fix labels of constants
@@ -30,21 +30,22 @@ class Puma560(ERobot):
def __init__(self):
# Puma dimensions (m)
l1 = 0.672
- l2 = 0.2337
+ l2 = -0.2337
l3 = 0.4318
- l4 = -0.0837
- l5 = 0.4318
- l6 = 0.0203
+ l4 = 0.0203
+ l5 = 0.0837
+ l6 = 0.4318
e = ET.tz(l1) * ET.rz() * ET.ty(l2) * ET.ry() * ET.tz(l3) * \
- ET.tx(l6) * ET.ty(l4) * ET.ry() * ET.tz(l5) * ET.rz() * \
+ ET.tx(l4) * ET.ty(l5) * ET.ry() * ET.tz(l6) * ET.rz() * \
ET.ry() * ET.rz() * ET.tx(0.2)
super().__init__(
e,
name='Puma560',
manufacturer='Unimation',
- comment='ETS-based model')
+ comment='ETS-based model'
+ )
self.addconfiguration(
"qz", [0, 0, 0, 0, 0, 0])
