Click Jog Mechanism  . Move the mouse over one of the joints in the display window. The driven joint highlights and the manipulator appears.
Drag the joint with the left mouse button. Note:
Direct manipulation can only be applied to revolute, prismatic, and
cylindrical joints that are classified as driven. In other words,
the joint must be driven directly by one or more command values.
Click Reset button in the Jog dialog box.
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