Fixing bugs with AL5D_mdw DH definition

roboticstoolbox/models/DH/AL5D_mdw.py

@@ -52,10 +52,10 @@ class AL5D_mdw(DHRobot):
 
         # robot length values (metres)
         a = [0, 0.002, 0.14533, 0.18233, 0]
-        d = [-0.06858, 0, -0.00077, 0.00645, -0.009699]
+        d = [-0.06858, 0, -0.00077, 0.00645, -0.09699]
 
-        alpha = [pi, pi / 2, pi, pi, -pi / 2]
-        offset = [pi, -pi/2 - 0.0059, pi/2 - 0.0378, pi / 2 - 0.0319, pi]
+        alpha = [pi, pi/2, pi, pi, -pi/2]
+        offset = [pi, -pi/2, pi/2, pi/2, pi]
 
         # mass data as measured
         mass = [0.187, 0.044, 0.207, 0.043, 0.064]
@@ -104,7 +104,7 @@ class AL5D_mdw(DHRobot):
             )
             links.append(link)
 
-        tool = SE3.Trans(0, 0, -0.002)*SE3.Rz(pi)
+        tool = SE3.Trans(0, 0, -0.02)*SE3.Rz(pi)
 
         super().__init__(
             links,