Now, let's define the robot poses. Click Add Pose and add the following poses in the following format (Posename : arm_base_joint, shoulder_joint, bottom_wrist_joint, elbow_joint, top_wrist_joint):
- Straight: 0.0, 0.0, 0.0, 0.0, 0.0
- Home: 1.5708, 0.7116, 1.9960, 0.0, 1.9660:
Robot arm poses
We don't have an end effector, so we can skip this step.