-s23*(c4*c5*c6 - s4*s6) - c23*s5*c6

j3 = Joint(0, 0, +90, -10500 - +11200, 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)

+ j6 = Joint(50, 0, 0, +6500 - -6500, 1200/-10000.0)

r = PumaFK((j1,j2,j3,j4,j5,j6))

counts = MDC.get_counts()

r.update([int(x) for x in counts])

- #print [int(x) for x in counts], [int(x) for x in r.p], [round(x,3) for x in r.a], [round(x,3) for x in r.s]

- print [int(x) for x in counts], [int(x*180/pi) for x in r.theta]

+ print [int(x) for x in counts], [int(x) for x in r.p], [round(x,3) for x in r.s], [round(x,3) for x in r.n]

+ #print [int(x) for x in counts], [int(x*180/pi) for x in r.theta]