You will be able to test and move the joints in any direction you want, using the buttons DIR1 and DIR2. This project can be used with any 6 axis robot arm, you just have to replace the urdf directory files with the files of your robot (STL's and .urdf).
To run it:
git clone https://github.com/gabrielggg/ar3_gui.git
cd ar3_gui
pip install -r requirements.txt
python viz.py urdf/ar3.urdf
This project is based on this urdf parser: https://github.com/clemense/yourdfpy/
Thanks to https://github.com/ongdexter/ar3_core for providing the urdf files.