corrected com of link7 of panda

see petercorke/robotics-toolbox-python#304
jenskober · Jul 13, 2022 · f1884db · f1884db
1 parent bd7a9d7
commit f1884db
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/models/mdl_panda.m b/models/mdl_panda.m
@@ -62,7 +62,7 @@
     L6 = RevoluteMDH('a',     0.0, 'd',   0.0, 'alpha',  pi/2, 'qlim', [-0.0175 3.7525], ...
     	'm', 1.666555, 'r', [6.0149e-02 -1.4117e-02 -1.0517e-02], 'I', [1.96400e-03  4.35400e-03  5.43300e-03  1.09000e-04  3.41000e-04 -1.15800e-03], 'G', 1);
     L7 = RevoluteMDH('a',   0.088, 'd',   0.107, 'alpha',  pi/2, 'qlim', [-2.8973 2.8973], ...
-    	'm', 7.35522e-01, 'r', [1.0517e-02 -4.252e-03 6.1597e-02 ], '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, 'r', [1.0517e-02 -4.252e-03 -4.5403e-02], 'I', [1.25160e-02  1.00270e-02  4.81500e-03 -4.28000e-04 -7.41000e-04 -1.19600e-03], 'G', 1);
 
     %% Create SerialLink object
     robot = SerialLink([L1 L2 L3 L4 L5 L6 L7], 'name', 'PANDA', 'manufacturer', 'Franka-Emika', 'tool', transl([0 0 110*mm]));
@@ -78,4 +78,4 @@
         assignin('caller', 'qv', qv); % zero angles
         assignin('caller', 'qr', qr); 
     end
-end
+end