[Question]: Joints - distant, elastic

Having trouble with core06. While everything looks perfect, the joints act as if they are in the middle of some large space between the leg ends, and they are very elastic - like they're on rubber bands:

// Upper right leg - 1st 2 values are mass (1), and index of the body part

CreateCylinder(1, 3, -1.5, 1., 0, .1, .5, .1, M_PI_2 + .1, M_PI_2, 0);

// Lower right leg

CreateCylinder(1, 4, -2.11, .5, 0, .1, .5, .1, 0, 0, -0.1);

RagdollDemo::CreateHinge(1, 3,4, -2.11,1.0,0.0, 0,0,1);

FYI - I was also not able to get the flip function working, b/c I kept getting errors re: function declaration/definition I wasn't able to resolve: "error: no matching function for call to ‘RagdollDemo::AxisWorldToLocal(int&, btVector3)’ btVector3 a1 = AxisWorldToLocal(body1, flipZY(a));"