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Trammell Hudson committed 12de220

Point wrist "down"

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  • Parent commits d7316cb

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 	// Adjust xyz by the desired wrist orientation
 	// to determine the position of the spherical joint
-	double a[] = { 1, 0, 0 };
-	double s[] = { 0, 1, 0 };
-	double n[] = { 0, 0, -1 };
+	double a[] = { 0, 0, -1 };
+	double s[] = { 1, 0, 0 };
+	double n[] = { 0, 1, 0 };
 
 
 	if (!ik_first(theta, xyz, 1, 1))