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puma / PumaConfig.py

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#!/usr/bin/python
# Puma robot arm configuration
# Joint lengths, angles, scale factors and coupling
import sys
from Joint import Joint

joints = [
	Joint(0, 0, 0, -11500 - +12000, 0),
#	Joint(130, 205, -90, +18000 - -18000, 0),
	Joint(130, 205, -90, +17576 - -17331, 0),
#	Joint(0, 0, +90, -10500 - +11200, 0),
	Joint(0, 0, +90, -11200 - +10500, 0),
	Joint(225, 0, -90, +17400, 0),
	Joint(0, 0, 0, -7800 - +7800, -6917/30674.0),
#	Joint(50, 0, 0, +6250 - -6250, 1425/-10000.0),
	Joint(50, 0, 0, +6250 - -6250, 1425/-10000.0),
]