QString &key : keys)
         velocity.insert(key, 0.0);
     const double ratio = m_jogSpeedSlider->value() / 100.0;
+    const double maximumVelocity = m_cartesianVelocitySpin
+        ? m_cartesianVelocitySpin->value() : 0.25;
     velocity.insert(keys.at(axisIndex),
-                    direction * m_velocitySpin->value() * ratio);
+                    direction * maximumVelocity * ratio);
     m_armJogActive = true;
     // The current edge protocol applies named base/TCP selections to pose
     // queries, while speedL accepts only the Base/Tool enum. Use Base here.
     m_client->requestSpeedL(m_armIdEdit->text().trimmed(), velocity,
-                            m_accelerationSpin->value(), 60.0, false);
+                            m_cartesianAccelerationSpin
+                                ? m_cartesianAccelerationSpin->value() : 0.5,
+                            60.0, false);
 }
 
 void MainWindow::stopArmJog()
@@ -1101,10 +1111,13 @@ void MainWindow::updateTelemetry(const QString &deviceId, const QVariantList &jo
     const qint64 nowMs = QDateTime::currentMSecsSinceEpoch();
     const double deltaSeconds = m_lastArmTelemetryMs > 0
         ? (nowMs - m_lastArmTelemetryMs) / 1000.0 : 0.0;
+    const QStringList modelJointNames = m_urdfViewer
+        ? m_urdfViewer->jointNames() : QStringList();
+    const QHash<QString, QPair<double, double>> modelJointLimits = m_urdfViewer
+        ? m_urdfViewer->jointLimits() : QHash<QString, QPair<double, double>>();
 
     if (m_urdfViewer) {
         QHash<QString, double> modelPositions = jointPositions;
-        const QStringList modelJointNames = m_urdfViewer->jointNames();
         int directMatches = 0;
         for (const QString &name : modelJointNames) {
             if (jointPositions.contains(name))
@@ -1142,6 +1155,33 @@ void MainWindow::updateTelemetry(const QString &deviceId, const QVariantList &jo
         if (row < m_jointJogPositionLabels.size())
             m_jointJogPositionLabels.at(row)->setText(
                 QStringLiteral("%1 rad").arg(position, 0, 'f', 4));
+        if (row < m_jointJogPositionSliders.size()) {
+            QSlider *positionSlider = m_jointJogPositionSliders.at(row);
+            QString limitJointName = nameItem->text();
+            if (!modelJointLimits.contains(limitJointName)
+                && row < modelJointNames.size()) {
+                limitJointName = modelJointNames.at(row);
+            }
+            const auto limitIt = modelJointLimits.constFind(limitJointName);
+            if (limitIt != modelJointLimits.constEnd()
+                && qIsFinite(limitIt.value().first)
+                && qIsFinite(limitIt.value().second)
+                && limitIt.value().second > limitIt.value().first) {
+                const double lower = limitIt.value().first;
+                const double upper = limitIt.value().second;
+                const double progress = qBound(0.0, (position - lower) / (upper - lower), 1.0);
+                positionSlider->setValue(qRound(progress * positionSlider->maximum()));
+                positionSlider->setToolTip(
+                    QStringLiteral("%1：下限 %2 rad · 当前 %3 rad · 上限 %4 rad")
+                        .arg(nameItem->text())
+                        .arg(lower, 0, 'f', 4)
+                        .arg(position, 0, 'f', 4)
+                        .arg(upper, 0, 'f', 4));
+            } else {
+                positionSlider->setValue(0);
+                positionSlider->setToolTip(QStringLiteral("当前 URDF 未提供有效关节限位"));
+            }
+        }
         if (row == 0 && m_trend)
             m_trend->appendSample(position, velocity);
     }
@@ -1149,17 +1189,15 @@ void MainWindow::updateTelemetry(const QString &deviceId, const QVariantList &jo
 
     if (!pose.isEmpty()) {
         m_latestArmPose = pose;
-        m_poseValue->setText(QStringLiteral("X    %1 m\nY    %2 m\nZ    %3 m\n\nRX   %4 rad\nRY   %5 rad\nRZ   %6 rad")
-                             .arg(pose.value(QStringLiteral("x")).toDouble(), 0, 'f', 4)
-                             .arg(pose.value(QStringLiteral("y")).toDouble(), 0, 'f', 4)
-                             .arg(pose.value(QStringLiteral("z")).toDouble(), 0, 'f', 4)
-                             .arg(pose.value(QStringLiteral("rx")).toDouble(), 0, 'f', 4)
-                             .arg(pose.value(QStringLiteral("ry")).toDouble(), 0, 'f', 4)
-                             .arg(pose.value(QStringLiteral("rz")).toDouble(), 0, 'f', 4));
         static const QStringList keys = {
             QStringLiteral("x"), QStringLiteral("y"), QStringLiteral("z"),
             QStringLiteral("rx"), QStringLiteral("ry"), QStringLiteral("rz")
         };
+        for (int index = 0; index < keys.size()
+                            && index < m_poseMetricValues.size(); ++index) {
+            m_poseMetricValues.at(index)->setText(
+                QString::number(pose.value(keys.at(index)).toDouble(), 'f', 4));
+        }
         for (int index = 0; index < keys.size()
                             && index < m_cartesianJogPoseLabels.size(); ++index) {
             m_cartesianJogPoseLabels.at(index)->setText(
@@ -1169,22 +1207,75 @@ void MainWindow::updateTelemetry(const QString &deviceId, const QVariantList &jo
         }
     }
     if (!state.isEmpty()) {
+        const bool connected = state.value(QStringLiteral("connected")).toBool();
         const bool powered = state.value(QStringLiteral("poweredOn")).toBool();
         const bool moving = state.value(QStringLiteral("moving")).toBool();
         const bool fault = state.value(QStringLiteral("fault")).toBool();
         const bool emergency = state.value(QStringLiteral("emergencyStopped")).toBool();
         const bool protective = state.value(QStringLiteral("protectiveStopped")).toBool();
-        if (m_servoStatusValue)
-            m_servoStatusValue->setText(powered
-                ? (moving ? QStringLiteral("已使能 · 运动中") : QStringLiteral("已使能 · 空闲"))
-                : QStringLiteral("未使能"));
-        if (m_faultStatusValue)
-            m_faultStatusValue->setText(emergency ? QStringLiteral("急停")
-                : protective ? QStringLiteral("保护停止")
-                : fault ? QStringLiteral("故障") : QStringLiteral("正常"));
+        const bool freedrive = state.value(QStringLiteral("freedrive")).toBool()
+            || state.value(QStringLiteral("controlMode")).toInt() == 6;
+        const int robotMode = state.value(QStringLiteral("robotMode")).toInt();
+        const int safetyMode = state.value(QStringLiteral("safetyMode")).toInt();
+        const bool isDisconnected = !connected || robotMode == 1;
+        const bool isEmergency = emergency || safetyMode == 4 || safetyMode == 6;
+        const bool isFault = fault || robotMode == 7 || safetyMode == 7;
+        const bool isProtective = protective || safetyMode == 3 || safetyMode == 5;
+
+        const auto setStateLabel = [](QLabel *label, const QString &text,
+                                      const QString &visualState) {
+            if (!label)
+                return;
+            label->setText(text);
+            label->setProperty("state", visualState);
+            label->style()->unpolish(label);
+            label->style()->polish(label);
+        };
+        setStateLabel(
+            m_servoStatusValue,
+            isDisconnected ? QStringLiteral("已断开")
+                : freedrive ? QStringLiteral("拖动示教")
+                : powered ? (moving ? QStringLiteral("已使能 · 运动中")
+                                    : QStringLiteral("已使能 · 空闲"))
+                          : QStringLiteral("未使能"),
+            (isDisconnected || isEmergency || isFault || isProtective)
+                ? QStringLiteral("error") : QStringLiteral("good"));
+        setStateLabel(
+            m_faultStatusValue,
+            isDisconnected ? QStringLiteral("通信断开")
+                : isEmergency ? QStringLiteral("急停")
+                : isFault ? QStringLiteral("故障")
+                : isProtective ? QStringLiteral("保护停止")
+                : freedrive ? QStringLiteral("拖动示教") : QStringLiteral("正常"),
+            (isDisconnected || isEmergency || isFault || isProtective || freedrive)
+                ? QStringLiteral("error") : QStringLiteral("good"));
+
+        if (isDisconnected) {
+            updateArmAlert(deviceId, QStringLiteral("disconnected"),
+                           QStringLiteral("ERROR"), QStringLiteral("机械臂已断开"),
+                           QStringLiteral("请检查机械臂电源、网线以及控制器地址。"));
+        } else if (isEmergency) {
+            updateArmAlert(deviceId, QStringLiteral("emergency-stop"),
+                           QStringLiteral("ERROR"), QStringLiteral("机械臂处于急停状态"),
+                           QStringLiteral("请确认现场安全后释放急停并清除故障。"));
+        } else if (isFault) {
+            updateArmAlert(deviceId, QStringLiteral("fault"),
+                           QStringLiteral("ERROR"), QStringLiteral("机械臂发生故障"),
+                           QStringLiteral("请检查控制器告警信息，排除原因后清除故障。"));
+        } else if (isProtective) {
+            updateArmAlert(deviceId, QStringLiteral("protective-stop"),
+                           QStringLiteral("WARN"), QStringLiteral("机械臂处于保护停止状态"),
+                           QStringLiteral("请检查碰撞、限位或安全输入。"));
+        } else if (freedrive) {
+            updateArmAlert(deviceId, QStringLiteral("freedrive"),
+                           QStringLiteral("WARN"), QStringLiteral("机械臂处于拖动示教状态"),
+                           QStringLiteral("上位机运动控制暂不可用，请退出拖动示教后再操作。"));
+        } else {
+            updateArmAlert(deviceId, QString(), QString(), QString());
+        }
     }
-    m_updatedValue->setText(QStringLiteral("更新于 %1").arg(QDateTime::currentDateTime().toString("HH:mm:ss.zzz")));
-    if (m_bottomLogLevel && m_bottomLogMessage) {
+    if (m_armAlertStates.value(deviceId).isEmpty()
+        && m_bottomLogLevel && m_bottomLogMessage) {
         m_bottomLogLevel->setText(QStringLiteral("[OK]"));
         m_bottomLogLevel->setProperty("level", QStringLiteral("ok"));
         m_bottomLogLevel->style()->unpolish(m_bottomLogLevel);
@@ -1194,6 +1285,67 @@ void MainWindow::updateTelemetry(const QString &deviceId, const QVariantList &jo
     }
 }
 
