Our kuka code is generated by our own motion planner, and therefore we need to add all Status and Turn bits to the move commands.
Now I'm very confused with getting the 2nd status bit, that describes if the wrist is pointing up or down. This is what the documentation says;
It clearly says that the sign of joint 5 is irrelevant, but from my testing this seems to be not true.
Also reading further it says that pointing up is relative to zero position of j4, but what exactly does that mean?
If I have all the joint angles, how would I calculate this status bit?