The base frame of the LWR, both in the KRC model and the FRI model, is the right-handed axis with the X axis corresponding to the side of the base where the cables are plugged in, and the Z axis as the vertical axis pointing upwards.

The HOME position corresponds to the LWR in the vertical configuration. In the KRC (teach pendant) this corresponds to the vector q_KRC = ( 0, 90, 0, 0, 0, 0, 0 ) degrees and from the FRI the vector q_FRI = ( 0, 0, 0, 0, 0, 0, 0 ) rad.

Both in the KRC and the FRI model, when in HOME position, joint 1, 3, 5 and 7 rotate around the Z axis of the reference frame; joint 2 rotates around axis -Y; joint 4 rotates around Y axis; and joint 6 rotates around axis -Y again.

Joints are numbered consecutively from bottom to top.