+void MainWindow::updateArmTelemetryHealth(const QString &deviceId, bool available,
+                                          const QString &detail)
+{
+    if (!m_armIdEdit || deviceId != m_armIdEdit->text().trimmed())
+        return;
+    if (available) {
+        if (m_armAlertStates.value(deviceId) == QStringLiteral("communication"))
+            updateArmAlert(deviceId, QString(), QString(), QString());
+        return;
+    }
+
+    const auto markError = [](QLabel *label, const QString &text) {
+        if (!label)
+            return;
+        label->setText(text);
+        label->setProperty("state", QStringLiteral("error"));
+        label->style()->unpolish(label);
+        label->style()->polish(label);
+    };
+    markError(m_servoStatusValue, QStringLiteral("遥测中断"));
+    markError(m_faultStatusValue, QStringLiteral("通信异常"));
+    updateArmAlert(deviceId, QStringLiteral("communication"),
+                   QStringLiteral("ERROR"), QStringLiteral("机械臂遥测通信异常"), detail);
+}
+
+void MainWindow::updateArmAlert(const QString &deviceId, const QString &alertKey,
+                                const QString &level, const QString &summary,
+                                const QString &detail)
+{
+    const QString previous = m_armAlertStates.value(deviceId);
+    if (previous == alertKey)
+        return;
+    if (alertKey.isEmpty()) {
+        m_armAlertStates.remove(deviceId);
+        if (!previous.isEmpty())
+            appendLog(QStringLiteral("OK"),
+                      QStringLiteral("机械臂 %1 状态已恢复正常").arg(deviceId));
+        return;
+    }
+
+    m_armAlertStates.insert(deviceId, alertKey);
+    const QString message = detail.isEmpty()
+        ? QStringLiteral("机械臂 %1：%2").arg(deviceId, summary)
+        : QStringLiteral("机械臂 %1：%2。%3").arg(deviceId, summary, detail);
+    appendLog(level, message);
+
+    const QString popupKey = deviceId + QLatin1Char('/') + alertKey;
+    const qint64 nowMs = QDateTime::currentMSecsSinceEpoch();
+    const qint64 lastPopupMs = m_armLastAlertPopupMs.value(popupKey, 0);
+    if (lastPopupMs > 0 && nowMs - lastPopupMs < 30000)
+        return;
+    m_armLastAlertPopupMs.insert(popupKey, nowMs);
+
+    QMessageBox *popup = new QMessageBox(
+        level == QStringLiteral("ERROR") ? QMessageBox::Critical : QMessageBox::Warning,
+        QStringLiteral("机械臂状态提醒"), message, QMessageBox::Ok, this);
+    popup->setAttribute(Qt::WA_DeleteOnClose);
+    popup->setWindowModality(Qt::NonModal);
+    popup->open();
+}
+
 void MainWindow::updateSystemStatus(double cpu, double memory, double disk,
                                     const QVariantList &devices)
 {
@@ -1593,8 +1745,18 @@ void MainWindow::loadSettings()
             m_cameraStreamModeCombo->setCurrentIndex(modeIndex);
     }
     m_agvIdEdit->setText(settings.value(QStringLiteral("agv/device"), QStringLiteral("agv")).toString());
-    m_velocitySpin->setValue(settings.value(QStringLiteral("motion/velocity"), 1.0).toDouble());
-    m_accelerationSpin->setValue(settings.value(QStringLiteral("motion/acceleration"), 0.5).toDouble());
+    m_velocitySpin->setValue(settings.value(
+        QStringLiteral("motion/speedJVelocity"),
+        settings.value(QStringLiteral("motion/velocity"), 1.0)).toDouble());
+    m_accelerationSpin->setValue(settings.value(
+        QStringLiteral("motion/speedJAcceleration"),
+        settings.value(QStringLiteral("motion/acceleration"), 0.5)).toDouble());
+    if (m_cartesianVelocitySpin)
+        m_cartesianVelocitySpin->setValue(settings.value(
+            QStringLiteral("motion/speedLVelocity"), 0.25).toDouble());
+    if (m_cartesianAccelerationSpin)
+        m_cartesianAccelerationSpin->setValue(settings.value(
+            QStringLiteral("motion/speedLAcceleration"), 0.5).toDouble());
     const QDir applicationDirectory(QCoreApplication::applicationDirPath());
     const QString defaultUrdf = applicationDirectory.filePath(QStringLiteral("models/demo_arm.urdf"));
     QString configuredUrdf = settings.value(QStringLiteral("arm/urdf"), defaultUrdf)
@@ -1648,8 +1810,15 @@ void MainWindow::saveSettings()
         settings.setValue(QStringLiteral("camera/streamMode"),
                           m_cameraStreamModeCombo->currentData().toString());
     settings.setValue(QStringLiteral("agv/device"), m_agvIdEdit->text().trimmed());
-    settings.setValue(QStringLiteral("motion/velocity"), m_velocitySpin->value());
-    settings.setValue(QStringLiteral("motion/acceleration"), m_accelerationSpin->value());
+    settings.setValue(QStringLiteral("motion/speedJVelocity"), m_velocitySpin->value());
+    settings.setValue(QStringLiteral("motion/speedJAcceleration"),
+                      m_accelerationSpin->value());
+    if (m_cartesianVelocitySpin)
+        settings.setValue(QStringLiteral("motion/speedLVelocity"),
+                          m_cartesianVelocitySpin->value());
+    if (m_cartesianAccelerationSpin)
+        settings.setValue(QStringLiteral("motion/speedLAcceleration"),
+                          m_cartesianAccelerationSpin->value());
     if (m_urdfViewer && !m_urdfViewer->currentFile().isEmpty())
         settings.setValue(QStringLiteral("arm/urdf"), m_urdfViewer->currentFile());
     else if (!m_pendingUrdfPath.isEmpty())
@@ -1685,6 +1854,10 @@ void MainWindow::setControlsEnabled(bool enabled)
         m_velocitySpin->setEnabled(enabled);
     if (m_accelerationSpin)
         m_accelerationSpin->setEnabled(enabled);
+    if (m_cartesianVelocitySpin)
+        m_cartesianVelocitySpin->setEnabled(enabled);
+    if (m_cartesianAccelerationSpin)
+        m_cartesianAccelerationSpin->setEnabled(enabled);
     if (m_calibrateZeroButton)
         m_calibrateZeroButton->setEnabled(enabled && m_zeroJointCombo
                                           && m_zeroJointCombo->count() > 0);
diff --git a/src/mainwindow.h b/src/mainwindow.h
index 341bb8e..cb9d409 100644
--- a/src/mainwindow.h
+++ b/src/mainwindow.h
@@ -60,6 +60,8 @@ private slots:
     void updateArmInfo(const QString &deviceId, const QVariantMap &info);
     void updateTelemetry(const QString &deviceId, const QVariantList &joints,
                          const QVariantMap &pose, const QVariantMap &state);
+    void updateArmTelemetryHealth(const QString &deviceId, bool available,
+                                  const QString &detail);
     void updateSystemStatus(double cpu, double memory, double disk,
                             const QVariantList &devices);
     void updateSystemInfo(const QVariantMap &info);
@@ -102,6 +104,9 @@ private:
     void startJointJog(int jointIndex, int direction);
     void startCartesianJog(int axisIndex, int direction);
     void stopArmJog();
+    void updateArmAlert(const QString &deviceId, const QString &alertKey,
+                        const QString &level, const QString &summary,
+                        const QString &detail = QString());
     QString endpoint() const;
 
