MatCode\Code_for_theta4and7.m .......\compute_angles.asv .......\compute_angles.m .......\err.asv .......\err.m .......\opt_angle.asv .......\opt_angle.m .......\opt_angle_final.m .......\theta_7.asv .......\theta_7.m .......\theta12.asv .......\theta12.m .......\theta4.asv .......\theta4.m .......\theta7.asv .......\theta7.m