add the base height to the model

petercorke · petercorke · commit 44e545701e33 · 2020-09-13T09:49:01.000+10:00
diff --git a/roboticstoolbox/models/DH/Puma560.py b/roboticstoolbox/models/DH/Puma560.py
@@ -58,8 +58,10 @@ def __init__(self):
 
         deg = pi/180
 
+        base = 0.672      # from mounting surface to shoulder axis
+
         L0 = RevoluteDH(
-            d=0,          # link length (Dennavit-Hartenberg notation)
+            d=base,          # link length (Dennavit-Hartenberg notation)
             a=0,          # link offset (Dennavit-Hartenberg notation)
             alpha=pi/2,   # link twist (Dennavit-Hartenberg notation)
             I=[0, 0.35, 0, 0, 0, 0],  # inertia tensor of link with respect to