     RobotClient *m_client = nullptr;
@@ -158,8 +163,7 @@ private:
     QLabel *m_armDeviceSummary = nullptr;
     QLabel *m_servoStatusValue = nullptr;
     QLabel *m_faultStatusValue = nullptr;
-    QLabel *m_poseValue = nullptr;
-    QLabel *m_updatedValue = nullptr;
+    QList<QLabel *> m_poseMetricValues;
     TrendWidget *m_trend = nullptr;
     QTableWidget *m_jointTable = nullptr;
     QTableWidget *m_motionTable = nullptr;
@@ -176,6 +180,7 @@ private:
     QWidget *m_jointJogRowsHost = nullptr;
     QVBoxLayout *m_jointJogRowsLayout = nullptr;
     QList<QLabel *> m_jointJogPositionLabels;
+    QList<QSlider *> m_jointJogPositionSliders;
     QList<QPushButton *> m_jointJogMinusButtons;
     QList<QPushButton *> m_jointJogPlusButtons;
     QList<QLabel *> m_cartesianJogPoseLabels;
@@ -186,9 +191,13 @@ private:
     QPushButton *m_jogStopButton = nullptr;
     QHash<QString, double> m_previousJointVelocities;
     qint64 m_lastArmTelemetryMs = 0;
+    QHash<QString, QString> m_armAlertStates;
+    QHash<QString, qint64> m_armLastAlertPopupMs;
     bool m_armJogActive = false;
     QDoubleSpinBox *m_velocitySpin = nullptr;
     QDoubleSpinBox *m_accelerationSpin = nullptr;
+    QDoubleSpinBox *m_cartesianVelocitySpin = nullptr;
+    QDoubleSpinBox *m_cartesianAccelerationSpin = nullptr;
     QPushButton *m_sendMoveButton = nullptr;
     QPushButton *m_torqueOnButton = nullptr;
     QPushButton *m_torqueOffButton = nullptr;
diff --git a/src/mainwindow_ui.cpp b/src/mainwindow_ui.cpp
index ab572c4..3222c2a 100644
--- a/src/mainwindow_ui.cpp
+++ b/src/mainwindow_ui.cpp
@@ -26,6 +26,7 @@
 #include <QFile>
 #include <QFileInfo>
 #include <QFrame>
+#include <QFormLayout>
 #include <QGraphicsDropShadowEffect>
 #include <QGridLayout>
 #include <QHeaderView>
@@ -45,6 +46,7 @@
 #include <QSpinBox>
 #include <QSplitter>
 #include <QStyledItemDelegate>
+#include <QTabBar>
 #include <QTabWidget>
 #include <QTableWidget>
 #include <QTextDocument>
@@ -269,6 +271,35 @@ QWidget *MainWindow::createArmPage()
     m_faultStatusValue = ui.faultStatusValue;
     m_velocitySpin = ui.velocitySpin;
     m_accelerationSpin = ui.accelerationSpin;
+    ui.velocityLabel->setText(QStringLiteral("速度"));
+    ui.accelerationLabel->setText(QStringLiteral("加速度"));
+    m_velocitySpin->setToolTip(QStringLiteral("SpeedJ 关节点动的最大速度"));
+    m_accelerationSpin->setToolTip(QStringLiteral("SpeedJ 关节点动的最大加速度"));
+
+    QLabel *jointLimitsTitle = new QLabel(QStringLiteral("SpeedJ 关节限制"), ui.commandBody);
+    jointLimitsTitle->setObjectName(QStringLiteral("eyebrow"));
+    ui.motionForm->insertRow(0, jointLimitsTitle);
+
+    QLabel *cartesianLimitsTitle = new QLabel(
+        QStringLiteral("SpeedL 笛卡尔限制"), ui.commandBody);
+    cartesianLimitsTitle->setObjectName(QStringLiteral("eyebrow"));
+    ui.motionForm->insertRow(3, cartesianLimitsTitle);
+    m_cartesianVelocitySpin = new QDoubleSpinBox(ui.commandBody);
+    m_cartesianVelocitySpin->setRange(0.001, 5.0);
+    m_cartesianVelocitySpin->setDecimals(3);
+    m_cartesianVelocitySpin->setSingleStep(0.01);
+    m_cartesianVelocitySpin->setSuffix(QStringLiteral(" m/s"));
+    m_cartesianVelocitySpin->setToolTip(
+        QStringLiteral("SpeedL 平移点动的最大线速度；旋转点动按相同数值使用 rad/s"));
+    m_cartesianAccelerationSpin = new QDoubleSpinBox(ui.commandBody);
+    m_cartesianAccelerationSpin->setRange(0.001, 20.0);
+    m_cartesianAccelerationSpin->setDecimals(3);
+    m_cartesianAccelerationSpin->setSingleStep(0.01);
+    m_cartesianAccelerationSpin->setSuffix(QStringLiteral(" m/s²"));
+    m_cartesianAccelerationSpin->setToolTip(
+        QStringLiteral("SpeedL 使用的笛卡尔加速度限制"));
+    ui.motionForm->addRow(QStringLiteral("速度"), m_cartesianVelocitySpin);
+    ui.motionForm->addRow(QStringLiteral("加速度"), m_cartesianAccelerationSpin);
     m_torqueOnButton = ui.torqueOnButton;
     m_torqueOffButton = ui.torqueOffButton;
     m_clearFaultButton = ui.clearFaultButton;
@@ -278,8 +309,6 @@ QWidget *MainWindow::createArmPage()
     m_motionTable = ui.motionTable;
     m_sendMoveButton = ui.sendMoveButton;
     m_jointTable = ui.jointTable;
-    m_poseValue = ui.poseValue;
-    m_updatedValue = ui.updatedValue;
     m_urdfViewer = ui.urdfViewer;
     m_teachModeButton = ui.teachModeButton;
     m_teachRestoreButton = ui.teachRestoreButton;
@@ -290,6 +319,53 @@ QWidget *MainWindow::createArmPage()
     ui.jointTitle->setText(QStringLiteral("关节实时状态"));
     ui.jointTitle->setContentsMargins(16, 0, 0, 4);
     ui.poseTitle->setText(QStringLiteral("末端实时位姿"));
+    ui.poseSubtitle->setObjectName(QStringLiteral("poseFrameBadge"));
+    ui.poseSubtitle->setAlignment(Qt::AlignCenter);
+    ui.poseValue->hide();
+    ui.updatedValue->hide();
+
+    QFrame *poseMetrics = new QFrame(ui.telemetryPanel);
+    poseMetrics->setObjectName(QStringLiteral("poseMetrics"));
+    QGridLayout *poseMetricsLayout = new QGridLayout(poseMetrics);
+    poseMetricsLayout->setContentsMargins(0, 0, 0, 0);
+    poseMetricsLayout->setHorizontalSpacing(8);
+    poseMetricsLayout->setVerticalSpacing(8);
+    const QStringList poseAxes = {
+        QStringLiteral("X"), QStringLiteral("Y"), QStringLiteral("Z"),
+        QStringLiteral("RX"), QStringLiteral("RY"), QStringLiteral("RZ")
+    };
+    const QStringList poseUnits = {
+        QStringLiteral("m"), QStringLiteral("m"), QStringLiteral("m"),
+        QStringLiteral("rad"), QStringLiteral("rad"), QStringLiteral("rad")
+    };
+    m_poseMetricValues.clear();
+    for (int index = 0; index < poseAxes.size(); ++index) {
+        QFrame *metricCard = new QFrame(poseMetrics);
+        metricCard->setObjectName(QStringLiteral("poseMetricCard"));
+        QVBoxLayout *metricLayout = new QVBoxLayout(metricCard);
+        metricLayout->setContentsMargins(10, 8, 10, 8);
+        metricLayout->setSpacing(3);
+        QLabel *axisLabel = new QLabel(poseAxes.at(index), metricCard);
+        axisLabel->setObjectName(QStringLiteral("poseMetricAxis"));
+        QLabel *valueLabel = new QLabel(QStringLiteral("--"), metricCard);
+        valueLabel->setObjectName(QStringLiteral("poseMetricValue"));
+        QLabel *unitLabel = new QLabel(poseUnits.at(index), metricCard);
+        unitLabel->setObjectName(QStringLiteral("poseMetricUnit"));
+        QHBoxLayout *valueLayout = new QHBoxLayout;
+        valueLayout->setContentsMargins(0, 0, 0, 0);
+        valueLayout->setSpacing(5);
+        valueLayout->addWidget(valueLabel);
+        valueLayout->addWidget(unitLabel);
+        valueLayout->addStretch(1);
+        metricLayout->addWidget(axisLabel);
+        metricLayout->addLayout(valueLayout);
+        poseMetricsLayout->addWidget(metricCard, index / 3, index % 3);
+        m_poseMetricValues.append(valueLabel);
+    }
+    ui.poseLayout->insertWidget(2, poseMetrics, 1);
+    ui.telemetryLayout->setSpacing(14);
+    ui.telemetryLayout->setStretch(0, 1);
+    ui.telemetryLayout->setStretch(1, 1);
 
