Robot arm basic operation (8 motion parameters)

This post describes all the 8 robot motions. The motion parameters are listed as follows. The motion descriptions are based on the front view (as the picture shows).

Motion	Description	Parameter	Action
Shoulder roll	The whole robot arm rotate	-2.61799~0	rotate clockwise
		0~2.61799	rotate counterclockwise
Shoulder pitch	whole robot arm move	-2.00713~0	move right
		0~ 2.00713	move left
Elbow roll	lower joint rotate	-2.61799~0	rotate clockwise
		0~ 2.61799	rotate counterclockwise
Elbow pitch	lower joint move	-2.0944~0	move left
		0~ 2.0944	move right
Wrist roll	middle joint rotate	-2.61799~0	rotate clockwise
		0~ 2.61799	rotate counterclockwise
Wrist pitch	middle joint move	-1.83259~0	move right
		0~ 1.83259	move left
Wrist yaw	top joint (robot hand) rotate	-1.785~0	move forward
		0~ 1.785	move backward
Gripper	gripper pinch/rotate	-0.009~0	gripper spread
		0~ 0.009	gripper pinch