# Position definitions for frank's PUMA 560 at McRCIM.
#
# The joint coordinate system is consistent with that described in the paper
# "Kinematic Control Equations for Simple Manipulators", Paul,Shimano & Mayer,
# IEEE Trans. on Systems, Man, and Cybernetics, June 1981. (Vol SMC-11, No. 6)
#
ready           0       -90      90        0        0       0 
zero            0         0       0        0        0       0
rcclpark      -90      -135       0        0      -45      90