     // Replace the old target/teaching workspace with hold-to-jog controls and
     // a read-only telemetry panel.
@@ -360,55 +436,200 @@ QWidget *MainWindow::createArmPage()
     frameGrid->addWidget(m_tcpFrameCombo, 0, 3);
     cartesianLayout->addLayout(frameGrid);
 
-    const QStringList cartesianAxes = {
-        QStringLiteral("X"), QStringLiteral("Y"), QStringLiteral("Z"),
-        QStringLiteral("RX"), QStringLiteral("RY"), QStringLiteral("RZ")
+    m_cartesianJogPoseLabels.clear();
+    const auto createJogButton = [this](QWidget *parent, const QString &text,
+                                         int axis, int direction,
+                                         const QString &tone,
+                                         const QString &role,
+                                         int width, int height) {
+        QPushButton *button = new QPushButton(text, parent);
+        button->setObjectName(QStringLiteral("cartesianPadButton"));
+        button->setProperty("axisTone", tone);
+        button->setProperty("padRole", role);
+        button->setFixedSize(width, height);
+        button->setAutoRepeat(false);
+        connect(button, &QPushButton::pressed, this,
+                [this, axis, direction]() { startCartesianJog(axis, direction); });
+        connect(button, &QPushButton::released, this, &MainWindow::stopArmJog);
+        return button;
     };
-    for (int axis = 0; axis < cartesianAxes.size(); ++axis) {
-        if (axis == 0 || axis == 3) {
-            QLabel *group = new QLabel(axis == 0 ? QStringLiteral("平移（当前位置）")
-                                                  : QStringLiteral("旋转（当前姿态）"),
-                                       cartesianJogPage);
-            group->setObjectName(QStringLiteral("eyebrow"));
-            cartesianLayout->addWidget(group);
+    const auto createPoseStrip = [this](QWidget *parent, const QStringList &axes,
+                                         const QStringList &units) {
+        QWidget *strip = new QWidget(parent);
+        QHBoxLayout *layout = new QHBoxLayout(strip);
+        layout->setContentsMargins(0, 0, 0, 0);
+        layout->setSpacing(6);
+        for (int index = 0; index < axes.size(); ++index) {
+            QFrame *chip = new QFrame(strip);
+            chip->setObjectName(QStringLiteral("cartesianPoseChip"));
+            QHBoxLayout *chipLayout = new QHBoxLayout(chip);
+            chipLayout->setContentsMargins(7, 4, 7, 4);
+            chipLayout->setSpacing(5);
+            QLabel *axisLabel = new QLabel(axes.at(index), chip);
+            axisLabel->setObjectName(QStringLiteral("cartesianPoseAxis"));
+            QLabel *valueLabel = new QLabel(
+                QStringLiteral("-- %1").arg(units.at(index)), chip);
+            valueLabel->setObjectName(QStringLiteral("cartesianPoseValue"));
+            chipLayout->addWidget(axisLabel);
+            chipLayout->addStretch(1);
+            chipLayout->addWidget(valueLabel);
+            layout->addWidget(chip, 1);
+            m_cartesianJogPoseLabels.append(valueLabel);
         }
-        QFrame *row = new QFrame(cartesianJogPage);
-        row->setObjectName(QStringLiteral("jogAxisRow"));
-        QHBoxLayout *rowLayout = new QHBoxLayout(row);
-        rowLayout->setContentsMargins(0, 0, 0, 0);
-        rowLayout->setSpacing(6);
-        QLabel *axisLabel = new QLabel(cartesianAxes.at(axis), row);
-        axisLabel->setMinimumWidth(26);
-        QLabel *poseLabel = new QLabel(axis < 3 ? QStringLiteral("-- m")
-                                                : QStringLiteral("-- rad"), row);
-        poseLabel->setObjectName(QStringLiteral("jogCurrentValue"));
-        poseLabel->setMinimumWidth(92);
-        QPushButton *minus = new QPushButton(QStringLiteral("−"), row);
-        QPushButton *plus = new QPushButton(QStringLiteral("+"), row);
-        minus->setObjectName(QStringLiteral("jogDirectionButton"));
-        plus->setObjectName(QStringLiteral("jogDirectionButton"));
-        minus->setFixedSize(38, 32);
-        plus->setFixedSize(38, 32);
-        QSlider *direction = new QSlider(Qt::Horizontal, row);
-        direction->setObjectName(QStringLiteral("jogDirectionIndicator"));
-        direction->setRange(-100, 100);
-        direction->setValue(0);
-        direction->setEnabled(false);
-        rowLayout->addWidget(axisLabel);
-        rowLayout->addWidget(poseLabel);
-        rowLayout->addWidget(minus);
-        rowLayout->addWidget(direction, 1);
-        rowLayout->addWidget(plus);
-        m_cartesianJogPoseLabels.append(poseLabel);
-        connect(minus, &QPushButton::pressed, this,
-                [this, axis]() { startCartesianJog(axis, -1); });
-        connect(plus, &QPushButton::pressed, this,
-                [this, axis]() { startCartesianJog(axis, 1); });
-        connect(minus, &QPushButton::released, this, &MainWindow::stopArmJog);
-        connect(plus, &QPushButton::released, this, &MainWindow::stopArmJog);
-        cartesianLayout->addWidget(row);
-    }
+        return strip;
+    };
+    const auto createDirectionPad = [&createJogButton](
+                                        QWidget *parent,
+                                        int verticalAxis,
+                                        const QString &verticalName,
+                                        const QString &verticalTone,
+                                        int horizontalAxis,
+                                        const QString &horizontalName,
+                                        const QString &horizontalTone,
+                                        const QString &centerText) {
+        QFrame *pad = new QFrame(parent);
+        pad->setObjectName(QStringLiteral("cartesianDirectionPad"));
+        pad->setFixedSize(250, 180);
+        QGridLayout *layout = new QGridLayout(pad);
+        layout->setContentsMargins(8, 8, 8, 8);
+        layout->setHorizontalSpacing(2);
+        layout->setVerticalSpacing(2);
+        QLabel *center = new QLabel(centerText, pad);
+        center->setObjectName(QStringLiteral("cartesianPadCenter"));
+        center->setAlignment(Qt::AlignCenter);
+        center->setFixedSize(52, 52);
+        layout->addWidget(createJogButton(
+            pad, QStringLiteral("▲\n+%1").arg(verticalName),
+            verticalAxis, 1, verticalTone, QStringLiteral("north"), 86, 48),
+            0, 1, Qt::AlignHCenter);
+        layout->addWidget(createJogButton(
+            pad, QStringLiteral("◀  −%1").arg(horizontalName),
+            horizontalAxis, -1, horizontalTone, QStringLiteral("eastTall"), 72, 150),
+            0, 0, 3, 1, Qt::AlignVCenter);
+        layout->addWidget(center, 1, 1, Qt::AlignCenter);
+        layout->addWidget(createJogButton(
+            pad, QStringLiteral("+%1  ▶").arg(horizontalName),
+            horizontalAxis, 1, horizontalTone, QStringLiteral("westTall"), 72, 150),
+            0, 2, 3, 1, Qt::AlignVCenter);
+        layout->addWidget(createJogButton(
+            pad, QStringLiteral("−%1\n▼").arg(verticalName),
+            verticalAxis, -1, verticalTone, QStringLiteral("south"), 86, 48),
+            2, 1, Qt::AlignHCenter);
+        return pad;
+    };
+    const auto createVerticalRocker = [&createJogButton](
+                                         QWidget *parent, int axis,
+                                         const QString &axisName,
+                                         const QString &tone) {
+        QFrame *rocker = new QFrame(parent);
+        rocker->setObjectName(QStringLiteral("cartesianAxisRocker"));
+        rocker->setProperty("orientation", QStringLiteral("vertical"));
+        rocker->setFixedSize(76, 168);
+        QVBoxLayout *layout = new QVBoxLayout(rocker);
+        layout->setContentsMargins(8, 8, 8, 8);
+        layout->setSpacing(0);
+        QLabel *center = new QLabel(axisName, rocker);
+        center->setObjectName(QStringLiteral("cartesianPadCenter"));
+        center->setAlignment(Qt::AlignCenter);
+        center->setFixedSize(52, 52);
+        layout->addWidget(createJogButton(
+            rocker, QStringLiteral("▲\n+%1").arg(axisName), axis, 1, tone,
+            QStringLiteral("north"), 60, 50),
+            0, Qt::AlignHCenter);
+        layout->addWidget(center, 0, Qt::AlignHCenter);
+        layout->addWidget(createJogButton(
+            rocker, QStringLiteral("−%1\n▼").arg(axisName), axis, -1, tone,
+            QStringLiteral("south"), 60, 50),
+            0, Qt::AlignHCenter);
+        return rocker;
+    };
+    const auto createHorizontalRocker = [&createJogButton](
+                                           QWidget *parent, int axis,
+                                           const QString &axisName,
+                                           const QString &tone) {
+        QFrame *rocker = new QFrame(parent);
+        rocker->setObjectName(QStringLiteral("cartesianAxisRocker"));
+        rocker->setProperty("orientation", QStringLiteral("horizontal"));
+        rocker->setFixedSize(208, 68);
+        QHBoxLayout *layout = new QHBoxLayout(rocker);
+        layout->setContentsMargins(8, 8, 8, 8);
+        layout->setSpacing(0);
+        QLabel *center = new QLabel(axisName, rocker);
+        center->setObjectName(QStringLiteral("cartesianPadCenter"));
+        center->setAlignment(Qt::AlignCenter);
+        center->setFixedSize(52, 52);
+        layout->addWidget(createJogButton(
+            rocker, QStringLiteral("◀  −%1").arg(axisName), axis, -1, tone,
+            QStringLiteral("west"), 70, 52));
+        layout->addWidget(center);
+        layout->addWidget(createJogButton(
+            rocker, QStringLiteral("+%1  ▶").arg(axisName), axis, 1, tone,
+            QStringLiteral("east"), 70, 52));
+        return rocker;
+    };
+
+    QVBoxLayout *cartesianControls = new QVBoxLayout;
+    cartesianControls->setSpacing(10);
+
+    QFrame *translationGroup = new QFrame(cartesianJogPage);
+    translationGroup->setObjectName(QStringLiteral("cartesianControlGroup"));
+    QVBoxLayout *translationLayout = new QVBoxLayout(translationGroup);
+    translationLayout->setContentsMargins(10, 8, 10, 10);
+    translationLayout->setSpacing(7);
+    QLabel *translationTitle = new QLabel(QStringLiteral("平移控制"), translationGroup);
+    translationTitle->setObjectName(QStringLiteral("cartesianGroupTitle"));
+    translationLayout->addWidget(translationTitle);
+    translationLayout->addWidget(createPoseStrip(
+        translationGroup,
+        {QStringLiteral("X"), QStringLiteral("Y"), QStringLiteral("Z")},
+        {QStringLiteral("m"), QStringLiteral("m"), QStringLiteral("m")}));
+    QHBoxLayout *translationPads = new QHBoxLayout;
+    translationPads->setContentsMargins(0, 0, 0, 0);
+    translationPads->setSpacing(12);
+    translationPads->addStretch(1);
+    translationPads->addWidget(createDirectionPad(
+        translationGroup, 0, QStringLiteral("X"), QStringLiteral("x"),
+        1, QStringLiteral("Y"), QStringLiteral("y"), QStringLiteral("XY")));
+    translationPads->addWidget(createVerticalRocker(
+        translationGroup, 2, QStringLiteral("Z"), QStringLiteral("z")),
+        0, Qt::AlignVCenter);
+    translationPads->addStretch(1);
+    translationLayout->addLayout(translationPads);
+    cartesianControls->addWidget(translationGroup, 1);
+
+    QFrame *rotationGroup = new QFrame(cartesianJogPage);
+    rotationGroup->setObjectName(QStringLiteral("cartesianControlGroup"));
+    QVBoxLayout *rotationLayout = new QVBoxLayout(rotationGroup);
+    rotationLayout->setContentsMargins(10, 8, 10, 10);
+    rotationLayout->setSpacing(7);
+    QLabel *rotationTitle = new QLabel(QStringLiteral("旋转控制"), rotationGroup);
+    rotationTitle->setObjectName(QStringLiteral("cartesianGroupTitle"));
+    rotationLayout->addWidget(rotationTitle);
+    rotationLayout->addWidget(createPoseStrip(
+        rotationGroup,
+        {QStringLiteral("RX"), QStringLiteral("RY"), QStringLiteral("RZ")},
+        {QStringLiteral("rad"), QStringLiteral("rad"), QStringLiteral("rad")}));
+    QHBoxLayout *rotationPads = new QHBoxLayout;
+    rotationPads->setContentsMargins(0, 0, 0, 0);
+    rotationPads->setSpacing(8);
+    rotationPads->addStretch(1);
+    rotationPads->addWidget(createDirectionPad(
+        rotationGroup, 3, QStringLiteral("RX"), QStringLiteral("x"),
+        4, QStringLiteral("RY"), QStringLiteral("y"), QStringLiteral("RXY")));
+    rotationPads->addWidget(createHorizontalRocker(
+        rotationGroup, 5, QStringLiteral("RZ"), QStringLiteral("z")),
+        0, Qt::AlignVCenter);
+    rotationPads->addStretch(1);
+    rotationLayout->addLayout(rotationPads);
+    cartesianControls->addWidget(rotationGroup, 1);
+
+    cartesianLayout->addLayout(cartesianControls, 1);
     cartesianLayout->addStretch(1);
+    if (QTabBar *jogTabBar = m_jogModeTabs->findChild<QTabBar *>()) {
+        jogTabBar->setExpanding(true);
+        jogTabBar->setUsesScrollButtons(false);
+        jogTabBar->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+    }
     m_jogModeTabs->addTab(cartesianJogPage, QStringLiteral("笛卡尔速度"));
     jogLayout->addWidget(m_jogModeTabs, 1);
 
