Source

puma / PumaIK.py

Diff from to

PumaIK.py

 			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: