And i think the joint angle is not described correctly according to the image on docs folder. By these equations i guess joint 2 angle should start parallel to the ground and increase clockwise direction is that right ?
I was using foward and inverse kinematics to check if the functions worked out properly.
And i figured out the reference frame is correct but the kinematic foward function was wrong. So i chanced my DobotKinematics.py not sure if it will affect other functions but here is how the foward kinematics should be to match the reference frame.