question

First I set up a map of the joint information by running this script with the robot in the reference position:

Object rob=Model.find("Robot1");
Object joint=drawsurrogate(rob).first.first;
Vec3 x=Vec3(1,0,0);
Vec3 y=Vec3(0,1,0);
Vec3 z=Vec3(0,0,1);
 
 
Map jointMap;
jointMap["Base"]=[joint,z,joint.rotation];   //Array of [joint node, rotation vec3, static rotation state]
joint=joint.first;
jointMap["Shoulder"]=[joint,x,joint.rotation];   
joint=joint.first;
jointMap["Elbow"]=[joint,x,joint.rotation];   
joint=joint.first;
jointMap["Wrist1"]=[joint,y,joint.rotation];   
joint=joint.first;
jointMap["Wrist2"]=[joint,x,joint.rotation];   
joint=joint.first;
jointMap["Wrist3"]=[joint,y,joint.rotation];   
rob.labels.assert("jointMap",jointMap);

Then in the onDraw trigger I placed this code:

/**Custom Code*/
Object current = ownerobject(c);
treenode view = param(1);
 
 
// If this function returns a true, the default draw code of the object will not be executed.
Map jointMap=current.jointMap;
Table jointTab=Table("GlobalTable1");
string jointName;
Object joint;
Array jointInfo;
Vec3 axisFact;
Vec3 rotReference;
double newRotation;
for (int n=jointTab.numCols;n>0;n--){
    newRotation=jointTab[1][n];
    jointName=jointTab.getColHeader(n);
    jointInfo=jointMap[jointName];
    joint=jointInfo[1];
    axisFact=jointInfo[2];
    rotReference=jointInfo[3];
    joint.rotation=(axisFact*newRotation)+rotReference;  // corrected
}

test-robot-2_jl.fsm

You could put the onDraw code in a user command and call it from there or any other event such as when you update the table.

@Manikanta Here's an updated version with the a user command 'updateRobotJoints' to which you pass in the robot, table and row as parameters:

updateRobotJoints(current,Table("GlobalTable1"),1);

The user command code is:

Object current=param(1);
Table jointTab=param(2);
int row=param(3);
 
Map jointMap=current.jointMap;
Map jointInfo;
double newRotation;
for (int n=jointTab.numCols;n>0;n--){
    newRotation=jointTab[row][n];
    jointInfo=jointMap[jointTab.getColHeader(n)];
    jointInfo.joint.rotation=(jointInfo.axisMask.as(Vec3)*newRotation)+jointInfo.refRotation.as(Vec3);
}

The setup of the map has change too so that now the jointMap also contains a Map of joint information ('jointInfo') allowing dot notation to be used for the values as follows:

jointInfo.joint   // the joint object in drawsurrogates
jointInfo.axisMask // the Vec3 defining the axis to apply the rotation to
jointInfo.refRotation  // the stored rotation in the reference position

The setup script for the nested maps is then:

Object rob=Model.find("Robot1");
Object joint=drawsurrogate(rob).first.first;
Vec3 x=Vec3(1,0,0);
Vec3 y=Vec3(0,1,0);
Vec3 z=Vec3(0,0,1);
Map jointInfo;
Map jointMap;
Array jointAxes=[z,x,x,y,x,y];
Array jointNames=["Base","Shoulder","Elbow","Wrist1","Wrist2","Wrist3"];
for (int n=1;n<=jointAxes.length;n++){
    jointInfo["joint"]=joint;
    jointInfo["axisMask"]=jointAxes[n];
    jointInfo["refRotation"]=joint.rotation;
    jointMap[jointNames[n]]=jointInfo.clone();   //Map of joint node, rotation vec3, static rotation state]
    joint=joint.first;
}
rob.labels.assert("jointMap",jointMap);  // for the first time
rob.jointMap=jointMap;  // for subsequent times

test-robot-2_jl3.fsm