@@ -534,12 +755,7 @@ QWidget *MainWindow::createArmPage()
     });
     connect(m_jogModeTabs, &QTabWidget::currentChanged, this, [this](int index) {
         stopArmJog();
-        const bool jointMode = index == 0;
-        m_velocitySpin->setSuffix(jointMode ? QStringLiteral(" rad/s")
-                                            : QStringLiteral(" m/s"));
-        m_accelerationSpin->setSuffix(jointMode ? QStringLiteral(" rad/s²")
-                                                : QStringLiteral(" m/s²"));
-        if (!jointMode && m_connected)
+        if (index == 1 && m_connected)
             m_client->requestArmFrames(m_armIdEdit->text().trimmed());
     });
     connect(m_client, &RobotClient::armFramesReceived, this,
@@ -615,7 +831,8 @@ QWidget *MainWindow::createArmPage()
         m_armDefaultBaseFrame.clear();
         m_armDefaultTcpFrame.clear();
         m_latestArmPose.clear();
-        m_poseValue->setText(QStringLiteral("X    --\nY    --\nZ    --\n\nRX   --\nRY   --\nRZ   --"));
+        for (QLabel *valueLabel : m_poseMetricValues)
+            valueLabel->setText(QStringLiteral("--"));
         poseSubtitle->setText(QStringLiteral("等待 SDK 默认坐标系信息"));
         if (m_connected) {
             m_client->requestArmInfo(newDeviceId);
diff --git a/src/robotclient.cpp b/src/robotclient.cpp
index 8e24921..fa9e78c 100644
--- a/src/robotclient.cpp
+++ b/src/robotclient.cpp
@@ -2009,6 +2009,8 @@ public:
         armFramesReceived;
     std::function<void(const QString &, const QVariantList &, const QVariantMap &,
                        const QVariantMap &)> telemetryReceived;
+    std::function<void(const QString &, bool, const QString &)>
+        armTelemetryHealthChanged;
     std::function<void(double, double, double, const QVariantList &)> systemStatusReceived;
     std::function<void(const QVariantMap &)> systemInfoReceived;
     std::function<void(const QImage &, const QString &)> imageReceived;
@@ -2950,7 +2952,8 @@ private:
     void pollGrpc()
     {
         ++m_tick;
-        if (m_armPollingEnabled && !m_armDeviceId.isEmpty()) {
+        const bool armPollDue = m_consecutivePollErrors < 3 || m_tick % 10 == 0;
+        if (m_armPollingEnabled && !m_armDeviceId.isEmpty() && armPollDue) {
             const QString polledDeviceId = m_armDeviceId;
             cmvr::api::GetRobotState::Request request;
             fillHeader(request.mutable_header(), polledDeviceId);
@@ -2959,6 +2962,7 @@ private:
             setDeadline(context, 350);
             const grpc::Status status = m_arm->getRobotState(&context, request, &response);
             if (status.ok() && response.header().success()) {
+                const bool recovered = m_consecutivePollErrors >= 3;
                 m_consecutivePollErrors = 0;
                 QVariantList joints;
                 const auto &robotState = response.state();
@@ -2979,7 +2983,8 @@ private:
                 pose.insert(QStringLiteral("rx"), tcp.rx());
                 pose.insert(QStringLiteral("ry"), tcp.ry());
                 pose.insert(QStringLiteral("rz"), tcp.rz());
-                if (!m_armBaseFrame.isEmpty() && !m_armTcpFrame.isEmpty()) {
+                if (robotState.connected()
+                    && !m_armBaseFrame.isEmpty() && !m_armTcpFrame.isEmpty()) {
                     cmvr::api::GetPose::Request poseRequest;
                     fillHeader(poseRequest.mutable_header(), polledDeviceId);
                     poseRequest.set_base_link(m_armBaseFrame.toStdString());
@@ -3003,6 +3008,9 @@ private:
                 state.insert(QStringLiteral("robotMode"), static_cast<int>(robotState.robot_mode()));
                 state.insert(QStringLiteral("safetyMode"), static_cast<int>(robotState.safety_mode()));
                 state.insert(QStringLiteral("controlMode"), static_cast<int>(robotState.control_mode()));
+                state.insert(QStringLiteral("freedrive"),
+                             robotState.control_mode()
+                                 == cmvr::api::ARM_CONTROL_MODE_FREEDRIVE);
                 state.insert(QStringLiteral("connected"), robotState.connected());
                 state.insert(QStringLiteral("poweredOn"), robotState.powered_on());
                 state.insert(QStringLiteral("brakeReleased"), robotState.brake_released());
@@ -3012,10 +3020,27 @@ private:
                 state.insert(QStringLiteral("emergencyStopped"), robotState.emergency_stopped());
                 state.insert(QStringLiteral("speedScaling"), robotState.speed_scaling());
                 emit telemetryReceived(polledDeviceId, joints, pose, state);
+                if (recovered) {
+                    emit armTelemetryHealthChanged(
+                        polledDeviceId, true, QStringLiteral("机械臂遥测通信已恢复"));
+                }
             } else {
                 ++m_consecutivePollErrors;
-                if (m_consecutivePollErrors == 10)
-                    emit logMessage(QStringLiteral("WARN"), QStringLiteral("ArmService 连续 10 次遥测请求失败"));
+                QString detail;
+                if (!status.ok()) {
+                    const QString message = QString::fromStdString(status.error_message());
+                    detail = QStringLiteral("gRPC code %1：%2")
+                                 .arg(static_cast<int>(status.error_code()))
+                                 .arg(message.isEmpty()
+                                          ? QStringLiteral("服务端未返回错误详情")
+                                          : message);
+                } else {
+                    detail = QString::fromStdString(response.header().error_message());
+                    if (detail.isEmpty())
+                        detail = QStringLiteral("边缘端未返回机械臂状态");
+                }
+                if (m_consecutivePollErrors == 3)
+                    emit armTelemetryHealthChanged(polledDeviceId, false, detail);
             }
         }
 
