openrr_apps_robot_command send_joints arm_ik -j 0=0.0 1=-0.7 2=1.4 3=-0.7 4=1.57 5=-3.14
openrr_apps_robot_command send_joints arm_ik -j 2=0.0 3=-0.87

openrr_apps_robot_command send_joints arm_ik -j 0=0.0 1=-0.7 2=1.4 3=-0.7 4=1.57 5=-3.14
openrr_apps_robot_command send_joints arm_ik -i -j 2=0.0 3=-0.87
