Source

puma / fk.c

Diff from to
  * 4. Rotate by a about the old x axis.
  *
  * This does not handle cross coupling!
+ *
+ * Note that for the PUMA the straight-up home position is
+ * [0, -90, 90, 0, 0, 0], not all zeros.  This is since the X
+ * axis is aligned with the horizontal plane.
  */
 typedef struct {
 	double alpha; // rotation around old x axis
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