[NikhilMan]

I believe the joint 2 (L) is off by 90 degree and also some of the joints are inverted. As per your request, I have taken pictures of the robot to home position(0 degrees) and later moved all the join values to +30/-30 degrees for better understanding. The pdf with pictures can be seen in the link below.

https://drive.google.com/file/d/1EjOvLeQ...sp=sharing

与问候,
Nikhil Kumar Maniyanthotil