2011/1/5 andy pugh <bodge...@gmail.com>:
> On 5 January 2011 14:10, Viesturs Lācis <viesturs.la...@gmail.com> wrote:
>
>
>> Now in genserkins I do not see this type of equations.
>> I do not see joints[0] to be mentioned at all. The same for joints[1]
>> and others.
>
> line 510. A loop cycles through joints[0] to joints[genser->link_num]

Ok, thanks!
Unfortunately it still does not help me understanding, how can I
intervene in calculation of positon for a particular joint.

Viesturs

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