fix qlim

Author: jhavl

roboticstoolbox/models/DH/AL5D.py

@@ -6,6 +6,7 @@
 from roboticstoolbox import DHRobot, RevoluteMDH
 from spatialmath import SE3
 
+
 class AL5D(DHRobot):
     """
     Class that models a Lynxmotion AL5D manipulator
@@ -41,48 +42,50 @@ def __init__(self, symbolic=False):
 
         if symbolic:
             import spatialmath.base.symbolic as sym
+
             zero = sym.zero()
             pi = sym.pi()
         else:
             from math import pi
+
             zero = 0.0
 
         # robot length values (metres)
         a = [0, 0.002, 0.14679, 0.17751]
         d = [-0.06858, 0, 0, 0]
 
-        alpha = [pi, pi/2, pi, pi]
-        offset = [pi/2, pi, -0.0427, -0.0427-pi/2]
+        alpha = [pi, pi / 2, pi, pi]
+        offset = [pi / 2, pi, -0.0427, -0.0427 - pi / 2]
 
         # mass data as measured
         mass = [0.187, 0.044, 0.207, 0.081]
 
         # center of mass as calculated through CAD model
         center_of_mass = [
-                [0.01724, -0.00389,  0.00468],
-                [0.07084,  0.00000,  0.00190],
-                [0.05615, -0.00251, -0.00080],
-                [0.04318,  0.00735, -0.00523],
-            ]
+            [0.01724, -0.00389, 0.00468],
+            [0.07084, 0.00000, 0.00190],
+            [0.05615, -0.00251, -0.00080],
+            [0.04318, 0.00735, -0.00523],
+        ]
 
         # moments of inertia are practically zero
         moments_of_inertia = [
-                [0, 0, 0, 0, 0, 0],
-                [0, 0, 0, 0, 0, 0],
-                [0, 0, 0, 0, 0, 0],
-                [0, 0, 0, 0, 0, 0]
-            ]
+            [0, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 0, 0],
+        ]
 
         joint_limits = [
-                [-pi/2, pi/2],
-                [-pi/2, pi/2],
-                [-pi,2, pi/2],
-                [-pi/2, pi/2],
-            ]
+            [-pi / 2, pi / 2],
+            [-pi / 2, pi / 2],
+            [-pi / 2, pi / 2],
+            [-pi / 2, pi / 2],
+        ]
 
         links = []
 
-        for j in range(4):
+        for j in range(3):
             link = RevoluteMDH(
                 d=d[j],
                 a=a[j],
@@ -92,27 +95,28 @@ def __init__(self, symbolic=False):
                 I=moments_of_inertia[j],
                 G=1,
                 B=0,
-                Tc=[0,0],
-                qlim=joint_limits[j]
+                Tc=[0, 0],
+                qlim=joint_limits[j],
             )
             links.append(link)
-            
-        tool=SE3(0.07719,0,0)
-    
+
+        tool = SE3(0.07719, 0, 0)
+
         super().__init__(
             links,
             name="AL5D",
             manufacturer="Lynxmotion",
-            keywords=('dynamics', 'symbolic'),
+            keywords=("dynamics", "symbolic"),
             symbolic=symbolic,
-            tool=tool
+            tool=tool,
         )
-    
+
         # zero angles
-        self.addconfiguration("home", np.array([pi/2, pi/2, pi/2, pi/2]))
+        self.addconfiguration("home", np.array([pi / 2, pi / 2, pi / 2, pi / 2]))
+
 
-if __name__ == '__main__':    # pragma nocover
+if __name__ == "__main__":  # pragma nocover
 
     al5d = AL5D(symbolic=False)
     print(al5d)
-    print(al5d.dyntable())
+    # print(al5d.dyntable())