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Trammell Hudson committed aaef81b

Fix cross coupling computations

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  • Parent commits 99ab2fa

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 			count = counts[i]
 			if j.coupling:
 				count -= counts[i-1] * j.coupling
-			angle = counts[i] / j.scale + j.theta
+			angle = count / j.scale + j.theta
 			self.theta[i] = angle
 
 		c1 = cos(self.theta[0])
 	j1 = Joint(0, 0, 0, -11200 - +12000, 0)
 	j2 = Joint(130, 205, -90, +18000 - -18000, 0)
 	j3 = Joint(0, 0, +90, -10500 - +11200, 0)
-	j4 = Joint(225, 0, -90, +8000 - -8000, 0)
-	j5 = Joint(0, 0, 0, -8000 - +8000, 9000/-40000.0)
+	j4 = Joint(225, 0, -90, +17400, 0)
+	j5 = Joint(0, 0, 0, -8000 - +8000, -6917/30674.0)
 	j6 = Joint(50, 0, 0, -6500 - +6500, 1200/-10000.0)
 	r = PumaFK((j1,j2,j3,j4,j5,j6))
 
 	j1 = Joint(0, 0, 0, -11200 - +12000, 0)
 	j2 = Joint(130, 205, -90, +18000 - -18000, 0)
 	j3 = Joint(0, 0, +90, -10500 - +11200, 0)
-	j4 = Joint(225, 0, -90, +8000 - -8000, 0)
-	j5 = Joint(0, 0, 0, -8000 - +8000, 9000/-40000.0)
+	j4 = Joint(225, 0, -90, +17400, 0)
+	j5 = Joint(0, 0, 0, -8000 - +8000, -6917/30674.0)
 	j6 = Joint(50, 0, 0, -6500 - +6500, 1200/-10000.0)
 	r = PumaIK(True, True, (j1,j2,j3,j4,j5,j6))