@@ -3131,6 +3156,12 @@ RobotClient::RobotClient(QObject *parent)
             emit telemetryReceived(deviceId, joints, pose, state);
         }, Qt::QueuedConnection);
     };
+    m_worker->armTelemetryHealthChanged =
+        [this](const QString &deviceId, bool available, const QString &detail) {
+            QMetaObject::invokeMethod(this, [this, deviceId, available, detail]() {
+                emit armTelemetryHealthChanged(deviceId, available, detail);
+            }, Qt::QueuedConnection);
+        };
     m_worker->systemStatusReceived = [this](double cpu, double memory, double disk,
                                             const QVariantList &devices) {
         QMetaObject::invokeMethod(this, [this, cpu, memory, disk, devices]() {
diff --git a/src/robotclient.h b/src/robotclient.h
index caeb301..90a7c77 100644
--- a/src/robotclient.h
+++ b/src/robotclient.h
@@ -152,6 +152,8 @@ signals:
                            const QStringList &tcpFrames);
     void telemetryReceived(const QString &deviceId, const QVariantList &joints,
                            const QVariantMap &pose, const QVariantMap &state);
+    void armTelemetryHealthChanged(const QString &deviceId, bool available,
+                                   const QString &detail);
     void systemStatusReceived(double cpu, double memory, double disk,
                               const QVariantList &devices);
     void systemInfoReceived(const QVariantMap &info);
diff --git a/src/urdfviewerwidget.cpp b/src/urdfviewerwidget.cpp
index c130dd6..6889282 100644
--- a/src/urdfviewerwidget.cpp
+++ b/src/urdfviewerwidget.cpp
@@ -4,25 +4,33 @@
 #include <Qt3DCore/QComponent>
 #include <Qt3DCore/QEntity>
 #include <Qt3DCore/QTransform>
+#include <Qt3DExtras/QConeMesh>
 #include <Qt3DExtras/QCuboidMesh>
 #include <Qt3DExtras/QCylinderMesh>
 #include <Qt3DExtras/QForwardRenderer>
 #include <Qt3DExtras/QPerVertexColorMaterial>
 #include <Qt3DExtras/QPhongMaterial>
 #include <Qt3DExtras/QSphereMesh>
+#include <Qt3DExtras/QText2DEntity>
 #include <Qt3DExtras/Qt3DWindow>
 #include <Qt3DRender/QAttribute>
 #include <Qt3DRender/QBuffer>
 #include <Qt3DRender/QCamera>
 #include <Qt3DRender/QCameraLens>
+#include <Qt3DRender/QCameraSelector>
+#include <Qt3DRender/QClearBuffers>
 #include <Qt3DRender/QGeometry>
 #include <Qt3DRender/QGeometryRenderer>
+#include <Qt3DRender/QLayer>
+#include <Qt3DRender/QLayerFilter>
 #include <Qt3DRender/QPickingSettings>
 #include <Qt3DRender/QPointLight>
 #include <Qt3DRender/QRayCasterHit>
 #include <Qt3DRender/QRenderSettings>
+#include <Qt3DRender/QRenderSurfaceSelector>
 #include <Qt3DRender/QSceneLoader>
 #include <Qt3DRender/QScreenRayCaster>
+#include <Qt3DRender/QViewport>
 
 #include <urdf_model/joint.h>
 #include <urdf_model/link.h>
@@ -40,10 +48,12 @@
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
+#include <QFont>
 #include <QFrame>
 #include <QHBoxLayout>
 #include <QLabel>
 #include <QLineEdit>
+#include <QMatrix3x3>
 #include <QMouseEvent>
 #include <QProgressBar>
 #include <QPushButton>
@@ -411,6 +421,14 @@ void UrdfViewerWidget::ensureSceneInitialized()
     m_camera = m_view->camera();
     m_camera->lens()->setPerspectiveProjection(42.0f, 16.0f / 9.0f, 0.01f, 1000.0f);
 
+    createOrientationIndicator();
+    connect(m_camera, &Qt3DRender::QCamera::positionChanged,
+            this, [this](const QVector3D &) { updateOrientationIndicator(); });
+    connect(m_camera, &Qt3DRender::QCamera::viewCenterChanged,
+            this, [this](const QVector3D &) { updateOrientationIndicator(); });
+    connect(m_camera, &Qt3DRender::QCamera::upVectorChanged,
+            this, [this](const QVector3D &) { updateOrientationIndicator(); });
+
     Qt3DCore::QEntity *lightEntity = new Qt3DCore::QEntity(m_rootEntity);
     Qt3DRender::QPointLight *light = new Qt3DRender::QPointLight(lightEntity);
     light->setColor(QColor(QStringLiteral("#ffffff")));
@@ -429,6 +447,222 @@ void UrdfViewerWidget::ensureSceneInitialized()
     resetView();
 }
 
