[mytrail]

There's no tolerance if you want it to properly rotate.
You need to precisely know the position of one joint axis with respect to the other.

If you can't send screenshots it will be hard for us to help you.

Jeremy

I did it and it now rotates fine and is controllable via the joint axis jog, my next question is why 4x4 matrix of reference position with respect to base gives me these output, I thought it would match these paper calculation I made