Typo within self.J_orientation

[sirop]

self.J_orientation = [[0, 0, 10],  # joint 0 rotates around z axis
                          [10, 0, 0],  # joint 1 rotates around x axis
                          [10, 0, 0],  # joint 2 rotates around x axis
                          [10, 0, 0],  # joint 3 rotates around x axis
                          [0, 0, 10],  # joint 4 rotates around z axis
                          [1, 0, 0]]  # joint 5 rotates around x axis

I guess the orientation axis should be normed, so 10 ->1 .

[studywolf]

correct! thanks! this all needs to be updated, actually. I'm going to be releasing another repo with these fixes and issues hopefully in the next month or two, but I'll fix it here in the mean time. Thanks for the catch!