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j = self.joints[i]
a = self.theta[i]
+ # Elbow joint is off by 90 deg
+ if i == 2 and a < 0:
+ a += 2 * pi
# try adjusting to avoid a wrap around
# on the wrist joints that can do more than
# 360 degrees.
- if True or i == 3 or i == 5:
+ if False and (i == 3 or i == 5):
if a - current_theta[i] > 1.5*pi:
a -= 2 * pi
elif a - current_theta[i] < -1.5*pi: