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jhavljhavl
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Merge branch 'master' into future
2 parents 89cbbc7 + 8f11232 commit 24670d9

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‎roboticstoolbox/models/DH/Panda.py

Lines changed: 100 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -42,24 +42,117 @@ def __init__(self):
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# This Panda model is defined using modified
4343
# Denavit-Hartenberg parameters
4444
L = [
45-
RevoluteMDH(a=0.0, d=0.333, alpha=0.0, qlim=np.array([-2.8973, 2.8973])),
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RevoluteMDH(
47-
a=0.0, d=0.0, alpha=-np.pi / 2, qlim=np.array([-1.7628, 1.7628])
46+
a=0.0,
47+
d=0.333,
48+
alpha=0.0,
49+
qlim=np.array([-2.8973, 2.8973]),
50+
m=4.970684,
51+
I=[
52+
7.03370e-01,
53+
7.06610e-01,
54+
9.11700e-03,
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-1.39000e-04,
56+
1.91690e-02,
57+
6.77200e-03,
58+
],
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G=1,
4860
),
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RevoluteMDH(
50-
a=0.0, d=0.316, alpha=np.pi / 2, qlim=np.array([-2.8973, 2.8973])
62+
a=0.0,
63+
d=0.0,
64+
alpha=-np.pi / 2,
65+
qlim=np.array([-1.7628, 1.7628]),
66+
m=0.646926,
67+
I=[
68+
7.96200e-03,
69+
2.81100e-02,
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2.59950e-02,
71+
-3.92500e-03,
72+
7.04000e-04,
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1.02540e-02,
74+
],
75+
G=1,
5176
),
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RevoluteMDH(
53-
a=0.0825, d=0.0, alpha=np.pi / 2, qlim=np.array([-3.0718, -0.0698])
78+
a=0.0,
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d=0.316,
80+
alpha=np.pi / 2,
81+
qlim=np.array([-2.8973, 2.8973]),
82+
m=3.228604,
83+
I=[
84+
3.72420e-02,
85+
3.61550e-02,
86+
1.08300e-02,
87+
-4.76100e-03,
88+
-1.28050e-02,
89+
-1.13960e-02,
90+
],
91+
G=1,
5492
),
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RevoluteMDH(
56-
a=-0.0825, d=0.384, alpha=-np.pi / 2, qlim=np.array([-2.8973, 2.8973])
94+
a=0.0825,
95+
d=0.0,
96+
alpha=np.pi / 2,
97+
qlim=np.array([-3.0718, -0.0698]),
98+
m=3.587895,
99+
I=[
100+
2.58530e-02,
101+
1.95520e-02,
102+
2.83230e-02,
103+
7.79600e-03,
104+
8.64100e-03,
105+
-1.33200e-03,
106+
],
107+
G=1,
57108
),
58109
RevoluteMDH(
59-
a=0.0, d=0.0, alpha=np.pi / 2, qlim=np.array([-0.0175, 3.7525])
110+
a=-0.0825,
111+
d=0.384,
112+
alpha=-np.pi / 2,
113+
qlim=np.array([-2.8973, 2.8973]),
114+
m=1.225946,
115+
I=[
116+
3.55490e-02,
117+
2.94740e-02,
118+
8.62700e-03,
119+
-2.11700e-03,
120+
2.29000e-04,
121+
-4.03700e-03,
122+
],
123+
G=1,
60124
),
61125
RevoluteMDH(
62-
a=0.088, d=flange, alpha=np.pi / 2, qlim=np.array([-2.8973, 2.8973])
126+
a=0.0,
127+
d=0.0,
128+
alpha=np.pi / 2,
129+
qlim=np.array([-0.0175, 3.7525]),
130+
m=1.666555,
131+
I=[
132+
1.96400e-03,
133+
4.35400e-03,
134+
5.43300e-03,
135+
1.09000e-04,
136+
3.41000e-04,
137+
-1.15800e-03,
138+
],
139+
G=1,
140+
),
141+
RevoluteMDH(
142+
a=0.088,
143+
d=flange,
144+
alpha=np.pi / 2,
145+
qlim=np.array([-2.8973, 2.8973]),
146+
m=7.35522e-01,
147+
I=[
148+
1.25160e-02,
149+
1.00270e-02,
150+
4.81500e-03,
151+
-4.28000e-04,
152+
-7.41000e-04,
153+
-1.19600e-03,
154+
],
155+
G=1,
63156
),
64157
]
65158

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