% This script initialises:
% Ra            = 0.291     Base frame to motor frame
% La            = 0.390     Control arm length
% Lb            = 0.720     Forearm length NOTE: changed to 0.680 after manufacture
% Rb            = 0.045     Gripper frame to forearm connection
% ForearmOffset = 0.025     Half of distance between rods of forearms

%global Ra La Lb Rb ForearmOffset

Ra = 0.291;
La = 0.390;
Lb = 0.680;
Rb = 0.045;
ForearmOffset = 0.025;