void selectElbow()
{
arm.haltAll();
selectedPivotJoint = 2; // third joint can id 5
selectedRotateJoint = 3; // forth joint can id 6
}
void selectWrist()
{
arm.haltAll();
selectedPivotJoint = 4; // fifth joint can id 7
selectedRotateJoint = 5; // sixth joint can id 8
}
void selectBase()
{
arm.haltAll();
selectedRotateJoint = 0; // first joint can id 3
selectedPivotJoint = 1; // Second joint can id 4
}