+void UrdfViewerWidget::createOrientationIndicator()
+{
+    if (!m_view || !m_rootEntity || m_orientationCamera)
+        return;
+
+    constexpr float shaftLength = 0.78f;
+    constexpr float headLength = 0.24f;
+    constexpr float labelDistance = 1.12f;
+
+    Qt3DCore::QEntity *root = new Qt3DCore::QEntity(m_rootEntity);
+    root->setObjectName(QStringLiteral("orientationIndicator"));
+
+    m_orientationLayer = new Qt3DRender::QLayer(root);
+    m_orientationLayer->setRecursive(true);
+    root->addComponent(m_orientationLayer);
+
+    const auto createMaterial = [root](const QColor &color) {
+        Qt3DExtras::QPhongMaterial *material =
+            new Qt3DExtras::QPhongMaterial(root);
+        material->setAmbient(color);
+        material->setDiffuse(color);
+        material->setSpecular(QColor(QStringLiteral("#ffffff")));
+        material->setShininess(36.0f);
+        return material;
+    };
+
+    const auto addAxis = [this, root, &createMaterial](
+                             const QVector3D &direction,
+                             const QColor &color,
+                             const QString &name) {
+        Qt3DCore::QEntity *shaft = new Qt3DCore::QEntity(root);
+        Qt3DExtras::QCylinderMesh *shaftMesh =
+            new Qt3DExtras::QCylinderMesh(shaft);
+        shaftMesh->setRadius(0.035f);
+        shaftMesh->setLength(shaftLength);
+        shaftMesh->setRings(2);
+        shaftMesh->setSlices(24);
+        Qt3DCore::QTransform *shaftTransform =
+            new Qt3DCore::QTransform(shaft);
+        shaftTransform->setTranslation(direction * (shaftLength * 0.5f));
+        shaftTransform->setRotation(QQuaternion::rotationTo(
+            QVector3D(0.0f, 1.0f, 0.0f), direction));
+        shaft->addComponent(shaftMesh);
+        shaft->addComponent(createMaterial(color));
+        shaft->addComponent(shaftTransform);
+
+        Qt3DCore::QEntity *head = new Qt3DCore::QEntity(root);
+        Qt3DExtras::QConeMesh *headMesh = new Qt3DExtras::QConeMesh(head);
+        headMesh->setBottomRadius(0.105f);
+        headMesh->setTopRadius(0.0f);
+        headMesh->setLength(headLength);
+        headMesh->setRings(2);
+        headMesh->setSlices(24);
+        Qt3DCore::QTransform *headTransform = new Qt3DCore::QTransform(head);
+        headTransform->setTranslation(
+            direction * (shaftLength + headLength * 0.5f));
+        headTransform->setRotation(QQuaternion::rotationTo(
+            QVector3D(0.0f, 1.0f, 0.0f), direction));
+        head->addComponent(headMesh);
+        head->addComponent(createMaterial(color));
+        head->addComponent(headTransform);
+
+        Qt3DExtras::QText2DEntity *label =
+            new Qt3DExtras::QText2DEntity(root);
+        QFont font;
+        font.setPointSize(22);
+        font.setBold(true);
+        label->setFont(font);
+        label->setText(name);
+        label->setColor(color.darker(115));
+        label->setWidth(42.0f);
+        label->setHeight(34.0f);
+        Qt3DCore::QTransform *labelTransform =
+            new Qt3DCore::QTransform(label);
+        labelTransform->setTranslation(direction * labelDistance);
+        labelTransform->setScale(0.0075f);
+        label->addComponent(labelTransform);
+        m_orientationLabelTransforms.append(labelTransform);
+    };
+
+    addAxis(QVector3D(1.0f, 0.0f, 0.0f),
+            QColor(QStringLiteral("#e24848")), QStringLiteral("X"));
+    addAxis(QVector3D(0.0f, 1.0f, 0.0f),
+            QColor(QStringLiteral("#25a05a")), QStringLiteral("Y"));
+    addAxis(QVector3D(0.0f, 0.0f, 1.0f),
+            QColor(QStringLiteral("#2575d8")), QStringLiteral("Z"));
+
+    Qt3DCore::QEntity *origin = new Qt3DCore::QEntity(root);
+    Qt3DExtras::QSphereMesh *originMesh =
+        new Qt3DExtras::QSphereMesh(origin);
+    originMesh->setRadius(0.085f);
+    originMesh->setRings(16);
+    originMesh->setSlices(24);
+    origin->addComponent(originMesh);
+    origin->addComponent(createMaterial(QColor(QStringLiteral("#60758a"))));
+
+    m_orientationCamera = new Qt3DRender::QCamera(root);
+    m_orientationCamera->lens()->setOrthographicProjection(
+        -1.42f, 1.42f, -1.42f, 1.42f, 0.1f, 20.0f);
+    m_orientationCamera->setViewCenter(QVector3D(0.0f, 0.0f, 0.0f));
+
+    Qt3DRender::QRenderSurfaceSelector *surfaceSelector =
+        new Qt3DRender::QRenderSurfaceSelector;
+    surfaceSelector->setSurface(m_view);
+
+    Qt3DRender::QViewport *mainViewport =
+        new Qt3DRender::QViewport(surfaceSelector);
+    mainViewport->setNormalizedRect(QRectF(0.0, 0.0, 1.0, 1.0));
+    Qt3DRender::QClearBuffers *mainClear =
+        new Qt3DRender::QClearBuffers(mainViewport);
+    mainClear->setBuffers(Qt3DRender::QClearBuffers::ColorDepthBuffer);
+    mainClear->setClearColor(QColor(QStringLiteral("#c7ced6")));
+    Qt3DRender::QCameraSelector *mainCameraSelector =
+        new Qt3DRender::QCameraSelector(mainClear);
+    mainCameraSelector->setCamera(m_camera);
+    Qt3DRender::QLayerFilter *mainLayerFilter =
+        new Qt3DRender::QLayerFilter(mainCameraSelector);
+    mainLayerFilter->setFilterMode(
+        Qt3DRender::QLayerFilter::DiscardAnyMatchingLayers);
+    mainLayerFilter->addLayer(m_orientationLayer);
+
+    m_orientationViewport = new Qt3DRender::QViewport(surfaceSelector);
+    Qt3DRender::QClearBuffers *orientationDepthClear =
+        new Qt3DRender::QClearBuffers(m_orientationViewport);
+    orientationDepthClear->setBuffers(Qt3DRender::QClearBuffers::DepthBuffer);
+    Qt3DRender::QCameraSelector *orientationCameraSelector =
+        new Qt3DRender::QCameraSelector(orientationDepthClear);
+    orientationCameraSelector->setCamera(m_orientationCamera);
+    Qt3DRender::QLayerFilter *orientationLayerFilter =
+        new Qt3DRender::QLayerFilter(orientationCameraSelector);
+    orientationLayerFilter->setFilterMode(
+        Qt3DRender::QLayerFilter::AcceptAnyMatchingLayers);
+    orientationLayerFilter->addLayer(m_orientationLayer);
+
+    m_view->setActiveFrameGraph(surfaceSelector);
+    positionOrientationIndicator();
+    updateOrientationIndicator();
+}
+
+void UrdfViewerWidget::updateOrientationIndicator()
+{
+    if (!m_camera || !m_orientationCamera || !m_view)
+        return;
+
+    QVector3D forward = m_camera->viewCenter() - m_camera->position();
+    if (forward.lengthSquared() < 1.0e-8f)
+        return;
+    forward.normalize();
+
+    QVector3D up = m_camera->upVector();
+    if (up.lengthSquared() < 1.0e-8f)
+        up = QVector3D(0.0f, 0.0f, 1.0f);
+    else
+        up.normalize();
+
+    m_orientationCamera->setPosition(-forward * 4.0f);
+    m_orientationCamera->setViewCenter(QVector3D(0.0f, 0.0f, 0.0f));
+    m_orientationCamera->setUpVector(up);
+
+    const QVector3D cameraPosition = m_orientationCamera->position();
+    for (Qt3DCore::QTransform *transform : m_orientationLabelTransforms) {
+        if (!transform)
+            continue;
+
+        QVector3D normal = cameraPosition - transform->translation();
+        if (normal.lengthSquared() < 1.0e-8f)
+            continue;
+        normal.normalize();
+
+        QVector3D right = QVector3D::crossProduct(up, normal);
+        if (right.lengthSquared() < 1.0e-8f)
+            right = QVector3D::crossProduct(QVector3D(1.0f, 0.0f, 0.0f), normal);
+        right.normalize();
+        const QVector3D billboardUp =
+            QVector3D::crossProduct(normal, right).normalized();
+
+        QMatrix3x3 rotation;
+        rotation(0, 0) = right.x();
+        rotation(1, 0) = right.y();
+        rotation(2, 0) = right.z();
+        rotation(0, 1) = billboardUp.x();
+        rotation(1, 1) = billboardUp.y();
+        rotation(2, 1) = billboardUp.z();
+        rotation(0, 2) = normal.x();
+        rotation(1, 2) = normal.y();
+        rotation(2, 2) = normal.z();
+        transform->setRotation(QQuaternion::fromRotationMatrix(rotation));
+    }
+
+    m_view->requestUpdate();
+}
+
+void UrdfViewerWidget::positionOrientationIndicator()
+{
+    if (!m_view || !m_orientationViewport)
+        return;
+
+    constexpr int indicatorSize = 168;
+    constexpr int margin = 14;
+    const int viewportWidth = m_view->width();
+    const int viewportHeight = m_view->height();
+    if (viewportWidth <= 0 || viewportHeight <= 0)
+        return;
+
+    const qreal width = qMin(1.0, static_cast<qreal>(indicatorSize)
+                                  / static_cast<qreal>(viewportWidth));
+    const qreal height = qMin(1.0, static_cast<qreal>(indicatorSize)
+                                   / static_cast<qreal>(viewportHeight));
+    const qreal left = qMax(0.0, 1.0 - width
+                                  - static_cast<qreal>(margin) / viewportWidth);
+    const qreal top = qMax(0.0, static_cast<qreal>(margin) / viewportHeight);
+    m_orientationViewport->setNormalizedRect(
+        QRectF(left, top, width, height));
+    m_view->requestUpdate();
+}
+
 void UrdfViewerWidget::setLoading(bool loading, const QString &message)
 {
     if (m_loadingTitle)
@@ -468,6 +702,12 @@ bool UrdfViewerWidget::eventFilter(QObject *watched, QEvent *event)
         return QWidget::eventFilter(watched, event);
 
     switch (event->type()) {
+    case QEvent::Resize:
+    case QEvent::Show:
+        QTimer::singleShot(0, this, [this]() {
+            positionOrientationIndicator();
+        });
+        break;
     case QEvent::MouseButtonPress: {
         QMouseEvent *mouseEvent = static_cast<QMouseEvent *>(event);
         if (mouseEvent->button() != Qt::LeftButton && mouseEvent->button() != Qt::RightButton)
@@ -931,6 +1171,15 @@ QStringList UrdfViewerWidget::jointNames() const
     return m_jointOrder;
 }
 
