diff --git a/python/hemisphere-joint-demo/hemisphere_joint_demo/app/hemisphere_joint_demo_run.py b/python/hemisphere-joint-demo/hemisphere_joint_demo/app/hemisphere_joint_demo_run.py
index 448859e24d535fc74031fab0aaa6cb05c7c18b99..5b8197d3705aafd5ba4d76d3ae82ca07d9535957 100755
--- a/python/hemisphere-joint-demo/hemisphere_joint_demo/app/hemisphere_joint_demo_run.py
+++ b/python/hemisphere-joint-demo/hemisphere_joint_demo/app/hemisphere_joint_demo_run.py
@@ -39,6 +39,7 @@ class Data:
         self.lever = 1
         self.theta_0 = np.deg2rad(25)
         self.radius = 2 * np.sin(self.theta_0) * self.lever
+        self.actuator_offset = np.arcsin(self.theta_0)
 
         self.mode = self.Mode.FK
 
@@ -56,12 +57,16 @@ class Data:
 
     def fk(self):
         print("-" * 50)
-        a1, a2 = self.actuator_pos + np.arcsin(self.theta_0)
+        a1, a2 = self.actuator_pos + self.actuator_offset
 
         # KIT-Wrist constants
         lever = self.lever
         theta_0 = self.theta_0
         radius = self.radius
+        print(f"Lever: {lever}")
+        print(f"theta0: {theta_0}")
+        print(f"radius: {radius}")
+        print(f"actuator_offset: {self.actuator_offset}")
         print(f"(a1, a2) = ({a1}, {a2})")
 
         do_fk_pos_azim_zenith = False
diff --git a/python/hemisphere-joint-demo/hemisphere_joint_demo/equations.py b/python/hemisphere-joint-demo/hemisphere_joint_demo/equations.py
index b1212e7c25d36c495e6c1e31d98538537b203277..839988dbd2c8463c11d4730aab8496489e6cfefb 100755
--- a/python/hemisphere-joint-demo/hemisphere_joint_demo/equations.py
+++ b/python/hemisphere-joint-demo/hemisphere_joint_demo/equations.py
@@ -5,7 +5,7 @@ from numpy import pi, sin, cos, sqrt, arcsin, arctan2
 from .terms import CommonTerms
 
 
-def fk(a1, a2, L, T_0):
+def fk_pos(a1, a2, L, T_0):
     """
     From:
     https://colab.research.google.com/drive/11faUc8pS1yWxFrnmt05VqpDsqOwEi_dg#scrollTo=za3fZw9Rq5d9&line=1&uniqifier=1