equals
13
equals
14
equals
15
equals
16
r1c3:
r2c3:
r3c3:
r4c3:
17
r1c3:
r2c3:
r3c3:
r4c3:
18
equals
19
this is the shoulder angle
20
equals
21
this is the elbow angle (relative to robot frame, not shoulder)
22
equals
23
equals
24
equals
25
equals
26
27
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