Merge branch 'master' into future

Author: jhavl

roboticstoolbox/models/DH/Panda.py

@@ -42,24 +42,117 @@ def __init__(self):
         # This Panda model is defined using modified
         # Denavit-Hartenberg parameters
         L = [
-            RevoluteMDH(a=0.0, d=0.333, alpha=0.0, qlim=np.array([-2.8973, 2.8973])),
             RevoluteMDH(
-                a=0.0, d=0.0, alpha=-np.pi / 2, qlim=np.array([-1.7628, 1.7628])
+                a=0.0,
+                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,
             ),
             RevoluteMDH(
-                a=0.0, d=0.316, alpha=np.pi / 2, qlim=np.array([-2.8973, 2.8973])
+                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,
             ),
             RevoluteMDH(
-                a=0.0825, d=0.0, alpha=np.pi / 2, qlim=np.array([-3.0718, -0.0698])
+                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,
             ),
             RevoluteMDH(
-                a=-0.0825, d=0.384, alpha=-np.pi / 2, qlim=np.array([-2.8973, 2.8973])
+                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,
             ),
             RevoluteMDH(
-                a=0.0, d=0.0, alpha=np.pi / 2, qlim=np.array([-0.0175, 3.7525])
+                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,
             ),
             RevoluteMDH(
-                a=0.088, d=flange, alpha=np.pi / 2, qlim=np.array([-2.8973, 2.8973])
+                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,
+            ),
+            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,
             ),
         ]