m2-miyagawakanato_robotunndougaku/float.pde
float baseH = 120;
float basew = 10;
float armL1 = 50;
float armW1 = 9;
float armL2 = 60;
float armW2 = 10;
float armL3=13;
float armW3=10;
float handh = 1;
float handL1 = 7;
float handw1 = 7;
float handL2= 50;
float handw2 = 25;

float angle0 = 0;
float angle1 = 0;
float angle2 = 0;
float angle3 = 0;
float angle4=0;
float dif0 = 0.8;
float dif1 = 0.8;
float dif2 = 0.8;
float dif3 = 0.8;
float dif4 = 0.5;
float dif5=0.4;

float epsilon = 0.01;
