added center of mass to Panda DH definition (and cleaned it up a bit)

petercorke · Apr 12, 2022 · 380b0c2 · 380b0c2
1 parent 176f21c
commit 380b0c2
Showing 1 changed file with 28 additions and 21 deletions.
diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py
@@ -47,69 +47,76 @@ def __init__(self):
                 d=0.333,
                 alpha=0.0,
                 qlim=np.array([-2.8973, 2.8973]),
-	            m=4.970684,
-                I = [7.03370e-01,  7.06610e-01,  9.11700e-03,-1.39000e-04,  1.91690e-02, 6.77200e-03],
-                G= 1
+                m=4.970684,
+                I=[7.03370e-01, 7.06610e-01, 9.11700e-03, -1.39000e-04, 1.91690e-02, 6.77200e-03],
+                r=[3.875e-03, 2.081e-03, 0],
+                G=1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.0,
                 alpha=-np.pi/2,
                 qlim=np.array([-1.7628, 1.7628]),
-	            m= 0.646926,
-                I = [7.96200e-03,  2.81100e-02,  2.59950e-02, -3.92500e-03,  7.04000e-04,  1.02540e-02],
-                G= 1
+                m=0.646926,
+                I=[7.96200e-03, 2.81100e-02, 2.59950e-02, -3.92500e-03, 7.04000e-04, 1.02540e-02],
+                r=[-3.141e-03, -2.872e-02, 3.495e-03],
+                G=1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.316,
                 alpha=np.pi/2,
                 qlim=np.array([-2.8973, 2.8973]),
-	            m= 3.228604,
-                I = [3.72420e-02,  3.61550e-02,  1.08300e-02, -4.76100e-03, -1.28050e-02, -1.13960e-02],
-                G= 1
+                m=3.228604,
+                I=[3.72420e-02, 3.61550e-02, 1.08300e-02, -4.76100e-03, -1.28050e-02, -1.13960e-02],
+                r=[2.7518e-02, 3.9252e-02, -6.6502e-02],
+                G=1
             ),
 
             RevoluteMDH(
                 a=0.0825,
                 d=0.0,
                 alpha=np.pi/2,
                 qlim=np.array([-3.0718, -0.0698]),
-	            m= 3.587895,
-                I =[2.58530e-02,  1.95520e-02,  2.83230e-02, 7.79600e-03,  8.64100e-03, -1.33200e-03],
-                G= 1
+                m=3.587895,
+                I =[2.58530e-02, 1.95520e-02, 2.83230e-02, 7.79600e-03, 8.64100e-03, -1.33200e-03],
+                r=[-5.317e-02, 1.04419e-01, 2.7454e-02],
+                G=1
             ),
 
             RevoluteMDH(
                 a=-0.0825,
                 d=0.384,
                 alpha=-np.pi/2,
                 qlim=np.array([-2.8973, 2.8973]),
-	            m= 1.225946,
-                I =  [3.55490e-02,  2.94740e-02,  8.62700e-03, -2.11700e-03,  2.29000e-04, -4.03700e-03],
-                G= 1
+                m=1.225946,
+                I=[3.55490e-02, 2.94740e-02, 8.62700e-03, -2.11700e-03, 2.29000e-04, -4.03700e-03],
+                r=[-1.1953e-02, 4.1065e-02, -3.8437e-02],
+                G=1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.0,
                 alpha=np.pi/2,
                 qlim=np.array([-0.0175, 3.7525]),
-	            m= 1.666555,
-                I = [1.96400e-03,  4.35400e-03,  5.43300e-03,  1.09000e-04, 3.41000e-04, -1.15800e-03],
-                G= 1
+                m=1.666555,
+                I=[1.96400e-03, 4.35400e-03, 5.43300e-03, 1.09000e-04, 3.41000e-04, -1.15800e-03],
+                r=[6.0149e-02, -1.4117e-02, -1.0517e-02],
+                G=1
             ),
 
             RevoluteMDH(
                 a=0.088,
                 d=flange,
                 alpha=np.pi/2,
                 qlim=np.array([-2.8973, 2.8973]),
-	            m=7.35522e-01,
-                I = [1.25160e-02,  1.00270e-02,  4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03],
-                G= 1
+                m=7.35522e-01,
+                I=[1.25160e-02, 1.00270e-02, 4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03],
+                r=[1.0517e-02, -4.252e-03, 6.1597e-02],
+                G=1
             )
         ]