From dabff17cd9c31cc175cb91777146e56a38279b12 Mon Sep 17 00:00:00 2001
From: "Tassos (nakano) Natsakis" <891234ser@eipieq.com>
Date: Thu, 7 Nov 2024 15:15:19 +0200
Subject: [PATCH] Fixing bugs with AL5D_mdw DH definition
---
roboticstoolbox/models/DH/AL5D_mdw.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/roboticstoolbox/models/DH/AL5D_mdw.py b/roboticstoolbox/models/DH/AL5D_mdw.py
index 1af042fa..f3b3b03e 100644
--- a/roboticstoolbox/models/DH/AL5D_mdw.py
+++ b/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,
--
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