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Cj1m/gist:5f38b87f9b0d39aedfe994fb883f0148

Created November 20, 2019 09:30
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gistfile1.txt
a23 = np.matrix([math.cos(link2_angle[0]), 0, math.sin(link2_angle[0]), 0],
[0, 1, 0, 0],
[-math.sin(link2_angle[0]), 0, math.cos(link2_angle[0]), 0],
[0,0,0,1])
a34 = np.matrix([1,0,0,0],
[0, math.cos(link3_angle[1]), -math.sin(link3_angle[1]), 0],
[0, math.sin(link3_angle[1]), math.cos(link3_angle[1]), 3],
[0,0,0,1])
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