+QHash<QString, QPair<double, double>> UrdfViewerWidget::jointLimits() const
+{
+    QHash<QString, QPair<double, double>> limits;
+    limits.reserve(m_joints.size());
+    for (auto it = m_joints.constBegin(); it != m_joints.constEnd(); ++it)
+        limits.insert(it.key(), qMakePair(it.value().lower, it.value().upper));
+    return limits;
+}
+
 QHash<QString, double> UrdfViewerWidget::teachingPositions() const
 {
     return m_jointPositions;
diff --git a/src/urdfviewerwidget.h b/src/urdfviewerwidget.h
index 287fb6f..54ef713 100644
--- a/src/urdfviewerwidget.h
+++ b/src/urdfviewerwidget.h
@@ -4,6 +4,7 @@
 #include <QPoint>
 #include <QString>
 #include <QStringList>
+#include <QVector>
 #include <QVector3D>
 #include <QWidget>
 
@@ -27,7 +28,9 @@ class Qt3DWindow;
 
 namespace Qt3DRender {
 class QCamera;
+class QLayer;
 class QScreenRayCaster;
+class QViewport;
 }
 
 class UrdfViewerWidget : public QWidget
@@ -45,6 +48,7 @@ public:
                               const QString &subtype, const QString &descriptionId);
     void setJointPositions(const QHash<QString, double> &positions);
     QStringList jointNames() const;
+    QHash<QString, QPair<double, double>> jointLimits() const;
     QHash<QString, double> teachingPositions() const;
     QString selectedTeachingJoint() const;
     void setTeachingEnabled(bool enabled);
@@ -95,10 +99,17 @@ private:
     void refreshBundledModels();
     void syncModelSelection(const QString &filePath);
     QString resolveMeshPath(const QString &uri) const;
+    void createOrientationIndicator();
+    void updateOrientationIndicator();
+    void positionOrientationIndicator();
     void scheduleViewAll();
 
     Qt3DExtras::Qt3DWindow *m_view = nullptr;
     Qt3DRender::QCamera *m_camera = nullptr;
+    Qt3DRender::QCamera *m_orientationCamera = nullptr;
+    Qt3DRender::QLayer *m_orientationLayer = nullptr;
+    Qt3DRender::QViewport *m_orientationViewport = nullptr;
+    QVector<Qt3DCore::QTransform *> m_orientationLabelTransforms;
     Qt3DRender::QScreenRayCaster *m_teachingRayCaster = nullptr;
     Qt3DCore::QEntity *m_rootEntity = nullptr;
     Qt3DCore::QEntity *m_modelRoot = nullptr;
diff --git a/styles.qss b/styles.qss
index 26e4b60..aa0234d 100644
--- a/styles.qss
+++ b/styles.qss
@@ -1007,6 +1007,39 @@ QLabel#poseValue {
     font-family: Consolas;
     font-size: 13px;
 }
+QLabel#poseFrameBadge {
+    color: #526b82;
+    background: #eef5fc;
+    border: 1px solid #d8e8f7;
+    border-radius: 4px;
+    padding: 5px 9px;
+    font-size: 11px;
+    font-weight: 600;
+}
+QFrame#poseMetrics {
+    background: transparent;
+    border: none;
+}
+QFrame#poseMetricCard {
+    background: #f7f9fc;
+    border: 1px solid #e0e7ef;
+    border-radius: 6px;
+}
+QLabel#poseMetricAxis {
+    color: #2174d8;
+    font-size: 11px;
+    font-weight: 700;
+}
+QLabel#poseMetricValue {
+    color: #243648;
+    font-family: Consolas;
+    font-size: 16px;
+    font-weight: 700;
+}
+QLabel#poseMetricUnit {
+    color: #8492a0;
+    font-size: 10px;
+}
 QPushButton {
     background: white;
     color: #353b43;
@@ -1368,6 +1401,134 @@ QPushButton#jogDirectionButton:pressed {
     background: #1b6ef3;
     border-color: #1b6ef3;
 }
+QFrame#cartesianControlGroup {
+    background: #f8fafc;
+    border: 1px solid #dfe6ee;
+    border-radius: 7px;
+}
+QLabel#cartesianGroupTitle {
+    color: #34495e;
+    font-size: 12px;
+    font-weight: 700;
+}
+QFrame#cartesianPoseChip {
+    background: #ffffff;
+    border: 1px solid #e2e8ef;
+    border-radius: 4px;
+}
+QLabel#cartesianPoseAxis {
+    color: #708090;
+    font-size: 10px;
+    font-weight: 700;
+}
+QLabel#cartesianPoseValue {
+    color: #2e4357;
+    font-family: Consolas;
+    font-size: 11px;
+    font-weight: 600;
+}
+QLabel#cartesianPadCenter {
+    color: #536a7e;
+    background: #ffffff;
+    border: 2px solid #b9cadd;
+    border-radius: 25px;
+    font-size: 12px;
+    font-weight: 700;
+}
+QFrame#cartesianDirectionPad,
+QFrame#cartesianAxisRocker {
+    background: #edf3f8;
+    border: 1px solid #d5e0ea;
+}
+QFrame#cartesianDirectionPad {
+    border-radius: 82px;
+}
+QFrame#cartesianAxisRocker[orientation="vertical"] {
+    border-radius: 36px;
+}
+QFrame#cartesianAxisRocker[orientation="horizontal"] {
+    border-radius: 32px;
+}
+QPushButton#cartesianPadButton {
+    padding: 0;
+    background: #ffffff;
+    border: 1px solid #cbd8e6;
+    border-radius: 10px;
+    font-size: 11px;
+    font-weight: 700;
+}
+QPushButton#cartesianPadButton[padRole="north"] {
+    border-top-left-radius: 25px;
+    border-top-right-radius: 25px;
+    border-bottom-left-radius: 9px;
+    border-bottom-right-radius: 9px;
+}
+QPushButton#cartesianPadButton[padRole="south"] {
+    border-top-left-radius: 9px;
+    border-top-right-radius: 9px;
+    border-bottom-left-radius: 25px;
+    border-bottom-right-radius: 25px;
+}
+QPushButton#cartesianPadButton[padRole="west"] {
+    border-top-left-radius: 25px;
+    border-bottom-left-radius: 25px;
+    border-top-right-radius: 9px;
+    border-bottom-right-radius: 9px;
+}
+QPushButton#cartesianPadButton[padRole="east"] {
+    border-top-left-radius: 9px;
+    border-bottom-left-radius: 9px;
+    border-top-right-radius: 25px;
+    border-bottom-right-radius: 25px;
+}
+QPushButton#cartesianPadButton[padRole="westTall"] {
+    border-top-left-radius: 36px;
+    border-bottom-left-radius: 36px;
+    border-top-right-radius: 9px;
+    border-bottom-right-radius: 9px;
+}
+QPushButton#cartesianPadButton[padRole="eastTall"] {
+    border-top-left-radius: 9px;
+    border-bottom-left-radius: 9px;
+    border-top-right-radius: 36px;
+    border-bottom-right-radius: 36px;
+}
+QPushButton#cartesianPadButton:hover {
+    background: #f0f6fd;
+    border-color: #8eb8e8;
+}
+QPushButton#cartesianPadButton:pressed {
+    color: #ffffff;
+    background: #2878d0;
+    border-color: #2878d0;
+}
+QPushButton#cartesianPadButton[axisTone="x"] {
+    color: #d34b53;
+    border-color: #e6b9bd;
+}
+QPushButton#cartesianPadButton[axisTone="y"] {
+    color: #24915b;
+    border-color: #abd9c3;
+}
+QPushButton#cartesianPadButton[axisTone="z"] {
+    color: #287bbd;
+    border-color: #acd0e9;
+}
+QPushButton#cartesianPadButton[axisTone="x"]:pressed {
+    color: #ffffff;
+    background: #d34b53;
+    border-color: #d34b53;
+}
+QPushButton#cartesianPadButton[axisTone="y"]:pressed {
+    color: #ffffff;
+    background: #24915b;
+    border-color: #24915b;
+}
+QPushButton#cartesianPadButton[axisTone="z"]:pressed {
+    color: #ffffff;
+    background: #287bbd;
+    border-color: #287bbd;
+}
 QSlider#jogDirectionIndicator::groove:horizontal {
     height: 5px;
     background: #d7dee6;